From 6baf866181318efe06a319cd08b8ae213da00337 Mon Sep 17 00:00:00 2001
From: SafePencil <cje_2k5@aol.com>
Date: Thu, 5 Aug 2021 19:42:11 -0500
Subject: [PATCH] a thing

---
 .../javaClass/aubrey/CaydenFirstState.java    | 21 +++++++++++++++----
 1 file changed, 17 insertions(+), 4 deletions(-)

diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/CaydenFirstState.java b/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/CaydenFirstState.java
index dcf0607..65c1584 100644
--- a/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/CaydenFirstState.java
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/CaydenFirstState.java
@@ -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);