TimeCrafters/UltimateGoal
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Merge remote-tracking branch 'origin/master'

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SafePencil
2021-08-05 19:17:12 -05:00
parent 8c87c1b2b5 6648f3d508
commit 5bf0c011d1
1 changed files with 28 additions and 1 deletions
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29
TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/AubreyFirstState.java
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@@ -7,6 +7,9 @@ public class AubreyFirstState extends CyberarmState {
//here, you'll find some of your variables. you can add more as you need them. //here, you'll find some of your variables. you can add more as you need them.
private SampleRobot robot; private SampleRobot robot;
private double UwU;
private double OwO;
//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 AubreyFirstState(SampleRobot robot) { public AubreyFirstState(SampleRobot robot) {
@@ -17,6 +20,30 @@ public class AubreyFirstState extends CyberarmState {
//This one is set up to repeat every few milliseconds //This one is set up to repeat every few milliseconds
@Override @Override
public void exec() { public void exec() {
UwU= -engine.gamepad1.left_stick_y ;
OwO= -engine.gamepad1. right_stick_y;
robot.driveBackLeft.setPower(UwU);
if(robot. limitSwitch. isPressed()) {
double power = .5;
robot.driveFrontLeft.setPower(-power);
robot.driveFrontRight.setPower(power);
robot.driveBackLeft.setPower(-power);
robot.driveBackRight.setPower(power);
}else {
robot.driveFrontLeft.setPower(UwU);
robot.driveBackRight. setPower(OwO);
robot.driveBackLeft. setPower(OwO);
}
}
@Override
public void telemetry() {
engine. telemetry.addData("uMu",UwU);
engine. telemetry. addData("OmO", OwO);
} }
} }