/** Operator-controlled drive for Teleop mode. */
public void operatorControl() {
boolean retry = true;
while (retry) {
try {
retry = false;
DriverStation.getInstance().setDigitalOut(2, false);
DriverStation.getInstance().setDigitalOut(5, false);
Robot.compressorPump.start();
teleopMode.init();
try {
while (isOperatorControl() && isEnabled() && teleopMode.step()) {
WorkerManager.work();
Dashboard.render();
}
} catch (Exception ex) {
logException(ex);
retry = true;
}
teleopMode.disable();
Robot.compressorPump.stop();
} catch (Exception ex) {
logException(ex);
retry = true;
}
}
}
/** Constructor. */
public Robot2012Orange() {
/*
* Make sure the robot is warmed up. Probably isn't necessary.
*/
Robot.init();
/*
* Register workers.
*/
WorkerManager.registerWorker(new RingLightWorker());
WorkerManager.registerWorker(new DriveWorker());
WorkerManager.registerWorker(new ElevatorWorker());
WorkerManager.registerWorker(new PickupWorker());
WorkerManager.registerWorker(new ShooterWorker());
WorkerManager.registerWorker(new StingerWorker());
WorkerManager.registerWorker(new RespringWorker());
/*
* Register dashboard sections.
*/
Dashboard.registerSection(DemoDashboard.getInstance());
// Dashboard.registerSection(AutonomousDashboard.getInstance());
// Dashboard.registerSection(ElevatorDashboard.getInstance());
Dashboard.registerSection(FiringDashboard.getInstance());
Dashboard.registerSection(ShooterDashboard.getInstance());
// Dashboard.registerSection(StateDashboard.getInstance());
// Dashboard.registerSection(UserDashboard.getInstance());
/*
* Initialize hybrid mode.
*/
hybridMode.registerControlMode(new ShootControlMode(), true);
hybridMode.registerControlMode(new BridgeControlMode(), false);
hybridMode.registerControlMode(new WaitingControlMode(), true);
hybridMode.registerControlMode(new KinectControlMode(), true);
hybridMode.renderSmartDashboard();
/*
* Initialize teleop mode.
*/
// teleopMode.registerControlMode(new CompetitionControlMode(), true);
teleopMode.registerControlMode(new DemoControlMode(), true);
// teleopMode.registerControlMode(new LearningControlMode(), true);
teleopMode.renderSmartDashboard();
// TODO: Make the following better.
Robot.firingProvider.setAtFender(true);
/*
* Ditch the built-in Watchdog.
*/
this.getWatchdog().setEnabled(false);
}
/** Automated drive for autonomous mode. */
public void autonomous() {
try {
DriverStation.getInstance().setDigitalOut(2, false);
DriverStation.getInstance().setDigitalOut(5, false);
Robot.compressorPump.start();
hybridMode.init();
try {
while (isAutonomous() && isEnabled() && hybridMode.step()) {
WorkerManager.work();
Dashboard.render();
}
} catch (Exception ex) {
ex.printStackTrace();
}
hybridMode.disable();
Robot.compressorPump.stop();
} catch (Exception ex) {
logException(ex);
}
}