public void shooterLoft() {
// Ajust loft
double operatorLeftY = xboxOperator.getLeftY(); // operator has loft control
int loftPotValue = loftPot.getValue();
if (xboxOperator.getBtnX()) { // hold to ajust for close shot
if (loftPotValue < closeShotValue - focusTolerance) {
if (loftPotValue < closeShotValue - angleTolerance) {
shooterLoft.set(-1);
} else {
shooterLoft.set(-0.001);
}
} else if (loftPotValue > closeShotValue + focusTolerance) {
if (loftPotValue > closeShotValue + angleTolerance) {
shooterLoft.set(1);
} else {
shooterLoft.set(0.001);
}
} else {
shooterLoft.set(0);
}
} else if (xboxOperator.getBtnY()) { // hold to ajust for far shot
if (loftPotValue < farShotValue - focusTolerance) {
if (loftPotValue < farShotValue - angleTolerance) {
shooterLoft.set(-1);
} else {
shooterLoft.set(-0.001);
}
} else if (loftPotValue > farShotValue + focusTolerance) {
if (loftPotValue > farShotValue + angleTolerance) {
shooterLoft.set(1);
} else {
shooterLoft.set(0.001);
}
} else {
shooterLoft.set(0);
}
} else if (xboxOperator.getBtnB()) { // hold to ajust for feeding
if (loftPotValue < shooterFeedingValue - focusTolerance) {
if (loftPotValue < shooterFeedingValue - angleTolerance) {
shooterLoft.set(-1);
} else {
shooterLoft.set(-0.001);
}
} else if (loftPotValue > shooterFeedingValue + focusTolerance) {
if (loftPotValue > shooterFeedingValue + angleTolerance) {
shooterLoft.set(1);
} else {
shooterLoft.set(0.001);
}
} else {
shooterLoft.set(0);
}
} else if (loftPotValue > maxHeightValue
&& loftPotValue < minHeightValue
&& ((operatorLeftY > .3) || operatorLeftY < -.3)) { // move loft with left operator stick
shooterLoft.set(operatorLeftY);
} else {
shooterLoft.set(0); // don't move loft
}
} // end of shooter loft
public void armUse() {
// Arm contols
int armPotValue = armPot.getValue();
if (xboxDriver.getBtnB()) { // arm for slot feeding
if (armPotValue < armSlotFeedingValue - angleTolerance) {
armVictor.set(-.2);
} else if (armPotValue < armSlotFeedingValue - focusTolerance) {
armVictor.set(-.02);
} else if (armPotValue > armSlotFeedingValue + angleTolerance) {
armVictor.set(.5);
} else if (armPotValue > armSlotFeedingValue + focusTolerance) {
armVictor.set(.05);
} else {
armVictor.set(0);
}
} else if (xboxDriver.getBtnY()) { // arm for shovel feeding
if (armPotValue < armShovelFeedingValue - angleTolerance) {
armVictor.set(-.2);
} else if (armPotValue < armShovelFeedingValue - focusTolerance) {
armVictor.set(-.02);
} else if (armPotValue > armShovelFeedingValue + angleTolerance) {
armVictor.set(.5);
} else if (armPotValue > armShovelFeedingValue + focusTolerance) {
armVictor.set(.05);
} else {
armVictor.set(0);
}
} else {
if (xboxDriver.getBtnLB() && armPotValue > minArmValue) {
armVictor.set(-.2); // driver left bumper = down, right bumper = up;
} else if (xboxDriver.getBtnRB() && armPotValue < maxArmValue) {
armVictor.set(.5);
} else {
armVictor.set(0);
}
if (xboxDriver.getBtnA()
&& armPotValue
< climbStopValue) { // when driver controls, hold button A to use winch, release to
// stop
winchRelay.set(Relay.Value.kOn);
winchRelay.setDirection(Relay.Direction.kReverse);
} else {
winchRelay.set(Relay.Value.kOff);
}
}
} // end of arm use
public void shooterUse() {
// Betty operation
if (xboxOperator.getBtnLB()) { // hold right bumper to fire
starterDelay++;
if (xboxOperator.getTriggers() < -0.5) { // feeder shot
if (shootingSpeed > feederShotSpeed) { // accelerating shooter speed until top speed
shootingSpeed = shootingSpeed + flyWheelAcceleration;
} else {
shootingSpeed = feederShotSpeed; // ensures desired value
}
} else { // normal shot
if (shootingSpeed > normalShotSpeed) { // accelerating shooter speed until top speed
shootingSpeed = shootingSpeed + flyWheelAcceleration;
} else {
shootingSpeed = normalShotSpeed; // ensures desired value
}
}
shooterWheel.set(shootingSpeed);
if (xboxOperator.getBtnRB() && starterDelay > 60) { // shoot normal shot
bettyRelay.setDirection(Relay.Direction.kForward);
bettyRelay.set(Relay.Value.kOn);
} else if (xboxOperator.getBtnB() && starterDelay > 60) { // shoot normal shot
bettyRelay.setDirection(Relay.Direction.kReverse);
bettyRelay.set(Relay.Value.kOn);
} else {
bettyRelay.set(Relay.Value.kOff);
}
} else if (bettyOpen.get()) { // close betty if not shooting
shootingSpeed = 0.0;
bettyRelay.setDirection(Relay.Direction.kForward);
bettyRelay.set(Relay.Value.kOn);
shooterWheel.set(0);
starterDelay = 0;
} else {
shootingSpeed = 0.0;
bettyRelay.set(Relay.Value.kOff);
shooterWheel.set(0);
starterDelay = 0;
}
} // end of shooter use