/**
* Gets the registered shooters present in the database, along with the name of the club they
* belong to.
*/
public List<Shooter> getShooters() {
String selectSql =
"SELECT shooters.id, shooters.name, clubs.club FROM shooters JOIN clubs ON shooters.club = clubs.id";
List<Shooter> shooters = new ArrayList<Shooter>();
try (Connection conn = connector.getConnection(); ) {
ResultSet dbResult = null;
PreparedStatement ps = null;
try {
ps = DBUtils.makePreparedStatement(conn, selectSql, new Object[0]);
dbResult = ps.executeQuery();
while (dbResult.next()) {
Shooter shooter = new Shooter();
shooter.setId(dbResult.getInt(1));
shooter.setShooterName(dbResult.getString(2));
shooter.setClubName(dbResult.getString(3));
shooters.add(shooter);
}
} finally {
if (dbResult != null) {
dbResult.close();
}
if (ps != null) {
ps.close();
}
}
} catch (SQLException e) {
throw new IllegalStateException(
"Could not retrieve the clubs for with the SQL '" + selectSql + "'.", e);
}
return shooters;
}
public KajDrive() {
shooter = Shooter.getInstance();
driveTrain = DriveTrain.getInstance();
oi = OI.getInstance();
driver = oi.getDriver();
operator = oi.getOperator();
DriverControls.setDriveMode(0);
shooter = Shooter.getInstance();
pneumatics = Pneumatics.getInstance();
System.out.println("KajDrive");
requires(driveTrain);
}
/** This function is called periodically during operator control */
public void teleopPeriodic() {
// Class teleop functions
tankDrive.teleopPeriodic();
driveShift.teleopPeriodic();
arm.teleopPeriod();
// Shooter functions
shooter.intake();
shooter.armPivot();
shooter.armPistons();
// Runs duel cameras
cameraFeeds.run();
}
/** Runs shooter code */
private void joyShooter() {
shooter.update();
if (robotCore.joy.getButton(JoyConfig.shootButton)
&& !robotCore.joy.getRawButton(JoyConfig.manualModeButton)) {
shooter.shoot();
}
if (robotCore.joy.getButton(JoyConfig.cancelShotButton)
&& !robotCore.joy.getRawButton(JoyConfig.manualModeButton)) {
shooter.cancelShot();
}
if (robotCore.joy.getButton(JoyConfig.shooterConstantSpeedButton)
&& !robotCore.joy.getRawButton(JoyConfig.manualModeButton)) {
shooter.setSpeed(ShooterConfig.constantSpeed);
}
if (robotCore.joy.getButton(JoyConfig.setShooterSpeedButton)
&& !robotCore.joy.getRawButton(JoyConfig.manualModeButton)) {
shooter.setSpeed();
}
if (robotCore.joy.getButton(JoyConfig.shooterStopButton)
&& !robotCore.joy.getRawButton(JoyConfig.manualModeButton)) {
shooter.stopShooter();
}
if (robotCore.joy.getButton(JoyConfig.shooterLaunchButton)
&& !robotCore.joy.getRawButton(JoyConfig.manualModeButton)) {
shooter.launchBall();
}
if (robotCore.joy.getButton(9) && !robotCore.joy.getRawButton(JoyConfig.manualModeButton)) {
shooter.changeShooterSpeed(-0.01);
}
if (robotCore.joy.getButton(10) && !robotCore.joy.getRawButton(JoyConfig.manualModeButton)) {
shooter.changeShooterSpeed(0.01);
}
// if(robotCore.joy.getButton(JoyConfig.climbButton)) {
// shooter.setVisionUse(false);
// }
}
public Competition getCompetition(int competitionID) {
String selectSql =
"SELECT competitions.id, shooters.name, clubs.club FROM competitions"
+ " JOIN shooters ON competitions.shooter = shooters.id"
+ " JOIN clubs ON shooters.club = clubs.id"
+ " WHERE competitions.id = ?";
Competition competition = null;
try (Connection conn = connector.getConnection(); ) {
ResultSet dbResult = null;
PreparedStatement ps = null;
try {
ps = DBUtils.makePreparedStatement(conn, selectSql, competitionID);
dbResult = ps.executeQuery();
while (dbResult.next()) {
competition = new Competition();
competition.setCompetitionID(dbResult.getInt(1));
Shooter shooter = new Shooter();
shooter.setShooterName(dbResult.getString(2));
shooter.setClubName(dbResult.getString(3));
competition.setShooter(shooter);
}
} finally {
if (dbResult != null) {
dbResult.close();
}
if (ps != null) {
ps.close();
}
}
} catch (SQLException e) {
throw new IllegalStateException(
"Could not retrieve the clubs for with the SQL '" + selectSql + "'.", e);
