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Rising edge detection in speed control

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This commit is contained in:
Yash Karandikar 2022-11-10 17:09:24 -06:00
parent 8559514463
commit fa5a317226
1 changed files with 7 additions and 2 deletions
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9
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/teleops/DriveTeleOp.java
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@ -14,6 +14,8 @@ public class DriveTeleOp extends OpMode {
private double powerLift;
private double drive = 0, strafe = 0, turn = 0;
private double speed = 1;
private boolean last_left_bumper = false;
private boolean last_right_bumper = false;
@Override
public void loop() {
@ -28,8 +30,11 @@ public class DriveTeleOp extends OpMode {
strafe = gamepad1.left_stick_x;
turn = gamepad1.right_trigger - gamepad1.left_trigger;
powerLift = gamepad2.left_stick_y;
if (gamepad1.left_bumper) speed = Math.max(0, speed - 0.01);
if (gamepad1.right_bumper) speed = Math.min(1, speed + 0.01);
if (gamepad1.left_bumper && last_left_bumper != gamepad1.left_bumper) speed = Math.max(0, speed - 0.15);
if (gamepad1.right_bumper && last_right_bumper != gamepad1.right_bumper) speed = Math.min(1, speed + 0.15);
last_left_bumper = gamepad1.left_bumper;
last_right_bumper = gamepad1.right_bumper;
}