TimeCrafters/UltimateGoal
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Spencer
2021-08-05 19:33:59 -05:00
parent f84b3556ad
commit 19c8049cad
3 changed files with 47 additions and 2 deletions
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21
TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerDriveFoward.java Normal file
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@@ -0,0 +1,21 @@
package org.timecrafters.javaClass.spencer;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.javaClass.samples.SampleRobot;
public class SpencerDriveFoward extends CyberarmState {
private SampleRobot robot;
public SpencerDriveFoward(SampleRobot robot) {
this.robot = robot;
}
@Override
public void exec() {
if ()
}
}

26
TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerFirstState.java
View File

@@ -7,7 +7,10 @@ public class SpencerFirstState extends CyberarmState {
//here, you'll find some of your variables. you can add more as you need them.
private SampleRobot robot;
private double rightStick;
private double leftStick;
private boolean leftBumper;
private boolean rightBumper;
//This is the constructor. It lets other code bits run use the code you put here
public SpencerFirstState(SampleRobot robot) {
this.robot = robot;
@@ -17,6 +20,27 @@ public class SpencerFirstState extends CyberarmState {
//This one is set up to repeat every few milliseconds
@Override
public void exec() {
rightStick = engine.gamepad1.right_stick_y;
leftStick = engine.gamepad1.left_stick_y;
leftBumper = engine.gamepad1.left_bumper;
rightBumper = engine.gamepad1.right_bumper;
robot.driveFrontLeft.setPower(-leftStick);
robot.driveFrontRight.setPower(-rightStick);
robot.driveBackLeft.setPower(-leftStick);
robot.driveBackRight.setPower(-rightStick);
if (leftBumper) {
robot.driveFrontLeft.setPower(-1);
robot.driveFrontRight.setPower(-1);
robot.driveBackLeft.setPower(-1);
robot.driveBackRight.setPower(-1);
} else if (rightBumper) {
robot.driveFrontLeft.setPower(1);
robot.driveFrontRight.setPower(1);
robot.driveBackLeft.setPower(1);
robot.driveBackRight.setPower(1);
}
}
}