mirror of
https://github.com/team2059/Zaphod
synced 2024-12-18 20:12:28 -05:00
Formatted code and started work on Test function
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25
MyRobot.cpp
25
MyRobot.cpp
@ -184,7 +184,7 @@ public:
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//}}}
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//setMotorValue{{{
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void setMotorValue(int motor,int subwayStation=1,int value=127){
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if(subwayStation == 1){
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if(subwayStation==1){
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//subwayStation1{{{
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switch(motor){
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case 1:
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@ -215,7 +215,7 @@ public:
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break;
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}
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//}}}
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}else if(subwayStation == 2){
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}else if(subwayStation==2){
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//subwayStation2{{{
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switch(motor){
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//Shooter motors
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@ -482,11 +482,11 @@ public:
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SmartDashboard::PutNumber("Autonomous step", currentStep);
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updateDashboard();
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//Compressor{{{
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if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1){
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if(i%100==0&&compressing&&compressor.GetPressureSwitchValue()==1){
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compressor.Stop();
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compressing=false;
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}
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if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0){
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if(i%100==0&&!compressing&&compressor.GetPressureSwitchValue()==0){
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compressor.Start();
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compressing=true;
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}
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@ -509,7 +509,7 @@ public:
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compressing=false;
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SmartDashboard::PutBoolean("CollectorState",false);
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//}}}
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while(IsEnabled() && IsOperatorControl()){
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while(IsEnabled()&&IsOperatorControl()){
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//Joystick{{{
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//Throttle values{{{
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if(Lstick.GetRawButton(9)==1){
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@ -541,10 +541,10 @@ public:
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shooting=true;
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shootRobot(throttle);
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setMotorValue(6,1,1);
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if(collectorExtended == false){
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if(collectorExtended==false){
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shooting=false;
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}
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if(collectorExtended == true&&(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage()))){
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if(collectorExtended==true&&(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage()))){
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shooting=true;
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shootRobot(throttle);
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setMotorValue(6,1,1);
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@ -558,7 +558,7 @@ public:
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//Lower Shooter{{{
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shooting=false;
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shootRobot(-0.1f);
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if(collectorExtended == true){
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if(collectorExtended==true){
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shootRobot(-0.1f);
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}
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//}}}
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@ -610,11 +610,11 @@ public:
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//}}}
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//Compressor{{{
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if(SmartDashboard::GetBoolean("Compressor Enabled")){
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if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1){
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if(i%100==0&&compressing&&compressor.GetPressureSwitchValue()==1){
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compressor.Stop();
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compressing=false;
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}
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if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0){
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if(i%100==0&&!compressing&&compressor.GetPressureSwitchValue()==0){
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compressor.Start();
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compressing=true;
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}
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@ -630,6 +630,11 @@ public:
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//}}}
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//Test{{{
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void Test(){
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int i=0;
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while(IsEnabled()&&IsTest()){
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i++;
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Wait(0.005f);
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}
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}
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//}}}
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};
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