From 13a1d2d6c683929fb015bfcef648fbfc21ace0fd Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Thu, 27 Mar 2014 22:55:34 -0400 Subject: [PATCH] Formatted code --- MyRobot.cpp | 506 ++++++++++++++++++++++++++-------------------------- 1 file changed, 253 insertions(+), 253 deletions(-) diff --git a/MyRobot.cpp b/MyRobot.cpp index 76cec1f..2607312 100644 --- a/MyRobot.cpp +++ b/MyRobot.cpp @@ -9,14 +9,14 @@ class RobotDemo : public SimpleRobot { //Declarations{{{ RobotDrive myRobot; - bool collectorExtended, shooting, compressing, allowCompressing; - float upLimit, throttle; - Joystick Rstick, Lstick; - Solenoid collectorSole1, collectorSole2; + bool collectorExtended,shooting,compressing,allowCompressing; + float upLimit,throttle; + Joystick Rstick,Lstick; + Solenoid collectorSole1,collectorSole2; Compressor compressor; - Jaguar Left1, Left2, Left3, Right1, Right2, Right3, RightArmMotor1, RightArmMotor2, LeftArmMotor1, LeftArmMotor2, CollectorMotor1; - AnalogChannel armPot, BallSonicLeft, BallSonicRight, WallSonicLeft, WallSonicRight; - DigitalOutput BallLeft, BallRight, WallLeft, WallRight; + Jaguar Left1,Left2,Left3,Right1,Right2,Right3,RightArmMotor1,RightArmMotor2,LeftArmMotor1,LeftArmMotor2,CollectorMotor1; + AnalogChannel armPot,BallSonicLeft,BallSonicRight,WallSonicLeft,WallSonicRight; + DigitalOutput BallLeft,BallRight,WallLeft,WallRight; //}}} public: RobotDemo(): @@ -36,7 +36,7 @@ public: BallRight(2,4), WallRight(2,5), //Compressor - compressor(2, 5, 1, 1), + compressor(2,5,1,1), //Solenoids collectorSole1(1), collectorSole2(2), @@ -48,38 +48,38 @@ public: Right2(2,2), Right3(2,3), //Shooter Motors - LeftArmMotor1(1, 4), - LeftArmMotor2(1, 5), - RightArmMotor1(2, 4), - RightArmMotor2(2, 5), + LeftArmMotor1(1,4), + LeftArmMotor2(1,5), + RightArmMotor1(2,4), + RightArmMotor2(2,5), //Collector Motor - CollectorMotor1(1, 6), - myRobot(Left1, Left2, Right1, Right2) { - GetWatchdog().SetEnabled(false); - } - //}}} + CollectorMotor1(1,6), + myRobot(Left1,Left2,Right1,Right2){ + GetWatchdog().SetEnabled(false); + } + //}}} //RobotInit{{{ - void RobotInit() { + void RobotInit(){ DashboardSetup(); - upLimit = 130.0; + upLimit=130.0; compressor.Start(); - shooting = false; - compressing = true; - allowCompressing = true; + shooting=false; + compressing=true; + allowCompressing=true; throttle=(-Lstick.GetRawAxis(4)+1)/2; } //}}} //DashboardSetup{{{ - void DashboardSetup() { - SmartDashboard::PutNumber("Throttle", throttle); - SmartDashboard::PutNumber("upLimit", 120.0f); - SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage())); - SmartDashboard::PutNumber("Log Level", 1.0f); + void DashboardSetup(){ + SmartDashboard::PutNumber("Throttle",throttle); + SmartDashboard::PutNumber("upLimit",120.0f); + SmartDashboard::PutNumber("armPot",potToDegrees(armPot.GetAverageVoltage())); + SmartDashboard::PutNumber("Log Level",1.0f); //Ultrasonic - SmartDashboard::PutNumber("Wall Left", voltToDistance(WallSonicLeft.GetAverageVoltage(),true)); - SmartDashboard::PutNumber("Wall Right", voltToDistance(WallSonicRight.GetAverageVoltage(),true)); - SmartDashboard::PutNumber("Ball Left", voltToDistance(BallSonicLeft.GetAverageVoltage())); - SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage())); + SmartDashboard::PutNumber("Wall Left",voltToDistance(WallSonicLeft.GetAverageVoltage(),true)); + SmartDashboard::PutNumber("Wall