public void dispose() {
Util.consoleLog();
if (pot != null) pot.free();
if (buttonA != null) buttonA.free();
if (buttonB != null) buttonB.free();
}
public double getPot() {
double val = (double) _pot.getAverageValue(); // integer between 3 - 400
double delay = Math.min((val / 400), 10.0); // number between 0 and 10
return delay;
}
/*
* (non-Javadoc)
*$
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#teardown()
*/
@Override
public boolean teardown() {
input.free();
output.free();
return true;
}
/**
* Gets current value of the potentiometer.
*
* @return Integer value of pot.
*/
public int getPotValue() {
return pot.getValue();
}
/** @return The distance to the obstacle detected by the rangefinder. */
public double getDistanceToObstacle() {
// Really meters in simulation since it's a rangefinder...
return rangefinder.getAverageVoltage();
}