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This commit is contained in:
Austen Adler 2014-03-27 22:55:34 -04:00
parent 4fe2261a99
commit 13a1d2d6c6
1 changed files with 253 additions and 253 deletions
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286
MyRobot.cpp
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@ -9,14 +9,14 @@ class RobotDemo : public SimpleRobot
{ {
//Declarations{{{ //Declarations{{{
RobotDrive myRobot; RobotDrive myRobot;
bool collectorExtended, shooting, compressing, allowCompressing; bool collectorExtended,shooting,compressing,allowCompressing;
float upLimit, throttle; float upLimit,throttle;
Joystick Rstick, Lstick; Joystick Rstick,Lstick;
Solenoid collectorSole1, collectorSole2; Solenoid collectorSole1,collectorSole2;
Compressor compressor; Compressor compressor;
Jaguar Left1, Left2, Left3, Right1, Right2, Right3, RightArmMotor1, RightArmMotor2, LeftArmMotor1, LeftArmMotor2, CollectorMotor1; Jaguar Left1,Left2,Left3,Right1,Right2,Right3,RightArmMotor1,RightArmMotor2,LeftArmMotor1,LeftArmMotor2,CollectorMotor1;
AnalogChannel armPot, BallSonicLeft, BallSonicRight, WallSonicLeft, WallSonicRight; AnalogChannel armPot,BallSonicLeft,BallSonicRight,WallSonicLeft,WallSonicRight;
DigitalOutput BallLeft, BallRight, WallLeft, WallRight; DigitalOutput BallLeft,BallRight,WallLeft,WallRight;
//}}} //}}}
public: public:
RobotDemo(): RobotDemo():
@ -36,7 +36,7 @@ public:
BallRight(2,4), BallRight(2,4),
WallRight(2,5), WallRight(2,5),
//Compressor //Compressor
compressor(2, 5, 1, 1), compressor(2,5,1,1),
//Solenoids //Solenoids
collectorSole1(1), collectorSole1(1),
collectorSole2(2), collectorSole2(2),
@ -48,38 +48,38 @@ public:
Right2(2,2), Right2(2,2),
Right3(2,3), Right3(2,3),
//Shooter Motors //Shooter Motors
LeftArmMotor1(1, 4), LeftArmMotor1(1,4),
LeftArmMotor2(1, 5), LeftArmMotor2(1,5),
RightArmMotor1(2, 4), RightArmMotor1(2,4),
RightArmMotor2(2, 5), RightArmMotor2(2,5),
//Collector Motor //Collector Motor
CollectorMotor1(1, 6), CollectorMotor1(1,6),
myRobot(Left1, Left2, Right1, Right2) { myRobot(Left1,Left2,Right1,Right2){
GetWatchdog().SetEnabled(false); GetWatchdog().SetEnabled(false);
} }
//}}} //}}}
//RobotInit{{{ //RobotInit{{{
void RobotInit() { void RobotInit(){
DashboardSetup(); DashboardSetup();
upLimit = 130.0; upLimit=130.0;
compressor.Start(); compressor.Start();
shooting = false; shooting=false;
compressing = true; compressing=true;
allowCompressing = true; allowCompressing=true;
throttle=(-Lstick.GetRawAxis(4)+1)/2; throttle=(-Lstick.GetRawAxis(4)+1)/2;
} }
//}}} //}}}
//DashboardSetup{{{ //DashboardSetup{{{
void DashboardSetup() { void DashboardSetup(){
SmartDashboard::PutNumber("Throttle", throttle); SmartDashboard::PutNumber("Throttle",throttle);
SmartDashboard::PutNumber("upLimit", 120.0f); SmartDashboard::PutNumber("upLimit",120.0f);
SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage())); SmartDashboard::PutNumber("armPot",potToDegrees(armPot.GetAverageVoltage()));
SmartDashboard::PutNumber("Log Level", 1.0f); SmartDashboard::PutNumber("Log Level",1.0f);
//Ultrasonic //Ultrasonic
SmartDashboard::PutNumber("Wall Left", voltToDistance(WallSonicLeft.GetAverageVoltage(),true)); SmartDashboard::PutNumber("Wall Left",voltToDistance(WallSonicLeft.GetAverageVoltage(),true));
