public void teleopPeriodic() {
Definitions.drivetrain.arcadeDrive(
Definitions.xbox1.getRawAxis(1), Definitions.xbox1.getRawAxis(4), false);
DriveShifter.checkGearShift();
SparkyIntakeBar.loadingRoutine();
Shooter.firingRoutine(5000);
ArduinoComm.communicate();
try {
if (!backfailed && !frontfailed) {
if (Definitions.buttonbox.getRawButton(2) && !lastbutton4) {
if (currsession == front) {
NIVision.IMAQdxStopAcquisition(currsession);
currsession = back;
NIVision.IMAQdxConfigureGrab(currsession);
} else if (currsession == back) {
NIVision.IMAQdxStopAcquisition(currsession);
currsession = front;
NIVision.IMAQdxConfigureGrab(currsession);
}
}
}
lastbutton4 = Definitions.buttonbox.getRawButton(2);
NIVision.IMAQdxGrab(currsession, frame, 1);
CameraServer.getInstance().setImage(frame);
} catch (Exception e) {
// System.out.println("Camera problem");
}
SmartDashboard.putNumber("Pressure", 250 * (Definitions.pressuretrans.getVoltage() / 5.0) - 25);
SmartDashboard.putNumber("ballSeater", Definitions.ballholder.get() ? 1 : 0);
SmartDashboard.putBoolean(
"catapultReady", (250 * (Definitions.pressuretrans.getVoltage() / 5.0) - 25) > 40);
if (Definitions.joystick.getRawButton(3) && !lastbutton3) {
Definitions.flashlightrelay.set(
Definitions.flashlightrelay.get() == Relay.Value.kOff
? Relay.Value.kForward
: Relay.Value.kOff);
}
// System.out.println(Definitions.flashlightrelay.get());
lastbutton3 = Definitions.joystick.getRawButton(3);
System.out.println(Definitions.pdp.getCurrent(4));
Timer.delay(0.01);
}
public synchronized void startCapture() {
if (m_id == -1 || m_active) return;
NIVision.IMAQdxConfigureGrab(m_id);
NIVision.IMAQdxStartAcquisition(m_id);
m_active = true;
}