コード例 #1
0
 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
コード例 #2
0
  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