/** 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);
}
}