SmartDashboard::PutNumber("Wall Right", voltToDistance(WallSonicRight.GetAverageVoltage(),true)); SmartDashboard::PutNumber("Wall Right",voltToDistance(WallSonicRight.GetAverageVoltage(),true));
SmartDashboard::PutNumber("Ball Left", voltToDistance(BallSonicLeft.GetAverageVoltage())); SmartDashboard::PutNumber("Ball Left",voltToDistance(BallSonicLeft.GetAverageVoltage()));
SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage())); SmartDashboard::PutNumber("Ball Right",voltToDistance(BallSonicRight.GetAverageVoltage()));
//Autonomous values //Autonomous values
SmartDashboard::PutNumber("AutoSpeed",0.95f); SmartDashboard::PutNumber("AutoSpeed",0.95f);
SmartDashboard::PutNumber("Auto Distance",65.0f); SmartDashboard::PutNumber("Auto Distance",65.0f);
@ -87,17 +87,17 @@ public:
SmartDashboard::PutNumber("AutoPower",0.46f); SmartDashboard::PutNumber("AutoPower",0.46f);
SmartDashboard::PutNumber("AutoCorrection",0.032f); SmartDashboard::PutNumber("AutoCorrection",0.032f);
SmartDashboard::PutNumber("Initial Drive Delay",2.0f); SmartDashboard::PutNumber("Initial Drive Delay",2.0f);
SmartDashboard::PutNumber("Inital Drive Timeout", 4.5f); SmartDashboard::PutNumber("Inital Drive Timeout",4.5f);
SmartDashboard::PutNumber("First Shot Start", 0.5f); SmartDashboard::PutNumber("First Shot Start",0.5f);
SmartDashboard::PutNumber("First Shot Stop", 1.0f); SmartDashboard::PutNumber("First Shot Stop",1.0f);
SmartDashboard::PutNumber("Reverse direction start",0.0f); SmartDashboard::PutNumber("Reverse direction start",0.0f);
SmartDashboard::PutNumber("Reverse direction stop",2.5f); SmartDashboard::PutNumber("Reverse direction stop",2.5f);
SmartDashboard::PutNumber("Second Drive Start", 1.0f); SmartDashboard::PutNumber("Second Drive Start",1.0f);
SmartDashboard::PutNumber("Second Drive Timeout", 2.5f); SmartDashboard::PutNumber("Second Drive Timeout",2.5f);
SmartDashboard::PutNumber("Second Shot Start", 0.5f); SmartDashboard::PutNumber("Second Shot Start",0.5f);
SmartDashboard::PutNumber("Second Shot Stop", 1.0f); SmartDashboard::PutNumber("Second Shot Stop",1.0f);
SmartDashboard::PutNumber("Autonomous step",0.0f); SmartDashboard::PutNumber("Autonomous step",0.0f);
SmartDashboard::PutNumber("Autonomous sequence", 2.0f); SmartDashboard::PutNumber("Autonomous sequence",2.0f);
//Shooter presets //Shooter presets
SmartDashboard::PutNumber("ShortRange",0.465f); //Power for the shooter when against the low goal SmartDashboard::PutNumber("ShortRange",0.465f); //Power for the shooter when against the low goal
SmartDashboard::PutNumber("ShooterButtonPower10",0.605f); SmartDashboard::PutNumber("ShooterButtonPower10",0.605f);
@ -108,80 +108,80 @@ public:
SmartDashboard::PutBoolean("Use Ultrasonic",true); SmartDashboard::PutBoolean("Use Ultrasonic",true);
SmartDashboard::PutBoolean("Daniel Mode",false); SmartDashboard::PutBoolean("Daniel Mode",false);
SmartDashboard::PutBoolean("CollectorState",false); SmartDashboard::PutBoolean("CollectorState",false);
SmartDashboard::PutBoolean("Compressor Enabled", allowCompressing); SmartDashboard::PutBoolean("Compressor Enabled",allowCompressing);
