protected void execute() {
double delta = timer.get();
distance += (drivetrain.getAverageForwardVelocity() * delta);
timer.reset();
// PID tuning code
pidControllerDistance.setPID(
pidConfigDistance.getP(P),
pidConfigDistance.getI(I),
pidConfigDistance.getD(D),
pidConfigDistance.getF(F));
pidConfigDistance.setSetpoint(pidControllerDistance.getSetpoint());
pidConfigDistance.setValue(drivetrainRotation.pidGet());
}
public void teleopPeriodic() {
/*SmartDashboard.getNumber("Accel x: ", accel.getX());
SmartDashboard.getNumber("Accel Y: ", accel.getY());
SmartDashboard.getNumber("Accel Z: ", accel.getZ());*/
if (controller.isEnabled()) {
if (((Timer.getFPGATimestamp() - timerStart) > timeToCancel) || controller.onTarget()) {
controller.disable();
timerStart = -1;
timeToCancel = -1;
}
}
if (j1.getRawButton(2)) {
enc.reset();
controller.setSetpoint(120); // destination 24 inches -> NO!! Trying to figure out this value
timerStart = Timer.getFPGATimestamp();
timeToCancel = 10; // timeout after 10 seconds
controller.enable();
} else if (j1.getRawButton(
1)) { // this button stops the robot if the button 2 command goes crazy
controller.disable();
timerStart = -1;
timeToCancel = -1;
} else { // if time out or distance, end
controller.disable();
timerStart = -1;
timeToCancel = -1;
}
if (!controller.isEnabled()) {
rd.arcadeDrive(-j1.getY(), -j1.getX()); // normal arcade drive
}
if (j2.getRawAxis(2) != 0) { // set shooter values to the left trigger value
shooter.set(-j2.getRawAxis(2));
shooter2.set(-j2.getRawAxis(2));
SmartDashboard.putNumber("Shooter: ", shooter.get());
} else { // stop shooter
shooter.set(0);
shooter2.set(0);
}
/*if(j2.getRawButton(8)){ //runs intake, waits, runs shooter
shooter.set(-1);
intake.set(.5);
Timer.delay(.50);
intake.set(0);
Timer.delay(1.5);
intake.set(-1);
Timer.delay(1);
shooter.set(0);
intake.set(0);
}*/
// Need to mess around with sensitivity of light sensor
if (j2.getRawAxis(3) != 0 && !light.get()) { // run intake at speed of right trigger
intake.set(-1 * j2.getRawAxis(3));
} else if (j2.getRawButton(5) && !light.get()) { // run intake into robot
intake.set(-1);
} else if (j2.getRawButton(6)) { // run intake out of robot
intake.set(1);
} else { // stop intake
intake.set(0);
}
if (j2.getRawButton(2)) { // lift intake
inup.set(DoubleSolenoid.Value.kForward);
inup2.set(DoubleSolenoid.Value.kForward);
} else if (j2.getRawButton(3)) { // drop intake
inup.set(DoubleSolenoid.Value.kReverse);
inup2.set(DoubleSolenoid.Value.kReverse);
} else { // solenoids off
inup.set(DoubleSolenoid.Value.kOff);
inup2.set(DoubleSolenoid.Value.kOff);
}
// reading values
SmartDashboard.putNumber("Encoder Dist: ", enc.getDistance()); // Distance is in inches
SmartDashboard.putNumber("Encoder: ", enc.get());
SmartDashboard.putNumber("Encoder Rate: ", enc.getRate());
SmartDashboard.putNumber("Gyro: ", gyro.getAngle());
SmartDashboard.putNumber("Encoder Raw", enc.getRaw());
SmartDashboard.putNumber("Controller: ", controller.getSetpoint());
SmartDashboard.putBoolean("Light Sensor: ", light.get());
}