/** * This function is run when the robot is first started up and should be used for any * initialization code. */ public void robotInit() { black = new Jaguar(4, 1); red = new Jaguar(4, 2); leftEncoder = new Encoder(4, 5); rightEncoder = new Encoder(6, 7); left = new Joystick(1); right = new Joystick(2); gamePad = new Joystick(3); watchdog = Watchdog.getInstance(); dsLCD = DriverStationLCD.getInstance(); photoreceptorL = new DigitalInput(4, 1); photoreceptorM = new DigitalInput(4, 2); photoreceptorR = new DigitalInput(4, 3); camera = AxisCamera.getInstance(); driveMode = 0; // 0 = Tank; 1 = Arcade; 2 = Kaj driveToggle = false; cruiseControl = false; camera.writeResolution(AxisCamera.ResolutionT.k160x120); camera.writeWhiteBalance(AxisCamera.WhiteBalanceT.hold); camera.writeExposureControl(AxisCamera.ExposureT.hold); camera.writeExposurePriority(AxisCamera.ExposurePriorityT.frameRate); leftEncoder.start(); rightEncoder.start(); }
public void teleopPeriodic() { watchdog.feed(); // feed the watchdog // Toggle drive mode if (!driveToggle && left.getRawButton(2)) { driveMode = (driveMode + 1) % 3; driveToggle = true; } else if (driveToggle && !left.getRawButton(2)) driveToggle = false; // Print drive mode to DS & send values to Jaguars switch (driveMode) { case 0: dsLCD.println(DriverStationLCD.Line.kMain6, 1, "Drive mode: Tank "); red.set(left.getY() + gamePad.getY()); black.set(-right.getY() - gamePad.getThrottle()); break; case 1: dsLCD.println(DriverStationLCD.Line.kMain6, 1, "Drive mode: Arcade"); red.set(right.getX() - right.getY()); black.set(right.getX() + right.getY()); break; case 2: dsLCD.println(DriverStationLCD.Line.kMain6, 1, "Drive mode: Kaj "); red.set(left.getX() - right.getY()); black.set(left.getX() + right.getY()); break; } /**/ dsLCD.println( DriverStationLCD.Line.kUser3, 1, "1" + photoreceptorL.get() + "2" + photoreceptorM.get() + "3" + photoreceptorR.get()); dsLCD.println(DriverStationLCD.Line.kUser4, 1, "Encoder in 4,5: " + leftEncoder.get() + " "); dsLCD.println( DriverStationLCD.Line.kUser5, 1, "Encoder in 6,7: " + rightEncoder.get() + " "); dsLCD.updateLCD(); }