(:

TeamCode/src/main/java/org/timecrafters/javaClass/samples/SpencerFirstEngine.java

@@ -1,27 +1,30 @@
 package org.timecrafters.javaClass.samples;
 
+import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.cyberarm.engine.V2.CyberarmEngine;
 import org.timecrafters.UltimateGoal.Competition.Robot;
 import org.timecrafters.javaClass.aubrey.AubreyFirstState;
 import org.timecrafters.javaClass.spencer.SpencerFirstState;
 
-@Autonomous (name = "Spencer: First Program", group = "spencer")
+@TeleOp(name = "Spencer: Buttons", group = "spencer")
 public class SpencerFirstEngine extends CyberarmEngine {
     
     SampleRobot robot;
-
+    boolean yBeingPressed;
     @Override
     public void init() {
         robot = new SampleRobot(hardwareMap);
         robot.initHardware();
-        robot.wobbleGrabServo.setPosition(Robot.WOBBLE_SERVO_CLOSED);
+        robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
         super.init();
+        yBeingPressed = false;
     }
     
     @Override
     public void setup() {
-        addState(new SpencerFirstState(robot));
+        addState(new Spencer_buttons(robot,yBeingPressed));
     }
 }

TeamCode/src/main/java/org/timecrafters/javaClass/samples/Spencer_buttons.java

@@ -0,0 +1,42 @@
+package org.timecrafters.javaClass.samples;
+import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
+
+import org.cyberarm.engine.V2.CyberarmState;
+
+public class Spencer_buttons extends CyberarmState {
+    public Spencer_buttons(SampleRobot robot, boolean yBeingPressed) {
+        this.robot = robot;
+       this.yBeingPressed = yBeingPressed;
+    }
+    SampleRobot robot;
+    boolean yBeingPressed;
+    int Lights = 0;
+    @Override
+    public void exec() {
+    if (engine.gamepad1.y && !yBeingPressed){
+        yBeingPressed = true;
+        Lights ++;
+        if (Lights>4)Lights = 1;
+        switch (Lights) {
+            case 1:
+                robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
+                break;
+            case 2:
+                robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
+                break;
+            case 3:
+                robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
+                break;
+            case 4:
+                robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GOLD);
+                break;
+        }
+
+
+    }
+    else if (!engine.gamepad1.y && yBeingPressed){
+        yBeingPressed = false;
+    }
+    }
+
+}

TeamCode/src/main/java/org/timecrafters/javaClass/samples/spencer_robotrun_engine.java

@@ -0,0 +1,28 @@
+package org.timecrafters.javaClass.samples;
+
+import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+import org.timecrafters.UltimateGoal.Competition.Robot;
+import org.timecrafters.javaClass.aubrey.AubreyFirstState;
+import org.timecrafters.javaClass.spencer.SpencerFirstState;
+
+@TeleOp(name = "Spencer: runrobot", group = "spencer")
+public class spencer_robotrun_engine extends CyberarmEngine {
+
+    SampleRobot robot;
+    @Override
+    public void init() {
+        robot = new SampleRobot(hardwareMap);
+        robot.initHardware();
+        robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
+        super.init();
+    }
+
+    @Override
+    public void setup() {
+        addState(new SpencerFirstState(robot));
+    }
+}

TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerFirstState.java

@@ -52,14 +52,14 @@ public class SpencerFirstState extends CyberarmState {
             robot.driveBackRight.setPower(-rightStick);
         }
 
-        boolean a = engine.gamepad1.a;
+      /*  boolean a = engine.gamepad1.a;
         if (engine.gamepad1.a && !aPrev) {
             if (drivepower == 1) {
                 drivepower = 0.5;
             } else {
                 drivepower = 1;
             }
-            engine.gamepad1.a = aPrev;
+            engine.gamepad1.a = aPrev;*/
 
 
 
@@ -85,12 +85,12 @@ public class SpencerFirstState extends CyberarmState {
         }
         /* y section ... when y is pressed fly wheel starts, when y is pressed again fly wheel stops*/
 
-            boolean changed = false; //outside of loop
+        if (y) {
-            if (engine.gamepad1.y && !changed) {
+            robot.launchMotor.setPower(1);
-                if (robot.launchMotor.getPower() == 0) robot.launchMotor.setPower(1);
+
-                else robot.launchMotor.setPower(0);
+            if (a) {
-                changed = true;
+                robot.launchMotor.setPower(0);
-            } else if (!engine.gamepad1.y) changed = false;
+            }
 
             /*right Trigger section ... when right trigger is held collection wheels suck rings*/
 
@@ -102,9 +102,9 @@ public class SpencerFirstState extends CyberarmState {
 
             }
 
-            if (engine.gamepad1.b) {
+          /*  if (engine.gamepad1.b) {
                 robot.ringBeltMotor.setPower(-0.5);
-            }
+            }*/
             /*left trigger ... when left trigger is held tracks moves ring, when trigger is let go track stops*/
 
             if (leftTrigger >= 0.5) {
@@ -119,8 +119,6 @@ public class SpencerFirstState extends CyberarmState {
                 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);
             }