public int getPostion() throws DriverStationEnhancedIO.EnhancedIOException { if (ds.getAnalogIn(1) < RobotMap.shooterVDposition0) { position = 1; } // If Station Knob is at else if (ds.getAnalogIn(1) >= RobotMap.shooterVDposition1 && ds.getAnalogIn(1) < RobotMap.shooterVDposition1 + .3) { position = 2; } // If Station Knob is at else if (ds.getAnalogIn(1) >= RobotMap.shooterVDposition2 && ds.getAnalogIn(1) < RobotMap.shooterVDposition2 + .2) { position = 3; } // If Station Knob is at else if (ds.getAnalogIn(1) >= RobotMap.shooterVDposition3 && ds.getAnalogIn(1) < RobotMap.shooterVDposition3 + .3) { position = 4; } // If Station Knob is at else if (ds.getAnalogIn(1) >= RobotMap.shooterVDposition4 && ds.getAnalogIn(1) < RobotMap.shooterVDposition4 + .3) { position = 5; } // If Station Knob is at else if (ds.getAnalogIn(1) >= RobotMap.shooterVDposition5) { position = 6; } return position; }
public int getLiftPoition() throws DriverStationEnhancedIO.EnhancedIOException { if (ds.getAnalogIn(2) < RobotMap.liftVDposition1) { liftPosition = 1; } else if (ds.getAnalogIn(2) < RobotMap.liftVDposition2) { liftPosition = 2; } else if (ds.getAnalogIn(2) < RobotMap.liftVDposition3) { liftPosition = 3; } else { liftPosition = 4; } return liftPosition; }
public double getDelayPot() { try { return getMaxVoltage() - enhancedIO.getAnalogIn(DELAY_POT_CHANNEL); } catch (EnhancedIOException ex) { return 0.0; } }
public double getSpeedPot() { try { return getMaxVoltage() - enhancedIO.getAnalogIn(SPEED_TRIM_POT_CHANNEL); } catch (EnhancedIOException ex) { return 0.0; } }
public double getMaxVoltage() { try { return enhancedIO.getAnalogIn(MAX_ANALOG_CHANNEL); } catch (EnhancedIOException e) { return 2.2; } }
public double getRawAnalogVoltage() { try { return enhancedIO.getAnalogIn(DISTANCE_BUTTONS_CHANNEL); } catch (EnhancedIOException e) { return 0; } }