TimeCrafters/UltimateGoal
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Spencer
2021-08-12 13:39:39 -05:00
parent a21f02d393
commit 124dd00905
1 changed files with 69 additions and 70 deletions
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139
TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerFirstState.java
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@@ -19,6 +19,8 @@ public class SpencerFirstState extends CyberarmState {
private float leftTrigger;
private boolean x;
private boolean b;
private boolean aPrev;
private double drivepower = 1;
//This is the constructor. It lets other code bits run use the code you put here
public SpencerFirstState(SampleRobot robot) {
@@ -49,80 +51,77 @@ public class SpencerFirstState extends CyberarmState {
robot.driveBackLeft.setPower(-leftStick);
robot.driveBackRight.setPower(-rightStick);
}
/*
if (x) {
robot.driveFrontLeft.setPower(-.5);
robot.driveFrontRight.setPower(-.5);
robot.driveBackLeft.setPower(-.5);
robot.driveBackRight.setPower(-.5);
}
if (b){
robot.driveFrontLeft.setPower(-1);
robot.driveFrontRight.setPower(-1);
robot.driveBackLeft.setPower(-1);
robot.driveBackRight.setPower(-1);
}
*/
/*this is left bumper section... strafe to the left*/
if (leftBumper) {
robot.driveFrontLeft.setPower(-1);
robot.driveFrontRight.setPower(1);
robot.driveBackLeft.setPower(1);
robot.driveBackRight.setPower(-1);
}
/* right bumper section ... strafe to the right*/
else if (rightBumper) {
robot.driveFrontLeft.setPower(1);
robot.driveFrontRight.setPower(-1);
robot.driveBackLeft.setPower(-1);
robot.driveBackRight.setPower(1);
} else {
robot.driveFrontLeft.setPower(-leftStick);
robot.driveFrontRight.setPower(-rightStick);
robot.driveBackLeft.setPower(-leftStick);
robot.driveBackRight.setPower(-rightStick);
}
/* y section ... when y is pressed fly wheel starts, when y is pressed again fly wheel stops*/
boolean changed = false; //outside of loop
if (engine.gamepad1.y && !changed) {
if (robot.launchMotor.getPower() == 0) robot.launchMotor.setPower(1);
else robot.launchMotor.setPower(0);
changed = true;
} else if (!engine.gamepad1.y) changed = false;
/*right Trigger section ... when right trigger is held collection wheels suck rings*/
boolean rightTriggerB = (rightTrigger >= 0.5);
if (rightTriggerB) {
robot.collectionMotor.setPower(1);
} else {
robot.collectionMotor.setPower(0);
}
boolean a = engine.gamepad1.a;
if (engine.gamepad1.a && !aPrev) {
if (drivepower == 1) {
drivepower = 0.5;
} else {
drivepower = 1;
}
engine.gamepad1.a = aPrev;
/*left trigger ... when left trigger is held tracks moves ring, when trigger is let go track stops*/
if (leftTrigger >= 0.5) {
robot.ringBeltMotor.setPower(1);
}
else {
robot.ringBeltMotor.setPower(0);
}
/*this is left bumper section... strafe to the left*/
if (leftBumper) {
robot.driveFrontLeft.setPower(-1);
robot.driveFrontRight.setPower(1);
robot.driveBackLeft.setPower(1);
robot.driveBackRight.setPower(-1);
}
if (robot.launchMotor.getPower() == 1) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
}else if (leftTrigger >= 0.5) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
}
else if (rightTriggerB) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GOLD);
} else {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
/* right bumper section ... strafe to the right*/
else if (rightBumper) {
robot.driveFrontLeft.setPower(1);
robot.driveFrontRight.setPower(-1);
robot.driveBackLeft.setPower(-1);
robot.driveBackRight.setPower(1);
} else {
robot.driveFrontLeft.setPower(-leftStick);
robot.driveFrontRight.setPower(-rightStick);
robot.driveBackLeft.setPower(-leftStick);
robot.driveBackRight.setPower(-rightStick);
}
/* y section ... when y is pressed fly wheel starts, when y is pressed again fly wheel stops*/
boolean changed = false; //outside of loop
if (engine.gamepad1.y && !changed) {
if (robot.launchMotor.getPower() == 0) robot.launchMotor.setPower(1);
else robot.launchMotor.setPower(0);
changed = true;
} else if (!engine.gamepad1.y) changed = false;
/*right Trigger section ... when right trigger is held collection wheels suck rings*/
boolean rightTriggerB = (rightTrigger >= 0.5);
if (rightTriggerB) {
robot.collectionMotor.setPower(1);
} else {
robot.collectionMotor.setPower(0);
}
/*left trigger ... when left trigger is held tracks moves ring, when trigger is let go track stops*/
if (leftTrigger >= 0.5) {
robot.ringBeltMotor.setPower(1);
} else {
robot.ringBeltMotor.setPower(0);
}
if (robot.launchMotor.getPower() == 1) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
} else if (leftTrigger >= 0.5) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
} else if (rightTriggerB) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GOLD);
} else if (drivepower == 0.5){
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.ORANGE);
} else {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
}
}
}
}
}