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a thing

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SafePencil
2021-08-05 19:42:11 -05:00
parent 5bf0c011d1
commit 6baf866181
1 changed files with 17 additions and 4 deletions
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21
TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/CaydenFirstState.java
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@@ -17,10 +17,23 @@ public class CaydenFirstState extends CyberarmState {
//This one is set up to repeat every few milliseconds
@Override
public void exec() {
robot.launchMotor.setPower(engine.gamepad1.left_stick_y);
robot.ringBeltMotor.setPower(engine.gamepad1.right_trigger
);
if (robot.limitSwitch.isPressed()) {
if (engine.gamepad1.y){
robot.collectionMotor.setPower(.5);
}
else{
robot.collectionMotor.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.right_stick_y);
robot.ringBeltMotor.setPower(engine.gamepad1.right_trigger);
if (robot.wobbleTouchSensor.isPressed()) {
robot.launchMotor.setPower(0.5);
}else{
robot.launchMotor.setPower(0);