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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;
}
}
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