protected void checkState() {
if (solenoid.get()) {
direction = Direction.EXTENDING;
} else if (!solenoid.get()) {
direction = Direction.RETRACTING;
}
}
public void setSuckingLED() {
if (sol4.get() == false && sol5.get() == true) {
suckingLED.set(true);
} else {
suckingLED.set(false);
}
}
public void teleopPeriodic() {
smart.putNumber("distance", ultrasonic.getVoltage());
setSuckingLED();
setLEDTeamColour();
// smart dashboard stuff
smart.putBoolean("Fully Pressurized", compressor.getPressureSwitchValue());
smart.putBoolean("fast gear", sol1.get() == true && sol2.get() == false);
smart.putBoolean("slow gear", sol1.get() == false && sol2.get() == true);
if (gyro.getAngle() > 360 || gyro.getAngle() < -360) {
gyro.reset();
}
smart.putBoolean("good angle", gyro.getAngle() < 30 && gyro.getAngle() > -30);
smart.putBoolean(
"too far right", (gyro.getAngle() > 30 && gyro.getAngle() < 180) || gyro.getAngle() < -180);
smart.putBoolean(
"too far left", (gyro.getAngle() < -30 && gyro.getAngle() > -180) || gyro.getAngle() > 180);
if (ultrasonic.getVoltage() < 0.55) {
tooClose = true;
} else {
tooClose = false;
}
smart.putBoolean("Too close", tooClose);
if (ultrasonic.getVoltage() > 0.8) {
tooFar = true;
} else {
tooFar = false;
}
smart.putBoolean("Too far", tooFar);
if (ultrasonic.getVoltage() >= 0.55 && ultrasonic.getVoltage() <= 0.8) {
inRange = true;
} else {
inRange = false;
}
smart.putBoolean("In range", inRange);
}
public boolean getUp() {
if (m_bDefaultStat) return !m_solUp.get();
return m_solUp.get();
}
public boolean getState() {
return collectorArms.get();
}
public static boolean isDown() {
return hooks.get() == false;
}
public static boolean isUp() {
return hooks.get() == true;
}
public static boolean get() {
return hooks.get();
}
public boolean getHangerPosition() {
return left.get();
}
public boolean isExtended() {
return solenoidExtend.get();
}