src/org/usfirst/frc/team4272/robot2015/Autonomous.java


1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25

package org.usfirst.frc.team4272.robot2015;

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*1.1)) {
			c.rDrive = c.lDrive = -0.7;
		} else {
			c.rDrive = c.lDrive = 0;
		}
		return c;
	}
}