TimeCrafters/UltimateGoal
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Spencer
2021-08-07 20:13:09 -05:00
parent 46fd5fcb07
commit 3a422b4917
1 changed files with 84 additions and 19 deletions
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103
TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerFirstState.java
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@@ -1,5 +1,7 @@
package org.timecrafters.javaClass.spencer;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.javaClass.samples.SampleRobot;
@@ -11,6 +13,13 @@ public class SpencerFirstState extends CyberarmState {
private double leftStick;
private boolean leftBumper;
private boolean rightBumper;
private boolean y;
private boolean a;
private float rightTrigger;
private float leftTrigger;
private boolean x;
private boolean b;
//This is the constructor. It lets other code bits run use the code you put here
public SpencerFirstState(SampleRobot robot) {
this.robot = robot;
@@ -20,27 +29,83 @@ 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);
}
/* game pad read*/
rightStick = engine.gamepad1.right_stick_y;
leftStick = engine.gamepad1.left_stick_y;
leftBumper = engine.gamepad1.left_bumper;
rightBumper = engine.gamepad1.right_bumper;
y = engine.gamepad1.y;
a = engine.gamepad1.a;
x = engine.gamepad1.x;
rightTrigger = engine.gamepad1.right_trigger;
leftTrigger = engine.gamepad1.right_trigger;
b = engine.gamepad1.b;
/*this section is no bumpers... tank drive*/
if (!leftBumper && !rightBumper) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
robot.driveFrontLeft.setPower(-leftStick);
robot.driveFrontRight.setPower(-rightStick);
robot.driveBackLeft.setPower(-leftStick);
robot.driveBackRight.setPower(-rightStick);
}
/*
if (x) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.ORANGE);
robot.driveFrontLeft.setPower(-.5);
robot.driveFrontRight.setPower(-.5);
robot.driveBackLeft.setPower(-.5);
robot.driveBackRight.setPower(-.5);
}
if (b){
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
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.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
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.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
robot.driveFrontLeft.setPower(1);
robot.driveFrontRight.setPower(-1);
robot.driveBackLeft.setPower(-1);
robot.driveBackRight.setPower(1);
}
/* y section ... when y is pressed fly wheel starts, when a is pressed fly wheel stops*/
if (y) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
robot.launchMotor.setPower(1);
} else if (a) {
robot.launchMotor.setPower(0);
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
}
/*right Trigger section ... when right trigger is held collection wheels suck rings*/
if (rightTrigger>=0.5){
robot.collectionMotor.setPower(1);
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
}
/*left trigger ... when left trigger is held tracks moves ring, when trigger is let go track stops*/
else if (leftTrigger>=0.5) {
robot.ringBeltMotor.setPower(1);
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GOLD);
}
}
}