/**
* Use a thumb wheel switch to set the autonomous mode setting.
*
* @return Autonomous setting to run.
*/
public int getAutonSetting() {
try {
int switchNum = 0;
int[] binaryValue = new int[3];
boolean[] dIO = {
!enhancedIO.getDigital(BIT_1_CHANNEL),
!enhancedIO.getDigital(BIT_2_CHANNEL),
!enhancedIO.getDigital(BIT_3_CHANNEL)
};
for (int i = 0; i < 3; i++) {
if (dIO[i]) {
binaryValue[i] = 1;
} else {
binaryValue[i] = 0;
}
}
binaryValue[0] *= 4; // convert all binaryValues to decimal values
binaryValue[1] *= 2;
for (int i = 0; i < 3; i++) { // finish binary -> decimal conversion
switchNum += binaryValue[i];
}
return switchNum;
} catch (EnhancedIOException e) {
return -1; // Do nothing in case of failure
}
}
/**
* Gets value of hoop height toggle switch.
*
* @return true if high setting, false if middle
*/
public boolean getStingerSwitch() {
try {
return !enhancedIO.getDigital(STINGER_SWITCH_CHANNEL);
} catch (EnhancedIOException ex) {
return true;
}
}
// For debugging purposes.
public boolean getDigitalValue(int channel) {
boolean b = false;
try {
b = !enhancedIO.getDigital(channel);
} catch (EnhancedIOException e) {
}
return b;
}
public boolean getNandoSwitch() throws EnhancedIOException {
return ds.getDigital(5);
}
public boolean getAngleSwitch() throws EnhancedIOException {
return ds.getDigital(2);
}
public boolean getCompressorSwitch() throws EnhancedIOException {
return ds.getDigital(1);
}
public boolean getAutoRight() throws EnhancedIOException {
return ds.getDigital(7);
}
public boolean getAutoLeft() throws EnhancedIOException {
return ds.getDigital(3);
}
public boolean getDisckLockButton() throws EnhancedIOException {
return ds.getDigital(8);
}