Right",voltToDistance(WallSonicRight.GetAverageVoltage(),true)); + SmartDashboard::PutNumber("Ball Left",voltToDistance(BallSonicLeft.GetAverageVoltage())); + SmartDashboard::PutNumber("Ball Right",voltToDistance(BallSonicRight.GetAverageVoltage())); //Autonomous values SmartDashboard::PutNumber("AutoSpeed",0.95f); SmartDashboard::PutNumber("Auto Distance",65.0f); @@ -87,17 +87,17 @@ public: SmartDashboard::PutNumber("AutoPower",0.46f); SmartDashboard::PutNumber("AutoCorrection",0.032f); SmartDashboard::PutNumber("Initial Drive Delay",2.0f); - SmartDashboard::PutNumber("Inital Drive Timeout", 4.5f); - SmartDashboard::PutNumber("First Shot Start", 0.5f); - SmartDashboard::PutNumber("First Shot Stop", 1.0f); + SmartDashboard::PutNumber("Inital Drive Timeout",4.5f); + SmartDashboard::PutNumber("First Shot Start",0.5f); + SmartDashboard::PutNumber("First Shot Stop",1.0f); SmartDashboard::PutNumber("Reverse direction start",0.0f); SmartDashboard::PutNumber("Reverse direction stop",2.5f); - SmartDashboard::PutNumber("Second Drive Start", 1.0f); - SmartDashboard::PutNumber("Second Drive Timeout", 2.5f); - SmartDashboard::PutNumber("Second Shot Start", 0.5f); - SmartDashboard::PutNumber("Second Shot Stop", 1.0f); + SmartDashboard::PutNumber("Second Drive Start",1.0f); + SmartDashboard::PutNumber("Second Drive Timeout",2.5f); + SmartDashboard::PutNumber("Second Shot Start",0.5f); + SmartDashboard::PutNumber("Second Shot Stop",1.0f); SmartDashboard::PutNumber("Autonomous step",0.0f); - SmartDashboard::PutNumber("Autonomous sequence", 2.0f); + SmartDashboard::PutNumber("Autonomous sequence",2.0f); //Shooter presets SmartDashboard::PutNumber("ShortRange",0.465f); //Power for the shooter when against the low goal SmartDashboard::PutNumber("ShooterButtonPower10",0.605f); @@ -108,144 +108,144 @@ public: SmartDashboard::PutBoolean("Use Ultrasonic",true); SmartDashboard::PutBoolean("Daniel Mode",false); SmartDashboard::PutBoolean("CollectorState",false); - SmartDashboard::PutBoolean("Compressor Enabled", allowCompressing); - SmartDashboard::PutBoolean("Compressor Running", compressing); + SmartDashboard::PutBoolean("Compressor Enabled",allowCompressing); + SmartDashboard::PutBoolean("Compressor Running",compressing); SmartDashboard::PutBoolean("Ignore Pot",false); //Battery voltage } //}}} //updateDashboard{{{ - void updateDashboard() { - SmartDashboard::PutNumber("Throttle", throttle); - SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage())); - SmartDashboard::PutNumber("Wall Left", voltToDistance(WallSonicLeft.GetAverageVoltage(),true)); - SmartDashboard::PutNumber("Wall Right", voltToDistance(WallSonicRight.GetAverageVoltage(),true)); - SmartDashboard::PutNumber("Ball Left", voltToDistance(BallSonicLeft.GetAverageVoltage())); - SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage())); - SmartDashboard::PutNumber("upLimit", upLimit); - SmartDashboard::PutBoolean("Compressor Running", compressing); - allowCompressing = SmartDashboard::GetBoolean("Compressor Enabled"); - if(upLimit > 167) { - upLimit = 167; + void updateDashboard(){ + SmartDashboard::PutNumber("Throttle",throttle); + SmartDashboard::PutNumber("armPot",potToDegrees(armPot.GetAverageVoltage())); + SmartDashboard::PutNumber("Wall