diff --git a/.idea/codeStyles/Project.xml b/.idea/codeStyles/Project.xml
deleted file mode 100644
index 681f41a..0000000
--- a/.idea/codeStyles/Project.xml
+++ /dev/null
@@ -1,116 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
- xmlns:android
-
- ^$
-
-
-
-
-
-
-
-
- xmlns:.*
-
- ^$
-
-
- BY_NAME
-
-
-
-
-
-
- .*:id
-
- http://schemas.android.com/apk/res/android
-
-
-
-
-
-
-
-
- .*:name
-
- http://schemas.android.com/apk/res/android
-
-
-
-
-
-
-
-
- name
-
- ^$
-
-
-
-
-
-
-
-
- style
-
- ^$
-
-
-
-
-
-
-
-
- .*
-
- ^$
-
-
- BY_NAME
-
-
-
-
-
-
- .*
-
- http://schemas.android.com/apk/res/android
-
-
- ANDROID_ATTRIBUTE_ORDER
-
-
-
-
-
-
- .*
-
- .*
-
-
- BY_NAME
-
-
-
-
-
-
-
\ No newline at end of file
diff --git a/.idea/jarRepositories.xml b/.idea/jarRepositories.xml
index 1286b79..0380d8d 100644
--- a/.idea/jarRepositories.xml
+++ b/.idea/jarRepositories.xml
@@ -11,6 +11,11 @@
+
+
+
+
+
@@ -21,15 +26,5 @@
-
-
-
-
-
-
-
-
-
-
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
index 54d5acd..25d34a4 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,10 +1,5 @@
-
-
-
-
-
-
+
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/CaydenFirstEngine.java b/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/CaydenFirstEngine.java
index 45a680d..41b3164 100644
--- a/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/CaydenFirstEngine.java
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/CaydenFirstEngine.java
@@ -12,17 +12,10 @@ public class CaydenFirstEngine extends CyberarmEngine {
Robot robot;
- @Override
- public void init() {
- robot = new Robot(hardwareMap);
- robot.initHardware();
- robot.wobbleGrabServo.setPosition(Robot.WOBBLE_SERVO_CLOSED);
- super.init();
- }
-
+
+
@Override
public void setup() {
- addState(new Cayden_Autonomous(robot,1,12));
- addState(new Cayden_Autonomous(robot,-1,12));
+ addState(new CaydenFirstState());
}
}
diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/CaydenFirstState.java b/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/CaydenFirstState.java
index bdd8001..173e96e 100644
--- a/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/CaydenFirstState.java
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/CaydenFirstState.java
@@ -1,5 +1,8 @@
package org.timecrafters.javaClass.cayden;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.UltimateGoal.Competition.Robot;
import org.timecrafters.javaClass.samples.SampleRobot;
@@ -7,12 +10,25 @@ import org.timecrafters.javaClass.samples.SampleRobot;
public class CaydenFirstState extends CyberarmState {
//here, you'll find some of your variables. you can add more as you need them.
- private Robot robot;
- private double variable=1;
+ DcMotor driveFrontRight;
+ DcMotor driveBackRight;
+ DcMotor driveFrontLeft;
+ DcMotor driveBackLeft;
//This is the constructor. It lets other code bits run use the code you put here
- public CaydenFirstState(Robot robot) {
- this.robot = robot;
+ public CaydenFirstState() {
+
+ }
+
+ @Override
+ public void init() {
+ driveFrontRight = engine.hardwareMap.dcMotor.get("driveFrontRight");
+ driveFrontLeft = engine.hardwareMap.dcMotor.get("driveFrontLeft");
+ driveBackRight = engine.hardwareMap.dcMotor.get("driveBackRight");
+ driveBackLeft = engine.hardwareMap.dcMotor.get("driveBackLeft");
+
+ driveFrontLeft.setDirection(DcMotorSimple.Direction.REVERSE);
+ driveBackLeft.setDirection(DcMotorSimple.Direction.REVERSE);
}
//This is a method. methods are bits of code that can be run elsewhere.
@@ -20,52 +36,10 @@ public class CaydenFirstState extends CyberarmState {
@Override
public void exec() {
- if (engine.gamepad1.y){
- robot.collectionMotor.setPower(.75);
- }
- else{
- robot.collectionMotor.setPower(0);
- }
+ driveFrontRight.setPower(-engine.gamepad1.right_stick_y);
+ driveBackRight.setPower(-engine.gamepad1.right_stick_y);
+ driveFrontLeft.setPower(-engine.gamepad1.left_stick_y);
+ driveBackLeft.setPower(-engine.gamepad1.left_stick_y);
- if(engine.gamepad1.b){
- robot.ringBeltMotor.setPower(1);
- }
- else{
- robot.ringBeltMotor.setPower(0);
- }
-
-
- robot.driveFrontRight.setPower(-engine.gamepad1.right_stick_y);
- robot.driveBackRight.setPower(-engine.gamepad1.right_stick_y);
- robot.driveFrontLeft.setPower(-engine.gamepad1.left_stick_y);
- robot.driveBackLeft.setPower(-engine.gamepad1.left_stick_y);
-
- if (engine.gamepad1.left_bumper) {
- robot.driveFrontLeft.setPower(-1);
- robot.driveFrontRight.setPower(1);
- robot.driveBackLeft.setPower(1);
- robot.driveBackRight.setPower(-1);
- } else if (engine.gamepad1.right_bumper) {
- robot.driveFrontLeft.setPower(1);
- robot.driveFrontRight.setPower(-1);
- robot.driveBackLeft.setPower(-1);
- robot.driveBackRight.setPower(1);
- }
-
- robot.ringBeltMotor.setPower(engine.gamepad1.right_trigger);
-
- if (engine.gamepad1.x){
- robot.launchMotor.setPower(1);
- }else{
- robot.launchMotor.setPower(0);
-
-
-
- }
- if (engine.gamepad1.dpad_up){
- robot.webCamServo.setPosition(0);
- }else if (engine.gamepad1.dpad_down){
- robot.webCamServo.setPosition(robot.CAM_SERVO_DOWN);
- }
}
-}
+}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/Minibot_State.java b/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/Minibot_State.java
index 773599c..e1f6dff 100644
--- a/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/Minibot_State.java
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/Minibot_State.java
@@ -12,8 +12,10 @@ public class Minibot_State extends CyberarmState {
@Override
public void exec() {
- if (engine.gamepad1.right_trigger > -0.5) {
+ if (engine.gamepad1.right_trigger > 0.5) {
robot.driveleft.setPower(1);
- } else robot.driveleft.setPower(0);
+ } else {
+ robot.driveleft.setPower(0);
+ }
}
}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/miniboi.java b/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/miniboi.java
index 80d4cb5..91066de 100644
--- a/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/miniboi.java
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/miniboi.java
@@ -9,11 +9,6 @@ import org.cyberarm.engine.V2.CyberarmEngine;
@TeleOp(name = "Caydens minibot", group = "Cayden")
public class miniboi extends CyberarmEngine {
- private HardwareMap hardwareMap;
- public miniboi(HardwareMap hardWareMap) {
- hardwareMap = hardWareMap;
- }
-
public DcMotor driveleft;
public DcMotor driveright;