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Aubrey stuff

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scottbadger777
2021-08-10 18:48:12 -05:00
parent c5d44672a1
commit 5f0469093a
2 changed files with 32 additions and 19 deletions
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32
TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/dance.java Normal file
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package org.timecrafters.javaClass.aubrey;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.javaClass.samples.SampleRobot;
public class dance extends CyberarmState {
private SampleRobot robot;
private double speed =0.5;
private float RotationLimit =20;
private double powerWorks =0.5;
public dance(SampleRobot robot) {
this.robot = robot;
}
@Override
public void exec() {
float rotation = robot.getIMURotation();
if (rotation <RotationLimit) {
powerWorks = -speed;
}else {
powerWorks = speed;
}
robot.driveBackRight.setPower(powerWorks);
robot.driveBackLeft.setPower(-powerWorks);
robot.driveFrontLeft.setPower(-powerWorks);
robot.driveFrontRight.setPower(powerWorks);
}
}