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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35
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 float leftTrigger;
private boolean x; private boolean x;
private boolean b; 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 //This is the constructor. It lets other code bits run use the code you put here
public SpencerFirstState(SampleRobot robot) { public SpencerFirstState(SampleRobot robot) {
@@ -49,21 +51,17 @@ public class SpencerFirstState extends CyberarmState {
robot.driveBackLeft.setPower(-leftStick); robot.driveBackLeft.setPower(-leftStick);
robot.driveBackRight.setPower(-rightStick); robot.driveBackRight.setPower(-rightStick);
} }
/*
if (x) {
robot.driveFrontLeft.setPower(-.5);
robot.driveFrontRight.setPower(-.5);
robot.driveBackLeft.setPower(-.5);
robot.driveBackRight.setPower(-.5);
}
if (b){ boolean a = engine.gamepad1.a;
robot.driveFrontLeft.setPower(-1); if (engine.gamepad1.a && !aPrev) {
robot.driveFrontRight.setPower(-1); if (drivepower == 1) {
robot.driveBackLeft.setPower(-1); drivepower = 0.5;
robot.driveBackRight.setPower(-1); } else {
drivepower = 1;
} }
*/ engine.gamepad1.a = aPrev;
/*this is left bumper section... strafe to the left*/ /*this is left bumper section... strafe to the left*/
if (leftBumper) { if (leftBumper) {
@@ -109,20 +107,21 @@ public class SpencerFirstState extends CyberarmState {
if (leftTrigger >= 0.5) { if (leftTrigger >= 0.5) {
robot.ringBeltMotor.setPower(1); robot.ringBeltMotor.setPower(1);
} } else {
else {
robot.ringBeltMotor.setPower(0); robot.ringBeltMotor.setPower(0);
} }
if (robot.launchMotor.getPower() == 1) { if (robot.launchMotor.getPower() == 1) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED); robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
}else if (leftTrigger >= 0.5) { } else if (leftTrigger >= 0.5) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE); robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
} } else if (rightTriggerB) {
else if (rightTriggerB) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GOLD); robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GOLD);
} else if (drivepower == 0.5){
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.ORANGE);
} else { } else {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN); robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
} }
} }
} }
}