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


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package org.usfirst.frc.team4272.robot2016;

public class Autonomous {
	private final HwRobot robot;

	public Autonomous(HwRobot robot) {
		this.robot = robot;
		robot.lDriveE.reset();
		robot.rDriveE.reset();
	}

	public Control run(Control c) {
		double lDist = robot.lDriveE.getDistance();
		double rDist = robot.rDriveE.getDistance();

		double speed = 0.6;
		double thresh = 10;
		double target = 15;
		double max = 16;
		
		if (lDist < thresh) {
			c.lDrive = speed;
		} else if (lDist < max) {
			c.lDrive = speed*Math.sqrt((target-lDist)/(target-thresh));
		} else {
			c.lDrive = 0;
		}

		if (rDist < thresh) {
			c.rDrive = speed;
		} else if (rDist < max) {
			c.rDrive = speed*Math.sqrt((target-rDist)/(target-thresh));
		} else {
			c.rDrive = 0;
		}

		if (Math.abs(lDist - rDist) > 0.25) {
			if (lDist > rDist) {
				c.lDrive *= 0.2;
			} else {
				c.rDrive *= 0.2;
			}
		}

		return c;
	}
}