Left",voltToDistance(WallSonicLeft.GetAverageVoltage(),true)); + SmartDashboard::PutNumber("Wall Right",voltToDistance(WallSonicRight.GetAverageVoltage(),true)); + SmartDashboard::PutNumber("Ball Left",voltToDistance(BallSonicLeft.GetAverageVoltage())); + SmartDashboard::PutNumber("Ball Right",voltToDistance(BallSonicRight.GetAverageVoltage())); + SmartDashboard::PutNumber("upLimit",upLimit); + SmartDashboard::PutBoolean("Compressor Running",compressing); + allowCompressing=SmartDashboard::GetBoolean("Compressor Enabled"); + if(upLimit > 167){ + upLimit=167; } } //}}} - //shootRobot{{{ - void shootRobot(float power=0) { - setMotorValue(4, 1, cvt(power)); - setMotorValue(5, 1, cvt(power)); - setMotorValue(4, 2, cvt(-power)); - setMotorValue(5, 2, cvt(-power)); - } + //shootRobot{{{ + void shootRobot(float power=0){ + setMotorValue(4,1,cvt(power)); + setMotorValue(5,1,cvt(power)); + setMotorValue(4,2,cvt(-power)); + setMotorValue(5,2,cvt(-power)); + } //}}} - //driveRobot{{{ - void driveRobot(float x, float y) { - if(y>1.0f) { - y=1.0f; - } else if(y!=0.0f&&y<-1.0f) { - y=-1.0f; - } - int leftPower = ((y+x)/2+1)*127+1; - int rightPower = ((y-x)/2+1)*127+1; - setMotorValue(1, 1, leftPower); - setMotorValue(2, 1, leftPower); - setMotorValue(3, 1, leftPower); - setMotorValue(1, 2, rightPower); - setMotorValue(2, 2, rightPower); - setMotorValue(3, 2, rightPower); + //driveRobot{{{ + void driveRobot(float x,float y){ + if(y>1.0f){ + y=1.0f; + }else if(y!=0.0f&&y<-1.0f){ + y=-1.0f; } + int leftPower=((y+x)/2+1)*127+1; + int rightPower=((y-x)/2+1)*127+1; + setMotorValue(1,1,leftPower); + setMotorValue(2,1,leftPower); + setMotorValue(3,1,leftPower); + setMotorValue(1,2,rightPower); + setMotorValue(2,2,rightPower); + setMotorValue(3,2,rightPower); + } //}}} //voltToDistance{{{ - float voltToDistance(float a,bool wall=false) { - if(wall) { - return (a / 0.00488f) / 2.54f; - } else { - return (a / 0.000976562f) / 25.4f; + float voltToDistance(float a,bool wall=false){ + if(wall){ + return (a/0.00488f)/2.54f; + }else{ + return (a/0.000976562f)/25.4f; } } //}}} //potToDegrees{{{ //TODO: Test this! - float potToDegrees(float a) { - float max = -.0003948; - float min = 5.0245547; + float potToDegrees(float a){ + float max=-.0003948; + float min=5.0245547; return 300-(a*(300/(min-max))); } //}}} //cvt{{{ - int cvt(float input) { + int cvt(float input){ return input * 127.0f + 128; } //}}} //setMotorValue{{{ - void setMotorValue(int motor, int subwayStation = 1, int value = 127) { - if(subwayStation == 1) { + void setMotorValue(int motor,int subwayStation=1,int value=127){ + if(subwayStation == 1){ //subwayStation1{{{ - switch(motor) { - case 1: - Left1.SetRaw(value); - break; - case 2: - Left2.SetRaw(value); - break; - case 3: - Left3.SetRaw(value); - break; - case 4: - LeftArmMotor1.SetRaw(value); - break; - case 5: - LeftArmMotor2.SetRaw(value); - break; - case 6: - CollectorMotor1.SetRaw(value); - break; - case 7: - break; - case 8: - break; - case 9: - break; - case 10: - break; + switch(motor){ + case 1: + Left1.SetRaw(value); + break; + case 2: + Left2.SetRaw(value); + break; + case 3: + Left3.SetRaw(value); + break; + case 4: + LeftArmMotor1.SetRaw(value); + break; + case 5: + LeftArmMotor2.SetRaw(value); + break; + case 6: + CollectorMotor1.SetRaw(value); + break; + case 7: + break; + case 8: + break; + case 9: + break; + case 