public Boolean getBoolean(String key) {
try {
return Boolean.valueOf(SmartDashboard.getBoolean(key));
} catch (TableKeyNotDefinedException e) {
return null;
}
}
// Called repeatedly when this Command is scheduled to run
protected void execute() {
try {
cameraFunctioning = SmartDashboard.getBoolean("CameraFunctioning");
} catch (Exception e) {
}
}
public void update(GoalAlign alignment) {
double shooterPower;
if (SmartDashboard.getBoolean("Flywheel Testing Mode") == false) {
shooterPower = 1;
} else {
shooterPower = SmartDashboard.getNumber("Flywheel Testing Power");
}
if (gamePad.buttons.BUTTON_A.isOn()) {
// shoot(DistanceSensorData);
// shooter.getMotor().getSpark().set(1);
// shooter.shoot(100);s
// shooter.setPower(getPowerFromDistance(alignment.imageHeight, alignment.centerY,
// alignment.height));
shooter.setPower(shooterPower);
} else if (!gamePad.buttons.BUTTON_A.isOn()) {
shooter.setPower(0);
}
SmartDashboard.putBoolean("Shooting", gamePad.buttons.BUTTON_A.isOn());
}
public AutoState getState(IRobot robot) {
int chooser = (int) SmartDashboard.getNumber("Autonomous", 1);
boolean backwards = SmartDashboard.getBoolean("Autonomous Backwards", false);
AutoState chain = new NothingAutonomous();
switch (chooser) {
// TODO: Refine and test the state chains.
case 1:
if (backwards) {
chain
.addNext(new ForwardAutonomous(1000, -speed))
.addNext(new AngleAutonomous(180.0, 0.0, robot.getSensorData().getGyro()));
} else {
chain.addNext(new ForwardAutonomous(1000, speed));
}
// FieldPosition.Left
chain
.addNext(new AngleAutonomous(90.0, 0.0, robot.getSensorData().getGyro()))
// TODO: Determine if positive means clockwise.
.addNext(null);
// TODO: Replace with an Autonomous that drives forward until it reaches the goal.
case 2:
if (backwards) {
chain
.addNext(new ForwardAutonomous(1000, -speed))
.addNext(new AngleAutonomous(180.0, 0.0, robot.getSensorData().getGyro()));
} else {
chain.addNext(new ForwardAutonomous(1000, speed));
}
// FieldPosition.Left
chain
.addNext(new AngleAutonomous(90.0, 0.0, robot.getSensorData().getGyro()))
.addNext(null);
case 3:
if (backwards) {
chain
.addNext(new ForwardAutonomous(1000, -speed))
.addNext(new AngleAutonomous(180.0, 0.0, robot.getSensorData().getGyro()));
} else {
chain.addNext(new ForwardAutonomous(1000, speed));
}
// FieldPosition.Left
chain
.addNext(new AngleAutonomous(90.0, 0.0, robot.getSensorData().getGyro()))
.addNext(null);
case 4:
// This is right in front of the tower. What is our procedure for this?
if (backwards) {
chain
.addNext(new ForwardAutonomous(1000, -speed))
.addNext(new AngleAutonomous(180.0, 0.0, robot.getSensorData().getGyro()));
} else {
chain.addNext(new ForwardAutonomous(1000, speed));
}
// FieldPosition.Right
chain
.addNext(new AngleAutonomous(-90.0, 0.0, robot.getSensorData().getGyro()))
.addNext(null);
case 5:
if (backwards) {
chain
.addNext(new ForwardAutonomous(1000, -speed))
.addNext(new AngleAutonomous(180.0, 0.0, robot.getSensorData().getGyro()));
} else {
chain.addNext(new ForwardAutonomous(1000, speed));
}
// FieldPosition.Right
chain
.addNext(new AngleAutonomous(-90.0, 0.0, robot.getSensorData().getGyro()))
.addNext(null);
default:
// Just nothing
}
return chain;
}
// returns a boolean at the position of the key
public boolean getBoolean(String key) {
return board.getBoolean(key);
}