/** Update control of the shooter */
private void updateNavigatorControl() {
if (driverstation.JoystickNavigatorCalibrate) {
// lifterobject.moveArms(LifterObject.ARM_UP);
} else {
// lifterobject.moveArms(LifterObject.ARM_DOWN);
}
// Print current launch speed to driverstation
driverstation.println("Launch Speed: " + (int) (launchSpeed * 100.0) + "%", 2);
// Run launch motor on button 3
if (driverstation.JoystickNavigatorButton3) {
System.out.println(launchSpeed);
shooter.driveLaunchMotor(launchSpeed);
} else {
shooter.driveLaunchMotor(0.0);
}
// polls the trigger to see if fire, but only fires if wheel spin button held and at commanded
// speed
if (driverstation.JoystickNavigatorTrigger
&& driverstation.JoystickNavigatorButton3
&& shooter.atCommandedSpeed()) {
shooter.deployFrisbeePneu(Shooter.PNEU_DEPLOY_OUT);
} else {
shooter.deployFrisbeePneu(Shooter.PNEU_IDLE);
}
}
/**
* This function is run when the robot is first started up and should be used for any
* initialization code.
*/
public void robotInit() {
// Make robot objects
driverstation = Driverstation.getInstance();
drive = Drive.getInstance();
shooter = Shooter.getInstance();
// lifterobject = LifterObject.getInstance();
// compressor = Compressor467.getInstance();
Calibration.init();
Autonomous.init();
TableHandler.init();
// AxisCamera.getInstance();
}
/** This function is run when operator control mode is first enabled */
public void teleopInit() {
shooter.init();
}
/** This function is run when autonomous control mode is first enabled */
public void autonomousInit() {
// Read driverstation inputs
driverstation.readInputs();
shooter.init();
Autonomous.init();
}
