public TowerControl(Robot robot) {
try {
this.robot = robot;
pickupPiston = new FestoDA(6);
shootPiston = new FestoDA(4);
Util.consoleLog("DigInput");
ballCheck = new DigitalInput(0);
Util.consoleLog("DigInput end");
this.belt = robot.belt;
} catch (Exception e) {
e.printStackTrace(Util.logPrintStream);
}
}
/** Initializes the TowerControl class, setting the belt and hood position to known states. */
public void run() {
if (initDone == false) {
initDone = true;
pickupPiston.SetB();
shootPiston.SetA();
if (robot.isComp()) {
robot.InitializeCANTalon((CANTalon) belt);
launchMotor1 = new Talon(0);
launchMotor2 = new Talon(1);
Util.consoleLog("Launch Motors end");
} else if (robot.isClone()) {
launchMotor1 = new Talon(1);
launchMotor2 = new Talon(2);
}
shoot = new Shooter(robot);
pickup = new Pickup(robot);
}
}