SmartDashboard::PutBoolean("Compressor Running", compressing); SmartDashboard::PutBoolean("Compressor Running",compressing);
SmartDashboard::PutBoolean("Ignore Pot",false); SmartDashboard::PutBoolean("Ignore Pot",false);
//Battery voltage //Battery voltage
} }
//}}} //}}}
//updateDashboard{{{ //updateDashboard{{{
void updateDashboard() { void updateDashboard(){
SmartDashboard::PutNumber("Throttle", throttle); SmartDashboard::PutNumber("Throttle",throttle);
SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage())); SmartDashboard::PutNumber("armPot",potToDegrees(armPot.GetAverageVoltage()));
SmartDashboard::PutNumber("Wall Left", voltToDistance(WallSonicLeft.GetAverageVoltage(),true)); SmartDashboard::PutNumber("Wall Left",voltToDistance(WallSonicLeft.GetAverageVoltage(),true));
SmartDashboard::PutNumber("Wall Right", voltToDistance(WallSonicRight.GetAverageVoltage(),true)); SmartDashboard::PutNumber("Wall Right",voltToDistance(WallSonicRight.GetAverageVoltage(),true));
SmartDashboard::PutNumber("Ball Left", voltToDistance(BallSonicLeft.GetAverageVoltage())); SmartDashboard::PutNumber("Ball Left",voltToDistance(BallSonicLeft.GetAverageVoltage()));
SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage())); SmartDashboard::PutNumber("Ball Right",voltToDistance(BallSonicRight.GetAverageVoltage()));
SmartDashboard::PutNumber("upLimit", upLimit); SmartDashboard::PutNumber("upLimit",upLimit);
SmartDashboard::PutBoolean("Compressor Running", compressing); SmartDashboard::PutBoolean("Compressor Running",compressing);
allowCompressing = SmartDashboard::GetBoolean("Compressor Enabled"); allowCompressing=SmartDashboard::GetBoolean("Compressor Enabled");
if(upLimit > 167) { if(upLimit > 167){
upLimit = 167; upLimit=167;
} }
} }
//}}} //}}}
//shootRobot{{{ //shootRobot{{{
void shootRobot(float power=0) { void shootRobot(float power=0){
setMotorValue(4, 1, cvt(power)); setMotorValue(4,1,cvt(power));
setMotorValue(5, 1, cvt(power)); setMotorValue(5,1,cvt(power));
setMotorValue(4, 2, cvt(-power)); setMotorValue(4,2,cvt(-power));
setMotorValue(5, 2, cvt(-power)); setMotorValue(5,2,cvt(-power));
} }
//}}} //}}}
//driveRobot{{{ //driveRobot{{{
void driveRobot(float x, float y) { void driveRobot(float x,float y){
if(y>1.0f) { if(y>1.0f){
y=1.0f; y=1.0f;
} else if(y!=0.0f&&y<-1.0f) { }else if(y!=0.0f&&y<-1.0f){
y=-1.0f; y=-1.0f;
} }
int leftPower = ((y+x)/2+1)*127+1; int leftPower=((y+x)/2+1)*127+1;
int rightPower = ((y-x)/2+1)*127+1; int rightPower=((y-x)/2+1)*127+1;
setMotorValue(1, 1, leftPower); setMotorValue(1,1,leftPower);
setMotorValue(2, 1, leftPower); setMotorValue(2,1,leftPower);
setMotorValue(3, 1, leftPower); setMotorValue(3,1,leftPower);
setMotorValue(1, 2, rightPower); setMotorValue(1,2,rightPower);
setMotorValue(2, 2, rightPower); setMotorValue(2,2,rightPower);
setMotorValue(3, 2, rightPower); setMotorValue(3,2,rightPower);
} }
//}}} //}}}
//voltToDistance{{{ //voltToDistance{{{
float voltToDistance(float a,bool wall=false) { float voltToDistance(float a,bool wall=false){
if(wall) { if(wall){
return (a / 0.00488f) / 2.54f; return (a/0.00488f)/2.54f;
} else { }else{
return (a / 0.000976562f) / 25.4f; return (a/0.000976562f)/25.4f;
} }
} }
//}}} //}}}
//potToDegrees{{{ //potToDegrees{{{
//TODO: Test this! //TODO: Test this!
