team2059/zaphod
2
0
Fork 0
mirror of https://github.com/team2059/Zaphod synced 2024-12-18 20:12:28 -05:00
Code Issues Releases Wiki Activity

Disable compressor in auto

Browse Source
This commit is contained in:
Austen Adler 2014-10-25 17:39:24 -04:00
parent 44fb8ac9c9
commit 818eeb6fe3
1 changed files with 22 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

37
src/Zaphod.cpp
View File

@ -636,7 +636,13 @@ public:
currentStep=0;
power=SmartDashboard::GetNumber("AutoPower");
correction=SmartDashboard::GetNumber("AutoCorrection");
compressorEnabled=false;
SmartDashboard::PutBoolean("Compressor Enabled",false);
if(compressing){
printf("Forcing compressor off\n");
compressor.Stop();
}
compressing=false;
}
if(Rstick.GetRawButton(8)!=1){
runningAuto=false;
@ -724,6 +730,7 @@ public:
//}}}
if(currentStep==6){
runningAuto=false;
compressorEnabled=true;
}
c++;
//}}}
@ -754,7 +761,7 @@ public:
upLimit=130.0f;
}
//}}}
//Shoot{{{
//Shooter{{{
if(Lstick.GetRawButton(1)==1){
compressorEnabled=false;
SmartDashboard::PutBoolean("Compressor Enabled",false);
@ -765,6 +772,19 @@ public:
compressing=false;
shooter_idle=false; //Cause the robot to start the shooting sequence
}
if(shooter_idle==false){ //Start the shooting sequence by telling the robot the arm needs to complete a shot (and isn't finished yet)
if(shooter_fired(2)==false){ //Only do this if the shooter hasn't "fired" (in the upwards state)
shooter_fire(shooter_clear_to_fire(), throttle, upLimit, potToDegrees(armPot.GetAverageVoltage()));
}
if(shooter_fired(2)==true){
//After the shooter has fired, lower the shooter arm then reset the whole shooting sequence
shooter_lower(-0.1, 47, potToDegrees(armPot.GetAverageVoltage()));
}
}
if(shooter_idle==true){
//Stop the shooter if it should be idle
shooter_stop();
}
//}}}
//Collector Arm{{{
if(Rstick.GetRawButton(9)==1){
@ -789,19 +809,6 @@ public:
}
//}}}
driveRobot(-Rstick.GetY(),Rstick.GetZ()+Rstick.GetX());
if(shooter_idle==false){ //Start the shooting sequence by telling the robot the arm needs to complete a shot (and isn't finished yet)
if(shooter_fired(2)==false){ //Only do this if the shooter hasn't "fired" (in the upwards state)
shooter_fire(shooter_clear_to_fire(), throttle, upLimit, potToDegrees(armPot.GetAverageVoltage()));
}
if(shooter_fired(2)==true){
//After the shooter has fired, lower the shooter arm then reset the whole shooting sequence
shooter_lower(-0.1, 47, potToDegrees(armPot.GetAverageVoltage()));
}
}
if(shooter_idle==true){
//Stop the shooter if it should be idle
shooter_stop();
}
}
//}}}
runCompressor(i,100);