/** * Uses the PID controller that is enabled/disabled in the main class to move to an upright * position */ public void moveToUprightPos() { vm.autoUpright = true; stopJawPistons(); neckControl.setSetpoint(vm.JAW_UPRIGHT_POS); // activate autoneck control if not within 5 ticks of upright position if (!(sFunctions.getNeckPot() == vm.JAW_UPRIGHT_POS)) { vm.autoUpright = true; } else { vm.autoUpright = false; } }
public void autoCatch() { if (sFunctions.isBallOnUltraSound()) { setJawClose(); vm.autoCatching = false; } else { setJawOpen(); } }
/** * Runs through the assignments and reuses as many names as possible from the previously used * variable map. Updates reservedNames with the set of names that were reused. */ private void reusePreviouslyUsedVariableMap() { for (Assignment a : assignments.values()) { String prevNewName = prevUsedRenameMap.lookupNewName(a.oldName); if (prevNewName == null || reservedNames.contains(prevNewName)) { continue; } if (a.oldName.startsWith(LOCAL_VAR_PREFIX) || (!externNames.contains(a.oldName) && prevNewName.startsWith(prefix))) { reservedNames.add(prevNewName); finalizeNameAssignment(a, prevNewName); } } }
/** Runs a pickup routine to get the ball from behind */ public void backPickUp() { vm.currentNeckSetPoint = vm.BACK_LOAD_POS; neckControl.setSetpoint(vm.currentNeckSetPoint); // Spin the rollers to swallow the ball moveRollerReverse(); /* keep picking up until the ball is detected by the ultra sound * after which, roll only enough to move the ball to a good position * and finaly close on the ball and stop the pickup routine */ // if (sFunctions.isBallOnUltraSound()) { // if (pickupEndTimer > 30) { // pickupEndTimer = 0; // turnRollerOff(); // vm.pickingUp = false; // } else { // pickupEndTimer++; // } // } }
private static void assertVariableMapsEqual(VariableMap a, VariableMap b) { Map<String, String> ma = a.getOriginalNameToNewNameMap(); Map<String, String> mb = b.getOriginalNameToNewNameMap(); assertEquals("VariableMaps not equal", ma, mb); }
public void setJawClose() { jawOpen.set(false); jawClose.set(true); vm.jawOpen = false; vm.fireCalledCycles = 0; }
public void setJawOpen() { jawOpen.set(true); jawClose.set(false); vm.jawOpen = true; }