float potToDegrees(float a) { float potToDegrees(float a){
float max = -.0003948; float max=-.0003948;
float min = 5.0245547; float min=5.0245547;
return 300-(a*(300/(min-max))); return 300-(a*(300/(min-max)));
} }
//}}} //}}}
//cvt{{{ //cvt{{{
int cvt(float input) { int cvt(float input){
return input * 127.0f + 128; return input * 127.0f + 128;
} }
//}}} //}}}
//setMotorValue{{{ //setMotorValue{{{
void setMotorValue(int motor, int subwayStation = 1, int value = 127) { void setMotorValue(int motor,int subwayStation=1,int value=127){
if(subwayStation == 1) { if(subwayStation == 1){
//subwayStation1{{{ //subwayStation1{{{
switch(motor) { switch(motor){
case 1: case 1:
Left1.SetRaw(value); Left1.SetRaw(value);
break; break;
@ -210,9 +210,9 @@ public:
break; break;
} }
//}}} //}}}
} else if(subwayStation == 2) { }else if(subwayStation == 2){
//subwayStation2{{{ //subwayStation2{{{
switch(motor) { switch(motor){
//Shooter motors //Shooter motors
case 1: case 1:
Right1.SetRaw(value); Right1.SetRaw(value);
@ -245,7 +245,7 @@ public:
} }
//}}} //}}}
//Autonomous{{{ //Autonomous{{{
void Autonomous() { void Autonomous(){
//Initializations{{{ //Initializations{{{
myRobot.SetSafetyEnabled(false); myRobot.SetSafetyEnabled(false);
int i=0; int i=0;
@ -262,7 +262,7 @@ public:
BallRight.Set(0); BallRight.Set(0);
SmartDashboard::PutBoolean("CollectorState",true); SmartDashboard::PutBoolean("CollectorState",true);
//}}} //}}}
while(IsEnabled()&&IsAutonomous()) { while(IsEnabled()&&IsAutonomous()){
switch (SmartDashboard::GetNumber("Autonomous Sequence")){ switch (SmartDashboard::GetNumber("Autonomous Sequence")){
//Autonomous0{{{ //Autonomous0{{{
case 0: case 0:
@ -287,10 +287,10 @@ public:
}else{ }else{
shootRobot(0.0f); shootRobot(0.0f);
} }
setMotorValue(6, 1, 1); setMotorValue(6,1,1);
if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){ if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
shootRobot(0.0f); shootRobot(0.0f);
setMotorValue(6, 1, 0); setMotorValue(6,1,0);
currentStep++; currentStep++;
c=0; c=0;
} }
@ -335,10 +335,10 @@ public:
}else{ }else{
shootRobot(0.0f); shootRobot(0.0f);
} }
setMotorValue(6, 1, 1); setMotorValue(6,1,1);
if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){ if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
shootRobot(0.0f); shootRobot(0.0f);
setMotorValue(6, 1, 0); setMotorValue(6,1,0);
currentStep++; currentStep++;
c=0; c=0;
} }
@ -381,10 +381,10 @@ public:
}else{ }else{
shootRobot(0.0f); shootRobot(0.0f);
} }
setMotorValue(6, 1, 1); setMotorValue(6,1,1);
if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){ if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
shootRobot(0.0f); shootRobot(0.0f);
setMotorValue(6, 1, 0); setMotorValue(6,1,0);
currentStep++; currentStep++;
c=0; c=0;
} }
@ -396,14 +396,14 @@ public:
case 2: case 2:
//Drive{{{ //Drive{{{
if(currentStep==0&&c>SmartDashboard::GetNumber("Initial Drive Delay")*200){ 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")){ if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
driveRobot(-1*(SmartDashboard::GetNumber("AutoSpeed")),correction); driveRobot(-1*(SmartDashboard::GetNumber("AutoSpeed")),correction);
}else{ }else{
driveRobot(0.0f,0.0f); driveRobot(0.0f,0.0f);
} }
if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){ if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
setMotorValue(6, 1, 0); setMotorValue(6,1,0);
driveRobot(0.0f,0.0f); driveRobot(0.0f,0.0f);
currentStep++; currentStep++;
c=0; c=0;
