public void armUse() {
// Arm contols
int armPotValue = armPot.getValue();
if (xboxDriver.getBtnB()) { // arm for slot feeding
if (armPotValue < armSlotFeedingValue - angleTolerance) {
armVictor.set(-.2);
} else if (armPotValue < armSlotFeedingValue - focusTolerance) {
armVictor.set(-.02);
} else if (armPotValue > armSlotFeedingValue + angleTolerance) {
armVictor.set(.5);
} else if (armPotValue > armSlotFeedingValue + focusTolerance) {
armVictor.set(.05);
} else {
armVictor.set(0);
}
} else if (xboxDriver.getBtnY()) { // arm for shovel feeding
if (armPotValue < armShovelFeedingValue - angleTolerance) {
armVictor.set(-.2);
} else if (armPotValue < armShovelFeedingValue - focusTolerance) {
armVictor.set(-.02);
} else if (armPotValue > armShovelFeedingValue + angleTolerance) {
armVictor.set(.5);
} else if (armPotValue > armShovelFeedingValue + focusTolerance) {
armVictor.set(.05);
} else {
armVictor.set(0);
}
} else {
if (xboxDriver.getBtnLB() && armPotValue > minArmValue) {
armVictor.set(-.2); // driver left bumper = down, right bumper = up;
} else if (xboxDriver.getBtnRB() && armPotValue < maxArmValue) {
armVictor.set(.5);
} else {
armVictor.set(0);
}
if (xboxDriver.getBtnA()
&& armPotValue
< climbStopValue) { // when driver controls, hold button A to use winch, release to
// stop
winchRelay.set(Relay.Value.kOn);
winchRelay.setDirection(Relay.Direction.kReverse);
} else {
winchRelay.set(Relay.Value.kOff);
}
}
} // end of arm use
public void shooterUse() {
// Betty operation
if (xboxOperator.getBtnLB()) { // hold right bumper to fire
starterDelay++;
if (xboxOperator.getTriggers() < -0.5) { // feeder shot
if (shootingSpeed > feederShotSpeed) { // accelerating shooter speed until top speed
shootingSpeed = shootingSpeed + flyWheelAcceleration;
} else {
shootingSpeed = feederShotSpeed; // ensures desired value
}
} else { // normal shot
if (shootingSpeed > normalShotSpeed) { // accelerating shooter speed until top speed
shootingSpeed = shootingSpeed + flyWheelAcceleration;
} else {
shootingSpeed = normalShotSpeed; // ensures desired value
}
}
shooterWheel.set(shootingSpeed);
if (xboxOperator.getBtnRB() && starterDelay > 60) { // shoot normal shot
bettyRelay.setDirection(Relay.Direction.kForward);
bettyRelay.set(Relay.Value.kOn);
} else if (xboxOperator.getBtnB() && starterDelay > 60) { // shoot normal shot
bettyRelay.setDirection(Relay.Direction.kReverse);
bettyRelay.set(Relay.Value.kOn);
} else {
bettyRelay.set(Relay.Value.kOff);
}
} else if (bettyOpen.get()) { // close betty if not shooting
shootingSpeed = 0.0;
bettyRelay.setDirection(Relay.Direction.kForward);
bettyRelay.set(Relay.Value.kOn);
shooterWheel.set(0);
starterDelay = 0;
} else {
shootingSpeed = 0.0;
bettyRelay.set(Relay.Value.kOff);
shooterWheel.set(0);
starterDelay = 0;
}
} // end of shooter use