TimeCrafters/UltimateGoal
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This commit is contained in:
Spencer
2021-08-11 17:15:51 -05:00
parent a647d6026a
commit a21f02d393
4 changed files with 40 additions and 97 deletions
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61
TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerFirstState.java
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@@ -39,12 +39,11 @@ public class SpencerFirstState extends CyberarmState {
a = engine.gamepad1.a;
x = engine.gamepad1.x;
rightTrigger = engine.gamepad1.right_trigger;
leftTrigger = engine.gamepad1.right_trigger;
leftTrigger = engine.gamepad1.left_trigger;
b = engine.gamepad1.b;
/*this section is no bumpers... tank drive*/
if (!leftBumper && !rightBumper) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
robot.driveFrontLeft.setPower(-leftStick);
robot.driveFrontRight.setPower(-rightStick);
robot.driveBackLeft.setPower(-leftStick);
@@ -52,7 +51,6 @@ public class SpencerFirstState extends CyberarmState {
}
/*
if (x) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.ORANGE);
robot.driveFrontLeft.setPower(-.5);
robot.driveFrontRight.setPower(-.5);
robot.driveBackLeft.setPower(-.5);
@@ -60,7 +58,6 @@ public class SpencerFirstState extends CyberarmState {
}
if (b){
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
robot.driveFrontLeft.setPower(-1);
robot.driveFrontRight.setPower(-1);
robot.driveBackLeft.setPower(-1);
@@ -70,7 +67,6 @@ public class SpencerFirstState extends CyberarmState {
/*this is left bumper section... strafe to the left*/
if (leftBumper) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
robot.driveFrontLeft.setPower(-1);
robot.driveFrontRight.setPower(1);
robot.driveBackLeft.setPower(1);
@@ -79,33 +75,54 @@ public class SpencerFirstState extends CyberarmState {
/* right bumper section ... strafe to the right*/
else if (rightBumper) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
robot.driveFrontLeft.setPower(1);
robot.driveFrontRight.setPower(-1);
robot.driveBackLeft.setPower(-1);
robot.driveBackRight.setPower(1);
} else {
robot.driveFrontLeft.setPower(-leftStick);
robot.driveFrontRight.setPower(-rightStick);
robot.driveBackLeft.setPower(-leftStick);
robot.driveBackRight.setPower(-rightStick);
}
/* y section ... when y is pressed fly wheel starts, when y is pressed again fly wheel stops*/
/* y section ... when y is pressed fly wheel starts, when a is pressed fly wheel stops*/
if (y) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
robot.launchMotor.setPower(1);
} else if (a) {
robot.launchMotor.setPower(0);
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
}
boolean changed = false; //outside of loop
if (engine.gamepad1.y && !changed) {
if (robot.launchMotor.getPower() == 0) robot.launchMotor.setPower(1);
else robot.launchMotor.setPower(0);
changed = true;
} else if (!engine.gamepad1.y) changed = false;
/*right Trigger section ... when right trigger is held collection wheels suck rings*/
if (rightTrigger>=0.5){
boolean rightTriggerB = (rightTrigger >= 0.5);
if (rightTriggerB) {
robot.collectionMotor.setPower(1);
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
}
/*left trigger ... when left trigger is held tracks moves ring, when trigger is let go track stops*/
else if (leftTrigger>=0.5) {
robot.ringBeltMotor.setPower(1);
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GOLD);
} else {
robot.collectionMotor.setPower(0);
}
/*left trigger ... when left trigger is held tracks moves ring, when trigger is let go track stops*/
if (leftTrigger >= 0.5) {
robot.ringBeltMotor.setPower(1);
}
else {
robot.ringBeltMotor.setPower(0);
}
if (robot.launchMotor.getPower() == 1) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
}else if (leftTrigger >= 0.5) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
}
else if (rightTriggerB) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GOLD);
} else {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
}
}
}
}