src/org/usfirst/frc/team4272/robot2016/Autonomous.java


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package org.usfirst.frc.team4272.robot2016;

import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

public class Autonomous {
	private final Timer time = new Timer();
	private final HwRobot robot;

	public Autonomous(HwRobot robot) {
		this.robot = robot;
		time.reset();
		time.start();
	}

	public Control run(Control c) {

//		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;
	}
}