public double doRobotdriveScaling(double value) {
if (driverstation.getDigitalIn(Constants.driverstation_scale_toggle_channel)) {
if (driverstation.getDigitalIn(Constants.driverstation_scale_toggle_channel2)) {
driverstation.setDigitalOut(2, true);
driverstation.setDigitalOut(1, false);
driverstation.setDigitalOut(3, false);
if (driverstation.getAnalogIn(Constants.driverstation_scale_channel) < 1) {
return value * driverstation.getAnalogIn(Constants.driverstation_scale_channel);
}
driverstation.setDigitalOut(3, true);
return 0;
}
driverstation.setDigitalOut(3, false);
driverstation.setDigitalOut(1, true);
driverstation.setDigitalOut(2, false);
return value * driverstation.getAnalogIn(Constants.driverstation_scale_channel) * 0.2;
}
driverstation.setDigitalOut(3, false);
driverstation.setDigitalOut(1, false);
driverstation.setDigitalOut(2, false);
return value * Constants.robotdrive_scale_hi;
}
