public void autonomousPeriodic() {
relay.set(Relay.Value.kOn);
smart.putNumber("distance", ultrasonic.getVoltage());
drive.setRun(false);
loadAndShoot.setRun(false);
// relay.set(Relay.Value.kOn);
if (autoTimer.get() < autoMoveForwardTime) {
System.out.println(
"Moving forward, Timer at "
+ autoTimer.get()
+ ", Ultrasonic at "
+ ultrasonic.getAverageVoltage());
}
if (autoTimer.get() >= autoMoveForwardTime && ultrasonic.getAverageVoltage() <= AUTO_DISTANCE) {
stop();
if (!autonomousStopped) {
autonomousStopped = true;
autoTimeAtStop = autoTimer.get();
}
System.out.println("Stopped, Ultrasonic at " + ultrasonic.getAverageVoltage());
}
if (autoTimer.get() >= autoTimeAtStop + 1 && ultrasonic.getAverageVoltage() <= AUTO_DISTANCE) {
autoStop = true;
shoot();
System.out.println("Shooting, Ultrasonic at " + ultrasonic.getAverageVoltage());
}
}
public boolean isDetensioned() {
double curr_volts = sensor.getAverageVoltage();
boolean on_target =
((curr_volts > (slack_tension_volts - threshold_volts))
&& (curr_volts < (slack_tension_volts + threshold_volts)));
boolean at_min = leftMin.get();
return (on_target || at_min);
}
public double getTensionLevel() {
return sensor.getAverageVoltage();
}
protected double returnPIDInput() {
return sensor.getAverageVoltage();
}
// The absolute returns a voltage, 0 - 5, thus, any voltage *72 will = deg.
public double getAbsoluteCurrentPosition() {
return analogInputAbsolute.getAverageVoltage() * 72;
}
public double getAbsoluteVoltage() {
return analogInputAbsolute.getAverageVoltage();
}
/**
* Read the battery voltage from the specified AnalogChannel.
*
* <p>This accessor assumes that the battery voltage is being measured through the voltage divider
* on an analog breakout.
*
* @return The battery voltage.
*/
public double getBatteryVoltage() {
// The Analog bumper has a voltage divider on the battery source.
// Vbatt *--/\/\/\--* Vsample *--/\/\/\--* Gnd
// 680 Ohms 1000 Ohms
return m_batteryChannel.getAverageVoltage() * (1680.0 / 1000.0);
}