/** This function is called periodically during test mode */
 public void testPeriodic() {
   Watchdog.getInstance().feed(); // Tell watchdog we are running
   drive();
   shooterUse();
   //        shooterLoft();
   armUse();
   System.out.println(
       "loftPot value: " + loftPot.getValue() + "       armPot Value: " + armPot.getValue());
   if (xboxDriver
       .getBtnBACK()) { // when driver controls, hold button BACK to unwind winch, release to stop,
     // only for testing
     winchRelay.set(Relay.Value.kOn);
     winchRelay.setDirection(Relay.Direction.kForward);
   }
 }
 public void shooterLoft() {
   // Ajust loft
   double operatorLeftY = xboxOperator.getLeftY(); // operator has loft control
   int loftPotValue = loftPot.getValue();
   if (xboxOperator.getBtnX()) { // hold to ajust for close shot
     if (loftPotValue < closeShotValue - focusTolerance) {
       if (loftPotValue < closeShotValue - angleTolerance) {
         shooterLoft.set(-1);
       } else {
         shooterLoft.set(-0.001);
       }
     } else if (loftPotValue > closeShotValue + focusTolerance) {
       if (loftPotValue > closeShotValue + angleTolerance) {
         shooterLoft.set(1);
       } else {
         shooterLoft.set(0.001);
       }
     } else {
       shooterLoft.set(0);
     }
   } else if (xboxOperator.getBtnY()) { // hold to ajust for far shot
     if (loftPotValue < farShotValue - focusTolerance) {
       if (loftPotValue < farShotValue - angleTolerance) {
         shooterLoft.set(-1);
       } else {
         shooterLoft.set(-0.001);
       }
     } else if (loftPotValue > farShotValue + focusTolerance) {
       if (loftPotValue > farShotValue + angleTolerance) {
         shooterLoft.set(1);
       } else {
         shooterLoft.set(0.001);
       }
     } else {
       shooterLoft.set(0);
     }
   } else if (xboxOperator.getBtnB()) { // hold to ajust for feeding
     if (loftPotValue < shooterFeedingValue - focusTolerance) {
       if (loftPotValue < shooterFeedingValue - angleTolerance) {
         shooterLoft.set(-1);
       } else {
         shooterLoft.set(-0.001);
       }
     } else if (loftPotValue > shooterFeedingValue + focusTolerance) {
       if (loftPotValue > shooterFeedingValue + angleTolerance) {
         shooterLoft.set(1);
       } else {
         shooterLoft.set(0.001);
       }
     } else {
       shooterLoft.set(0);
     }
   } else if (loftPotValue > maxHeightValue
       && loftPotValue < minHeightValue
       && ((operatorLeftY > .3) || operatorLeftY < -.3)) { // move loft with left operator stick
     shooterLoft.set(operatorLeftY);
   } else {
     shooterLoft.set(0); // don't move loft
   }
 } // end of shooter loft
 public void armUse() {
   // Arm contols
   int armPotValue = armPot.getValue();
   if (xboxDriver.getBtnB()) { // arm for slot feeding
     if (armPotValue < armSlotFeedingValue - angleTolerance) {
       armVictor.set(-.2);
     } else if (armPotValue < armSlotFeedingValue - focusTolerance) {
       armVictor.set(-.02);
     } else if (armPotValue > armSlotFeedingValue + angleTolerance) {
       armVictor.set(.5);
     } else if (armPotValue > armSlotFeedingValue + focusTolerance) {
       armVictor.set(.05);
     } else {
       armVictor.set(0);
     }
   } else if (xboxDriver.getBtnY()) { // arm for shovel feeding
     if (armPotValue < armShovelFeedingValue - angleTolerance) {
       armVictor.set(-.2);
     } else if (armPotValue < armShovelFeedingValue - focusTolerance) {
       armVictor.set(-.02);
     } else if (armPotValue > armShovelFeedingValue + angleTolerance) {
       armVictor.set(.5);
     } else if (armPotValue > armShovelFeedingValue + focusTolerance) {
       armVictor.set(.05);
     } else {
       armVictor.set(0);
     }
   } else {
     if (xboxDriver.getBtnLB() && armPotValue > minArmValue) {
       armVictor.set(-.2); // driver left bumper = down, right bumper = up;
     } else if (xboxDriver.getBtnRB() && armPotValue < maxArmValue) {
       armVictor.set(.5);
     } else {
       armVictor.set(0);
     }
     if (xboxDriver.getBtnA()
         && armPotValue
             < climbStopValue) { // when driver controls, hold button A to use winch, release to
       // stop
       winchRelay.set(Relay.Value.kOn);
       winchRelay.setDirection(Relay.Direction.kReverse);
     } else {
       winchRelay.set(Relay.Value.kOff);
     }
   }
 } // end of arm use
Beispiel #4
0
 public void resetPot() {
   elevatorDownPos = pot.getValue();
 }
Beispiel #5
0
 public double getPotVal() {
   return (pot.getValue() - elevatorDownPos) * potScale;
 }
Beispiel #6
0
 public double getPot() {
   return pot.getValue();
 }
Beispiel #7
0
 public double getUltrasonic() {
   return us.getValue() / 1.9;
 }
 public double getDistance() {
   return voltToIn(ultrasonic.getValue());
 }