From 6c4eb48e857f619d5e1b6d8d560dd4d8930bd411 Mon Sep 17 00:00:00 2001
From: mahin <mahinwaghray@gmail.com>
Date: Mon, 22 Jan 2024 20:11:38 -0500
Subject: [PATCH] Turned Turbo into Slow Mode and square with sign

---
 .../BehaviorTrees/Actions/DriveFieldRelative.java        | 9 ++++++---
 .../ftc16072/BehaviorTrees/Trees/TeleopTree.java         | 3 +--
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/DriveFieldRelative.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/DriveFieldRelative.java
index 95eb4f0..001eda3 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/DriveFieldRelative.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/DriveFieldRelative.java
@@ -4,12 +4,15 @@
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class DriveFieldRelative extends Node {
+   private double squareWithSign(double number){
+       return number * number * Math.signum(number);
+   }
 
     @Override
     public State tick(QQOpMode opmode) {
-        opmode.robot.nav.fieldRelative(-opmode.gamepad1.left_stick_y,
-                opmode.gamepad1.left_stick_x,
-                opmode.gamepad1.right_stick_x);
+        opmode.robot.nav.fieldRelative(squareWithSign(-opmode.gamepad1.left_stick_y),
+                squareWithSign(opmode.gamepad1.left_stick_x),
+                squareWithSign(opmode.gamepad1.right_stick_x));
         return State.RUNNING;
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/TeleopTree.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/TeleopTree.java
index d28536f..f1c521d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/TeleopTree.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/TeleopTree.java
@@ -1,7 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trees;
 
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.DriveFieldRelative;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.MakeFastDrive;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.MakeNormalDrive;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.MakeSlowDrive;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.MoveArmAndLift;
@@ -93,7 +92,7 @@ public static Node root(){
                             new AreSlidesExtended(),
                             new Sequence(
                                     new IfLeftTriggerPressed(),
-                                    new MakeFastDrive()
+                                    new MakeSlowDrive()
                             ),
                             new MakeNormalDrive()
                     )