10: + break; } //}}} - } else if(subwayStation == 2) { + }else if(subwayStation == 2){ //subwayStation2{{{ - switch(motor) { - //Shooter motors - case 1: - Right1.SetRaw(value); - break; - case 2: - Right2.SetRaw(value); - break; - case 3: - Right3.SetRaw(value); - break; - case 4: - RightArmMotor1.SetRaw(value); - break; - case 5: - RightArmMotor2.SetRaw(value); - break; - case 6: - break; - case 7: - break; - case 8: - break; - case 9: - break; - case 10: - break; + switch(motor){ + //Shooter motors + case 1: + Right1.SetRaw(value); + break; + case 2: + Right2.SetRaw(value); + break; + case 3: + Right3.SetRaw(value); + break; + case 4: + RightArmMotor1.SetRaw(value); + break; + case 5: + RightArmMotor2.SetRaw(value); + break; + case 6: + break; + case 7: + break; + case 8: + break; + case 9: + break; + case 10: + break; } //}}} } } //}}} //Autonomous{{{ - void Autonomous() { + void Autonomous(){ //Initializations{{{ myRobot.SetSafetyEnabled(false); int i=0; @@ -262,58 +262,10 @@ public: BallRight.Set(0); SmartDashboard::PutBoolean("CollectorState",true); //}}} - while(IsEnabled()&&IsAutonomous()) { + while(IsEnabled()&&IsAutonomous()){ switch (SmartDashboard::GetNumber("Autonomous Sequence")){ //Autonomous0{{{ - case 0: - //Drive{{{ - if(currentStep==0){ - if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){ - driveRobot(-1.0f,correction); - }else{ - driveRobot(0.0f,0.0f); - } - if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){ - driveRobot(0.0f,0.0f); - currentStep++; - c=0; - } - } - //}}} - //Shoot{{{ - if(currentStep==1&&c>SmartDashboard::GetNumber("First Shot Start")*200){ - if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){ - shootRobot(power); - }else{ - shootRobot(0.0f); - } - setMotorValue(6, 1, 1); - if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){ - shootRobot(0.0f); - setMotorValue(6, 1, 0); - currentStep++; - c=0; - } - } - //}}} - //Lower Shooter{{{ - if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){ - if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){ - shootRobot(-0.3f); - }else{ - shootRobot(0.0f); - } - if(c==(3.0f)*200){ - shootRobot(0.0f); - currentStep++; - c=0; - } - } - //}}} - break; - //}}} - //Autonomous1{{{ - case 1: + case 0: //Drive{{{ if(currentStep==0){ if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){ @@ -335,10 +287,58 @@ public: }else{ shootRobot(0.0f); } - setMotorValue(6, 1, 1); + setMotorValue(6,1,1); if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){ shootRobot(0.0f); - setMotorValue(6, 1, 0); + setMotorValue(6,1,0); + currentStep++; + c=0; + } + } + //}}} + //Lower Shooter{{{ + if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){ + if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){ + shootRobot(-0.3f); + }else{ + shootRobot(0.0f); + } + if(c==(3.0f)*200){ + shootRobot(0.0f); + currentStep++; + c=0; + } + } + //}}} + break; + //}}} + //Autonomous1{{{ + case 1: + //Drive{{{ + if(currentStep==0){ + if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){ + driveRobot(-1.0f,correction); + }else{ + driveRobot(0.0f,0.0f); + } + if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){ + driveRobot(0.0f,0.0f); + currentStep++; + c=0; + } + } + //}}} + //Shoot{{{ + if(currentStep==1&&c>SmartDashboard::GetNumber("First Shot Start")*200){ + if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){ + shootRobot(power); + }else{ + shootRobot(0.0f); + } + setMotorValue(6,1,1); + if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){ + shootRobot(0.0f); + setMotorValue(6,1,0); currentStep++; c=0; } @@ -381,29 +381,29 @@ public: }else{ shootRobot(0.0f); } - setMotorValue(6, 1, 1); + setMotorValue(6,1,1); if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){ shootRobot(0.0f); - setMotorValue(6, 1, 0); + setMotorValue(6,1,0); currentStep++; c=0; } } //}}} - break; + break; //}}} //Autonomous2{{{ - case 2: + case 2: //Drive{{{ if(currentStep==0&&c>SmartDashboard::GetNumber("Initial Drive Delay")*200){ - setMotorValue(6, 1, SmartDashboard::GetNumber("Collector Speed")); + setMotorValue(6,1,SmartDashboard::GetNumber("Collector Speed")); if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){ driveRobot(-1*(SmartDashboard::GetNumber("AutoSpeed")),correction); }else{ driveRobot(0.0f,0.0f); } if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){ - setMotorValue(6, 1, 0); + setMotorValue(6,1,0); driveRobot(0.0f,0.0f); currentStep++; c=0; @@ -412,7 +412,7 @@ public: //}}} //Release Ball{{{ if(currentStep==1){ - setMotorValue(6, 1, 102); + setMotorValue(6,1,102); if(c==50){ currentStep++; c=0; @@ -428,7 +428,7 @@ public: } if(c==SmartDashboard::GetNumber("First Shot Stop")*200){ shootRobot(0.0f); - setMotorValue(6, 1, 0); + setMotorValue(6,1,0); currentStep++; c=0; } @@ -450,9 +450,9 @@ public: //}}} //Collect Ball{{{ if(currentStep==4&&c>SmartDashboard::GetNumber("Second Shot Start")){ - setMotorValue(6, 1, 1); + setMotorValue(6,1,1); if(c==SmartDashboard::GetNumber("Second Shot Stop")*200){ - setMotorValue(6, 1, 0); + setMotorValue(6,1,0); currentStep++; c=0; } @@ -465,9 +465,9 @@ public: }else{ shootRobot(0.0f); } - setMotorValue(6, 1, 1); + setMotorValue(6,1,1); if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){ - setMotorValue(6, 1, 0); + setMotorValue(6,1,0); shootRobot(0.0f); currentStep++; c=0; @@ -477,47 +477,47 @@ public: break; //}}} } - SmartDashboard::PutNumber("Autonomous step", currentStep); + SmartDashboard::PutNumber("Autonomous step",currentStep); updateDashboard(); //Compressor{{{ - if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) { + if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1){ compressor.Stop(); - compressing = false; + compressing=false; } - if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0) { + if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0){ compressor.Start(); - compressing = true; + compressing=true; } //}}} i++; c++; Wait(0.005f); } - compressing = false; + compressing=false; compressor.Stop(); } //}}} //Teleop{{{ - void OperatorControl() { + void OperatorControl(){ //Initializations{{{ myRobot.SetSafetyEnabled(false); - int i = 0; + int i=0; collectorSole1.Set(true); collectorSole2.Set(false); - compressing = false; + compressing=false; SmartDashboard::PutBoolean("CollectorState",false); //}}} - while(IsEnabled() && IsOperatorControl()) { + while(IsEnabled() && IsOperatorControl()){ //Joystick{{{ //Throttle values{{{ if(Lstick.GetRawButton(9)==1){ - throttle = (-Lstick.GetRawAxis(4)+1)/2; + throttle=(-Lstick.GetRawAxis(4)+1)/2; }else if(Lstick.GetRawButton(10)){ - throttle = SmartDashboard::GetNumber("ShooterButtonPower10"); + throttle=SmartDashboard::GetNumber("ShooterButtonPower10"); }else