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;
+	}
+}