@ -412,7 +412,7 @@ public:
//}}} //}}}
//Release Ball{{{ //Release Ball{{{
if(currentStep==1){ if(currentStep==1){
setMotorValue(6, 1, 102); setMotorValue(6,1,102);
if(c==50){ if(c==50){
currentStep++; currentStep++;
c=0; c=0;
@ -428,7 +428,7 @@ public:
} }
if(c==SmartDashboard::GetNumber("First Shot Stop")*200){ if(c==SmartDashboard::GetNumber("First Shot Stop")*200){
shootRobot(0.0f); shootRobot(0.0f);
setMotorValue(6, 1, 0); setMotorValue(6,1,0);
currentStep++; currentStep++;
c=0; c=0;
} }
@ -450,9 +450,9 @@ public:
//}}} //}}}
//Collect Ball{{{ //Collect Ball{{{
if(currentStep==4&&c>SmartDashboard::GetNumber("Second Shot Start")){ 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){ if(c==SmartDashboard::GetNumber("Second Shot Stop")*200){
setMotorValue(6, 1, 0); setMotorValue(6,1,0);
currentStep++; currentStep++;
c=0; c=0;
} }
@ -465,9 +465,9 @@ public:
}else{ }else{
shootRobot(0.0f); shootRobot(0.0f);
} }
setMotorValue(6, 1, 1); setMotorValue(6,1,1);
if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){ if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
setMotorValue(6, 1, 0); setMotorValue(6,1,0);
shootRobot(0.0f); shootRobot(0.0f);
currentStep++; currentStep++;
c=0; c=0;
@ -477,47 +477,47 @@ public:
break; break;
//}}} //}}}
} }
SmartDashboard::PutNumber("Autonomous step", currentStep); SmartDashboard::PutNumber("Autonomous step",currentStep);
updateDashboard(); updateDashboard();
//Compressor{{{ //Compressor{{{
if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) { if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1){
compressor.Stop(); compressor.Stop();
compressing = false; compressing=false;
} }
if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0) { if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0){
compressor.Start(); compressor.Start();
compressing = true; compressing=true;
} }
//}}} //}}}
i++; i++;
c++; c++;
Wait(0.005f); Wait(0.005f);
} }
compressing = false; compressing=false;
compressor.Stop(); compressor.Stop();
} }
//}}} //}}}
//Teleop{{{ //Teleop{{{
void OperatorControl() { void OperatorControl(){
//Initializations{{{ //Initializations{{{
myRobot.SetSafetyEnabled(false); myRobot.SetSafetyEnabled(false);
int i = 0; int i=0;
collectorSole1.Set(true); collectorSole1.Set(true);
collectorSole2.Set(false); collectorSole2.Set(false);
compressing = false; compressing=false;
SmartDashboard::PutBoolean("CollectorState",false); SmartDashboard::PutBoolean("CollectorState",false);
//}}} //}}}
while(IsEnabled() && IsOperatorControl()) { while(IsEnabled() && IsOperatorControl()){
//Joystick{{{ //Joystick{{{
//Throttle values{{{ //Throttle values{{{
if(Lstick.GetRawButton(9)==1){ if(Lstick.GetRawButton(9)==1){
throttle = (-Lstick.GetRawAxis(4)+1)/2; throttle=(-Lstick.GetRawAxis(4)+1)/2;
}else if(Lstick.GetRawButton(10)){ }else if(Lstick.GetRawButton(10)){
throttle = SmartDashboard::GetNumber("ShooterButtonPower10"); throttle=SmartDashboard::GetNumber("ShooterButtonPower10");
}else if(Lstick.GetRawButton(7)){ }else if(Lstick.GetRawButton(7)){
throttle = SmartDashboard::GetNumber("ShooterButtonPower7"); throttle=SmartDashboard::GetNumber("ShooterButtonPower7");
}else if(Lstick.GetRawButton(8)){ }else if(Lstick.GetRawButton(8)){
throttle = SmartDashboard::GetNumber("ShooterButtonPower8"); throttle=SmartDashboard::GetNumber("ShooterButtonPower8");
} }
//}}} //}}}
//Shooter upLimit{{{ //Shooter upLimit{{{
@ -534,60 +534,60 @@ public:
upLimit=130.0f; upLimit=130.0f;
} }
//}}} //}}}