if(Lstick.GetRawButton(7)){ - throttle = SmartDashboard::GetNumber("ShooterButtonPower7"); + throttle=SmartDashboard::GetNumber("ShooterButtonPower7"); }else if(Lstick.GetRawButton(8)){ - throttle = SmartDashboard::GetNumber("ShooterButtonPower8"); + throttle=SmartDashboard::GetNumber("ShooterButtonPower8"); } //}}} //Shooter upLimit{{{ @@ -534,60 +534,60 @@ public: upLimit=130.0f; } //}}} - if(Lstick.GetRawButton(1)==1) { + if(Lstick.GetRawButton(1)==1){ //Shoot{{{ - shooting = true; + shooting=true; shootRobot(throttle); - setMotorValue(6, 1, 1); - if(collectorExtended == false) { - shooting = false; + setMotorValue(6,1,1); + if(collectorExtended == false){ + shooting=false; } - if(collectorExtended == true&&(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage()))) { - shooting = true; + if(collectorExtended == true&&(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage()))){ + shooting=true; shootRobot(throttle); - setMotorValue(6, 1, 1); + setMotorValue(6,1,1); }else{ - shooting = false; + shooting=false; shootRobot(0.0f); - setMotorValue(6, 1, 0); + setMotorValue(6,1,0); } //}}} - } else if(Lstick.GetRawButton(2)==1) { + }else if(Lstick.GetRawButton(2)==1){ //Lower Shooter{{{ - shooting = false; + shooting=false; shootRobot(-0.1f); - if(collectorExtended == true) { + if(collectorExtended == true){ shootRobot(-0.1f); } //}}} - } else { + }else{ //Stop Shooting{{{ - shooting = false; + shooting=false; shootRobot(0); //}}} } - if(Rstick.GetRawButton(9)==1) { + if(Rstick.GetRawButton(9)==1){ //Extend Collector{{{ SmartDashboard::PutBoolean("CollectorState",true); - collectorExtended = true; + collectorExtended=true; collectorSole1.Set(false); collectorSole2.Set(true); //}}} - } else if(Rstick.GetRawButton(10)==1) { + }else if(Rstick.GetRawButton(10)==1){ //Retract Collector{{{ SmartDashboard::PutBoolean("CollectorState",false); - collectorExtended = false; + collectorExtended=false; collectorSole1.Set(true); collectorSole2.Set(false); //}}} } //Collector Motor{{{ - if(Lstick.GetRawButton(11)==1) { - setMotorValue(6, 1, 1); - } else if(Lstick.GetRawButton(12)==1) { - setMotorValue(6, 1, 255); - } else if(!shooting) { - setMotorValue(6, 1, 0); + if(Lstick.GetRawButton(11)==1){ + setMotorValue(6,1,1); + }else if(Lstick.GetRawButton(12)==1){ + setMotorValue(6,1,255); + }else if(!shooting){ + setMotorValue(6,1,0); } //}}} //}}} @@ -599,22 +599,22 @@ public: driveRobot(0.0f,0.0f); } }else{ - if(SmartDashboard::GetBoolean("Daniel Mode")) { + if(SmartDashboard::GetBoolean("Daniel Mode")){ driveRobot(-Rstick.GetY(),Rstick.GetZ()+Rstick.GetX()); - } else { + }else{ driveRobot(Rstick.GetY(),Rstick.GetZ()+Rstick.GetX()); } } //}}} //Compressor{{{ if(SmartDashboard::GetBoolean("Compressor Enabled")){ - if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) { + if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1){ compressor.Stop(); - compressing = false; + compressing=false; } - if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0) { + if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0){ compressor.Start(); - compressing = true; + compressing=true; } } //}}} @@ -622,12 +622,12 @@ public: i++; Wait(0.005f); } - compressing = false; + compressing=false; compressor.Stop(); } //}}} //Test{{{ - void Test() { + void Test(){ } //}}} };