diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robot2016/Autonomous.java')
-rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/Autonomous.java | 30 |
1 files changed, 30 insertions, 0 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/Autonomous.java b/src/org/usfirst/frc/team4272/robot2016/Autonomous.java new file mode 100644 index 0000000..749e4cb --- /dev/null +++ b/src/org/usfirst/frc/team4272/robot2016/Autonomous.java @@ -0,0 +1,30 @@ +package org.usfirst.frc.team4272.robot2016; + +import edu.wpi.first.wpilibj.Timer; + +public class Autonomous { + private final Timer time = new Timer(); + private final HwRobot robot; + + public Autonomous(HwRobot robot) { + this.robot = robot; + time.reset(); + time.start(); + robot.rDriveE.reset(); + robot.lDriveE.reset(); + } + + public Control run(Control c) { + if (robot.rDriveE.getDistance() > -(15.5*140*1.15)) { + c.rDrive = c.lDrive = 0.7; + //initially -0.7 to drive backwards + //0 to 9787 for going backwards + //0 to negative for forward + //INDY: (15.5*140*1.1) + //PURDUE: (15.5*140*1.15) for a drop further + } else { + c.rDrive = c.lDrive = 0; + } + return c; + } +} |