コード例 #1
0
  /** 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);
    }
  }
コード例 #2
0
  /**
   * This function is run when the robot is first started up and should be used for any
   * initialization code.
   */
  public void robotInit() {
    // Make robot objects
    driverstation = Driverstation.getInstance();
    drive = Drive.getInstance();
    shooter = Shooter.getInstance();
    //        lifterobject = LifterObject.getInstance();
    //        compressor = Compressor467.getInstance();
    Calibration.init();
    Autonomous.init();
    TableHandler.init();
    //        AxisCamera.getInstance();

  }
コード例 #3
0
 /** This function is run when operator control mode is first enabled */
 public void teleopInit() {
   shooter.init();
 }
コード例 #4
0
 /** This function is run when autonomous control mode is first enabled */
 public void autonomousInit() {
   // Read driverstation inputs
   driverstation.readInputs();
   shooter.init();
   Autonomous.init();
 }