@Override
protected void end() {
timer1.stop();
shooterWheel.rawShoot(0);
shooterBar.rawBallPush(0);
System.out.println("Shoot End");
}
/*
* reads the value of the digital input of the specified channel
* requires that the readArudiono() method has already been called
* param 1: the channel to be read
* return: value of the specified digital input
*/
public boolean getInput(int channelID) {
byte temp;
if (timer.get() > 2.0) {
DriverStationLCD.getInstance()
.println(DriverStationLCD.Line.kUser3, 1, " ");
DriverStationLCD.getInstance().updateLCD();
timer.stop();
timer.reset();
}
if (Math.abs(channelID - (13 / 2)) - (13 / 2)
> 0) // returns true if less than zero or greater than thirteen
{
timer.start();
DriverStationLCD.getInstance().println(DriverStationLCD.Line.kUser3, 1, "Invalid ID");
DriverStationLCD.getInstance().updateLCD();
return false;
} else if (channelID < 8) {
temp = (byte) (loByte & (1 << channelID));
return temp != 0;
} else {
temp = (byte) (hiByte & (1 << channelID - 8));
return temp != 0;
}
}
public DriveForwardForTime(double numberOfSeconds, double speed) {
requires(Chassis.getInstance());
this.numberOfSeconds = numberOfSeconds;
timer = new Timer();
timer.stop();
this.speed = speed;
}
/** Resets the recorder so we can record properly next time */
public void reset() {
if (m_bRecStarted) {
writeDataToFile();
m_List.removeAllElements();
m_Index = 0;
m_tmRecorder.stop();
m_tmRecorder.reset();
m_bRecDone = false;
m_bRecStarted = false;
}
}
private double m_shoot() {
if (encoder.get() >= desired || shootTime.get() > m_timeToShoot) {
shooting = false;
retracting = true;
shootTime.stop();
retractTime.start();
retractTime.reset();
return .1;
} else { // encoder < desired && shootTime < 0.2
error = desired - encoder.get();
return -1;
}
}
/**
* Records bots movements to specified file
*
* @param sFileName
*/
public void record(String sFileName) {
if (!m_bRecStarted) {
m_sFile = sFileName;
m_tmRecorder.start();
m_bRecStarted = true;
}
if (!m_bRecDone) {
m_Index++;
m_botDataAuto = new BotData();
m_botDataAuto.setValues(m_tmRecorder.get(), m_bot);
m_List.addElement(m_botDataAuto);
} else {
Vars.fnDisableDrive();
m_bot.stopRobot();
m_tmRecorder.stop();
m_tmRecorder.reset();
}
}
protected void end() {
_timer.stop();
}
@Override
protected void end() {
timer.stop();
}
// Called once after isFinished returns true
protected void end() {
timer.stop();
intake.stop();
}
protected void end() {
pidControllerDistance.disable();
drivetrainStrafe.mecanumPolarStrafe(0, 0);
drivetrainRotation.mecanumPolarRotate(0);
timer.stop();
}
public static void Reinit() {
timer.stop();
timer.reset();
timer.start();
}