}
return competition;
}
// Called repeatedly when this Command is scheduled to run
protected void execute() {
OurTimer time = OurTimer.getTimer("KajDrive");
shooter.setLight(false);
double rightSpeed, leftSpeed, x, y;
if (!InputConstants.competitionCode) {
if (operator.getRawButton(InputConstants.r1Button)) {
halfSpeed = !halfSpeed;
}
if (!driveTrain.locked && operator.getRawAxis(InputConstants.leftXAxis) > 0.2
|| operator.getRawAxis(InputConstants.leftXAxis) < -0.2
|| operator.getRawAxis(InputConstants.leftYAxis) > 0.2
|| operator.getRawAxis(InputConstants.leftYAxis) < -0.2
|| operator.getRawAxis(InputConstants.rightXAxis) > 0.2
|| operator.getRawAxis(InputConstants.rightXAxis) < -0.2
|| operator.getRawAxis(InputConstants.rightYAxis) > 0.2
|| operator.getRawAxis(InputConstants.rightYAxis) < -0.2) {
driveTrain.locked = true;
}
if (driveTrain.locked) {
x = operator.getRawAxis(InputConstants.rightXAxis);
y = operator.getRawAxis(InputConstants.leftYAxis);
} else {
x = driver.getRawAxis(InputConstants.rightXAxis);
y = driver.getRawAxis(InputConstants.leftYAxis);
}
if (operator.getRawButton(InputConstants.triangleButton)) {
driveTrain.locked = false;
}
x = x * x * x;
y = y * y * y;
if (halfSpeed) {
leftSpeed = (x - y) / 2;
rightSpeed = (-x - y) / 2;
} else {
leftSpeed = x - y;
rightSpeed = -x - y;
}
} else {
x = driver.getRawAxis(InputConstants.rightXAxis);
y = driver.getRawAxis(InputConstants.leftYAxis);
x = x * x * x;
y = y * y * y;
leftSpeed = x - y;
rightSpeed = -x - y;
}
// System.out.println("Operator axis: " + operator.getRawAxis(InputConstants.rightXAxis) + " " +
// operator.getRawAxis(InputConstants.leftYAxis));
// System.out.println("Driver axis: " + driver.getRawAxis(InputConstants.rightXAxis) + " " +
// driver.getRawAxis(InputConstants.leftYAxis));
System.out.println("Locked: " + driveTrain.locked);
if (driver.getRawButton(InputConstants.l1Button)) {
driveTrain.setLeftVBus(leftSpeed / 2.0);
driveTrain.setRightVBus(rightSpeed / 2.0);
} else {
driveTrain.setLeftVBus(leftSpeed);
driveTrain.setRightVBus(rightSpeed);
}
time.stop();
}
// Called just before this Command runs the first time
protected void initialize() {
shooter.setLight(false);
}
/** Runs intake code */
private void joyIntake() {
intake.update();
// System.out.println("hello");
if (robotCore.joy.getButton(JoyConfig.intakeButton)
&& !robotCore.joy.getRawButton(JoyConfig.manualModeButton)) {
intake.pickupBall();
shooter.releaseBall();
}
if (robotCore.joy.getButton(JoyConfig.cancelIntakeButton)
&& !robotCore.joy.getRawButton(JoyConfig.manualModeButton)) {
intake.roller.setSpeed(0);
}
if (robotCore.joy.getRawButton(JoyConfig.armUpButton)
&& robotCore.joy.getRawButton(JoyConfig.manualModeButton)) {
intake.arm.setArmSpeed(-1);
}
if (robotCore.joy.getRawButton(JoyConfig.armDownButton)
&& robotCore.joy.getRawButton(JoyConfig.manualModeButton)) {
intake.arm.setArmSpeed(1);
}
if (robotCore.joy.getButton(JoyConfig.armStopButton)
&& robotCore.joy.getRawButton(JoyConfig.manualModeButton)) {
intake.arm.setArmSpeed(0);
}
if (robotCore.joy.getButton(JoyConfig.rollerInButton)
&& robotCore.joy.getRawButton(JoyConfig.manualModeButton)) {
intake.roller.setSpeed(1);
}
if (robotCore.joy.getButton(JoyConfig.rollerOutButton)
&& robotCore.joy.getRawButton(JoyConfig.manualModeButton)) {
intake.roller.setSpeed(-1);
}
if (robotCore.joy.getButton(JoyConfig.rollerStopButton)
&& robotCore.joy.getRawButton(JoyConfig.manualModeButton)) {
intake.roller.setSpeed(0);
}
if (robotCore.joy.getButton(JoyConfig.rollerIntakeButton)
&& robotCore.joy.getRawButton(JoyConfig.manualModeButton)) {
intake.roller.runIntakeRoller();
}
if (robotCore.joy.getButton(JoyConfig.toggleArmPosButton)) {
intake.arm.togglePos();
}
if (robotCore.joy.getDpadLeft()) {
shooter.releaseBall();
}
if (robotCore.joy.getDpadRight()) {
shooter.clampBall();
}
if (robotCore.joy.getButton(9)) {
intake.arm.setPos(2);
}
if (robotCore.joy.getButton(10)) {
intake.arm.resetArmEnc();
}
}
