competition changes day 2

Author: Robotics

FRC2020/.gradle/6.0.1/executionHistory/executionHistory.bin

@@ -12,7 +12,7 @@ public class OI {
 	Joystick rightStick = RobotMap.rightJoystick;
 	public XboxController xbox = RobotMap.xboxController;
 
-	public double valueShooterSpeed = 0.5;
+	public static double valueShooterSpeed = 0.85;
 
 	Button leftbutton1 = new JoystickButton(leftStick, 1), leftbutton2 = new JoystickButton(leftStick, 2);
 	Button leftbutton3 = new JoystickButton(leftStick, 3), leftbutton4 = new JoystickButton(leftStick, 4);
@@ -35,19 +35,19 @@ public class OI {
 
 	public double getLeftSpeed() {
 		if (leftStick.getY() > 0.01) {
-			return 0.5 * Math.pow(leftStick.getY(), 3) - 0.01;
+			return 0.8 * Math.pow(leftStick.getY(), 3) + 0.01;
 		} else if (leftStick.getY() <= -0.01) {
-			return 0.5 * Math.pow(leftStick.getY(), 3) + 0.01;
+			return 0.8 * Math.pow(leftStick.getY(), 3) - 0.01;
 		} else {
 			return 0.0;
 		}
 	}
 
 	public double getRightSpeed() {
 		if (rightStick.getY() > 0.01) {
-			return 0.5 * -1.0 * Math.pow(rightStick.getY(), 3) + 0.01;
+			return 0.8 * -1.0 * Math.pow(rightStick.getY(), 3) - 0.01;
 		} else if (rightStick.getY() < -0.01) {
-			return 0.5 * -1.0 * Math.pow(rightStick.getY(), 3) - 0.01;
+			return 0.8 * -1.0 * Math.pow(rightStick.getY(), 3) + 0.01;
 		} else {
 			return 0.0;
 		}

FRC2020/.gradle/6.0.1/executionHistory/executionHistory.lock

@@ -91,26 +91,37 @@ public void autonomousInit() {
 
 	@Override
 	public void autonomousPeriodic() {
+
 		boolean drive = true;
+		double time = 2.0;
+		double time2 = 4.0;
 		double currentDistance = RobotMap.distanceSensor.getValue() * 0.125;
 
-		if (currentDistance < 12){
+		if (currentDistance < 40){
 			drive = false;
+			Robot.driveTrain.stop();
 		}
 
-		while ((timer.get() < 5)){ // the number represents seconds
+		if ((timer.get() < time)){ // the number represents seconds
 			if (drive){
-				Robot.driveTrain.tankDrive(1.0, 1.0); //change speed
+				//Robot.driveTrain.tankDrive(0.5, 0.5); //change speed
+				RobotMap.LeftMotor.set(-0.5);
+				RobotMap.RightMotor.set(0.45);
 			}
 		}
-		if (timer.get() > 5){
+
+		if ( time < timer.get() && timer.get() < time2) {
+			RobotMap.LeftMotor.set(0.5);
+			RobotMap.RightMotor.set(0.45);	
+		}
+	
+		if (timer.get() > time2){
 			Robot.driveTrain.stop();
 		}
 	}
 
 	@Override
 	public void teleopInit() {
-
 		// Init relay
 		RobotMap.GreenLED.set(Relay.Value.kOn);
 		RobotMap.GreenLED.set(Relay.Value.kReverse);
@@ -144,7 +155,7 @@ public void robotPeriodic() {
 		SmartDashboard.putNumber("Confidence", match.confidence);
 		SmartDashboard.putString("Detected Color", colorString);
 		SmartDashboard.putNumber("Proximity", proximity);
-		SmartDashboard.putNumber("ShooterSpeed", OI.valueShooterSpeed);
+		SmartDashboard.putNumber("ShooterSpeed", frc.robot.OI.valueShooterSpeed);
 		SmartDashboard.putNumber("Rotations Completed", ColorCycle.colorCycleValue);
 		SmartDashboard.putNumber("Colors Passed", ColorCycle.colorsPassedValue);
 		SmartDashboard.putNumber("Bottom Limit Switch", RobotMap.bottomLimitSwitch.get() ? 1:0);
@@ -157,17 +168,18 @@ public void teleopPeriodic() {
 		Scheduler.getInstance().run();
 
 		if (OI.changeShooterSpeed() == 1) {
-			if (OI.valueShooterSpeed < 1) {
-				OI.valueShooterSpeed = OI.valueShooterSpeed + 0.02;
+			if (frc.robot.OI.valueShooterSpeed < 1) {
+                frc.robot.OI.valueShooterSpeed = frc.robot.OI.valueShooterSpeed + 0.02;
 			}
 		} else if (OI.changeShooterSpeed() == 2) {
-			if (OI.valueShooterSpeed > 0) {
-				OI.valueShooterSpeed = OI.valueShooterSpeed - 0.02;
+			if (frc.robot.OI.valueShooterSpeed > 0) {
+                frc.robot.OI.valueShooterSpeed = frc.robot.OI.valueShooterSpeed - 0.02;
 			}
-		}
+        }
 	}
 
 	@Override
+	
 	public void testPeriodic() {
 	}
 }

FRC2020/.gradle/6.0.1/fileHashes/fileHashes.bin

@@ -17,12 +17,16 @@ protected void execute() {
 		if (oi.cycle() == true) {
 			ColorCycle.colorCycleStart();
 		} else if (oi.cycle() == false) {
-			ColorCycle.colorCycleStop();
-        }
-        
-		if (ColorCycle.colorCycleValue == 3) {
-			end();
-		}
+	    	ColorCycle.colorCycleStop();
+		} else if (ColorCycle.colorCycleValue == 3) {
+            end();
+            try { 
+                Thread.sleep(250); 
+            } 
+            catch (Exception e) { 
+                System.out.println(e); 
+            }
+        } 
     }
 
     protected boolean isFinished() {