TimeCrafters/UltimateGoal
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SafePencil
2021-08-12 20:35:58 -05:00
parent d9bc6476fd
commit 0c877f053b
2 changed files with 17 additions and 7 deletions
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21
TeamCode/src/main/java/org/timecrafters/javaClass/cayden/Cayden_Autonomous.java
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@@ -1,18 +1,21 @@
package org.timecrafters.javaClass.cayden; package org.timecrafters.javaClass.cayden;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import org.cyberarm.engine.V2.CyberarmState; import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.UltimateGoal.Competition.Robot; import org.timecrafters.UltimateGoal.Competition.Robot;
public class Cayden_Autonomous extends CyberarmState { public class Cayden_Autonomous extends CyberarmState {
private Robot robot; private Robot robot;
private double variable=.5; private double variable=.5;
private double inches=12;
public Cayden_Autonomous(Robot robot, double variable, double inches) {
public Cayden_Autonomous(Robot robot) {
this.robot = robot; this.robot = robot;
this.variable = variable;
this.inches = inches;
} }
@Override @Override
public void exec() { public void exec() {
@@ -21,10 +24,16 @@ public class Cayden_Autonomous extends CyberarmState {
robot.driveFrontLeft.setPower(variable); robot.driveFrontLeft.setPower(variable);
robot.driveBackLeft.setPower(variable); robot.driveBackLeft.setPower(variable);
if (robot.encoderLeft.getCurrentPosition()>=300){
if (Math.abs(robot.encoderLeft.getCurrentPosition())>=robot.inchesToTicks(inches)){
variable=0; variable=0;
} }
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BEATS_PER_MINUTE_FOREST_PALETTE);
} }
@Override
public void telemetry() {
engine.telemetry.addData("Encoder", robot.encoderLeft.getCurrentPosition());
}
} }

3
TeamCode/src/main/java/org/timecrafters/javaClass/samples/CaydenFirstEngine.java
View File

@@ -22,6 +22,7 @@ public class CaydenFirstEngine extends CyberarmEngine {
@Override @Override
public void setup() { public void setup() {
addState(new Cayden_Autonomous(robot)); addState(new Cayden_Autonomous(robot,1,12));
addState(new Cayden_Autonomous(robot,-1,12));
} }
} }