Other changes sitting on delldell-2

1 files changed, 16 insertions, 10 deletions

diff --git a/src/org/usfirst/frc/team4272/robot2016/Autonomous.java b/src/org/usfirst/frc/team4272/robot2016/Autonomous.java
index 756c33d..5cba22f 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Autonomous.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Autonomous.java
@@ -14,18 +14,24 @@ public class Autonomous {
 	}
 
 	public Control run(Control c) {
-		if (robot.armL.get()) {
-			c.arm = -0.5;
-		} else {
-			c.arm = 0;
-			robot.armE.reset();
-		}
 
-		if (time.get() < 4) {
-			c.lDrive1 = c.rDrive1 = -0.4;
-		} else {
-			c.lDrive1 = c.rDrive1 = 0;
+//		if (time.get() < 5) {
+//			c.lDrive1 = c.lDrive2 = 0.2;
+//			c.rDrive1 =c.rDrive2 = -0.2;
+//		} else {
+//			c.lDrive1 = c.rDrive1 = 0;
+//			c.lDrive2 = c.rDrive2 = 0;
+//		}
+		if(Math.abs(robot.driveE.getRaw()) > 1){
+			c.lDrive1 = c.lDrive2 = 0;
+			c.rDrive1 =c.rDrive2 = 0;
+		}
+		else
+		{
+			c.lDrive1 = c.lDrive2 = 0.2;
+			c.rDrive1 =c.rDrive2 = 0.2;
 		}
+		
 		SmartDashboard.putNumber("autoTime", time.get());
 
 		return c;