if(Lstick.GetRawButton(1)==1) { if(Lstick.GetRawButton(1)==1){
//Shoot{{{ //Shoot{{{
shooting = true; shooting=true;
shootRobot(throttle); shootRobot(throttle);
setMotorValue(6, 1, 1); setMotorValue(6,1,1);
if(collectorExtended == false) { if(collectorExtended == false){
shooting = false; shooting=false;
} }
if(collectorExtended == true&&(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage()))) { if(collectorExtended == true&&(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage()))){
shooting = true; shooting=true;
shootRobot(throttle); shootRobot(throttle);
setMotorValue(6, 1, 1); setMotorValue(6,1,1);
}else{ }else{
shooting = false; shooting=false;
shootRobot(0.0f); 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{{{ //Lower Shooter{{{
shooting = false; shooting=false;
shootRobot(-0.1f); shootRobot(-0.1f);
if(collectorExtended == true) { if(collectorExtended == true){
shootRobot(-0.1f); shootRobot(-0.1f);
} }
//}}} //}}}
} else { }else{
//Stop Shooting{{{ //Stop Shooting{{{
shooting = false; shooting=false;
shootRobot(0); shootRobot(0);
//}}} //}}}
} }
if(Rstick.GetRawButton(9)==1) { if(Rstick.GetRawButton(9)==1){
//Extend Collector{{{ //Extend Collector{{{
SmartDashboard::PutBoolean("CollectorState",true); SmartDashboard::PutBoolean("CollectorState",true);
collectorExtended = true; collectorExtended=true;
collectorSole1.Set(false); collectorSole1.Set(false);
collectorSole2.Set(true); collectorSole2.Set(true);
//}}} //}}}
} else if(Rstick.GetRawButton(10)==1) { }else if(Rstick.GetRawButton(10)==1){
//Retract Collector{{{ //Retract Collector{{{
SmartDashboard::PutBoolean("CollectorState",false); SmartDashboard::PutBoolean("CollectorState",false);
collectorExtended = false; collectorExtended=false;
collectorSole1.Set(true); collectorSole1.Set(true);
collectorSole2.Set(false); collectorSole2.Set(false);
//}}} //}}}
} }
//Collector Motor{{{ //Collector Motor{{{
if(Lstick.GetRawButton(11)==1) { if(Lstick.GetRawButton(11)==1){
setMotorValue(6, 1, 1); setMotorValue(6,1,1);
} else if(Lstick.GetRawButton(12)==1) { }else if(Lstick.GetRawButton(12)==1){
setMotorValue(6, 1, 255); setMotorValue(6,1,255);
} else if(!shooting) { }else if(!shooting){
setMotorValue(6, 1, 0); setMotorValue(6,1,0);
} }
//}}} //}}}
//}}} //}}}
@ -599,22 +599,22 @@ public:
driveRobot(0.0f,0.0f); driveRobot(0.0f,0.0f);
} }
}else{ }else{
if(SmartDashboard::GetBoolean("Daniel Mode")) { if(SmartDashboard::GetBoolean("Daniel Mode")){
driveRobot(-Rstick.GetY(),Rstick.GetZ()+Rstick.GetX()); driveRobot(-Rstick.GetY(),Rstick.GetZ()+Rstick.GetX());
} else { }else{
driveRobot(Rstick.GetY(),Rstick.GetZ()+Rstick.GetX()); driveRobot(Rstick.GetY(),Rstick.GetZ()+Rstick.GetX());
} }
} }
//}}} //}}}
//Compressor{{{ //Compressor{{{
if(SmartDashboard::GetBoolean("Compressor Enabled")){ if(SmartDashboard::GetBoolean("Compressor Enabled")){
if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) { if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1){
compressor.Stop(); compressor.Stop();
compressing = false; compressing=false;
} }
if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0) { if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0){
compressor.Start(); compressor.Start();
compressing = true; compressing=true;
} }
} }
//}}} //}}}
@ -622,12 +622,12 @@ public:
i++; i++;
Wait(0.005f); Wait(0.005f);
} }
compressing = false; compressing=false;
compressor.Stop(); compressor.Stop();
} }
//}}} //}}}
//Test{{{ //Test{{{
void Test() { void Test(){
} }
//}}} //}}}
}; };