public static void main(String[] args) throws InterruptedException {
List<Info> devices = Joy.listDevices();
if (devices.isEmpty()) {
System.out.println("No devices connected!");
return;
}
for (Info info : devices) {
System.out.println(info.description());
}
Joystick joystick = Joystick.create(devices.get(0));
while (true) {
joystick.update();
System.out.println(joystick);
Thread.sleep(30);
}
}
public void playGame() {
Joystick joystick = game.getJoystick();
do {
printBoard();
String line = console.read();
boolean bomb = false;
boolean move = false;
for (Character ch : line.toCharArray()) {
if (ch == 's' || ch == 'ы') {
if (move) {
game.tick();
bomb = false;
}
joystick.down();
move = true;
} else if (ch == 'a' || ch == 'ф') {
if (move) {
game.tick();
bomb = false;
}
joystick.left();
move = true;
} else if (ch == 'd' || ch == 'в') {
if (move) {
game.tick();
bomb = false;
}
joystick.right();
move = true;
} else if (ch == 'w' || ch == 'ц') {
if (move) {
game.tick();
bomb = false;
}
joystick.up();
move = true;
} else if (ch == ' ') {
if (bomb) {
game.tick();
move = false;
}
joystick.act();
bomb = true;
}
}
game.tick();
} while (!game.isGameOver());
printBoard();
console.print("Game over!");
}
public void operatorControl() {
while (this.isEnabled()) {
if (controller.getRawButton(1)) {
aButtonPressed = true;
} else if (aButtonPressed) {
aButtonPressed = false;
if (!aButtonPressed) {
in.set(false);
out.set(false);
}
}
if (controller.getRawButton(2)) {
bButtonPressed = true;
} else if (bButtonPressed) {
bButtonPressed = false;
if (!bButtonPressed) {
in.set(false);
out.set(false);
}
}
if (controller.getRawButton(3)) {
xButtonPressed = true;
} else if (xButtonPressed) {
xButtonPressed = false;
if (!xButtonPressed) valve.set(Relay.Value.kOff);
}
if (controller.getRawButton(4)) {
yButtonPressed = true;
} else if (yButtonPressed) {
yButtonPressed = false;
valve.set(Relay.Value.kOff);
}
if (aButtonPressed) {
out.set(false);
in.set(true);
}
if (bButtonPressed) {
in.set(false);
out.set(true);
}
if (xButtonPressed) {
SmartDashboard.putBoolean("compressorOn", true);
valve.set(Relay.Value.kOn);
}
SmartDashboard.putBoolean("compressorOn", xButtonPressed);
SmartDashboard.putBoolean("pistonOut", aButtonPressed);
SmartDashboard.putBoolean("pistonIn", bButtonPressed);
SmartDashboard.putBoolean("pressure relief", input.get());
// System.out.println("output " + input.get());
if (input.get()) {
System.out.println("INPUT RETURNED TRUE, SETTING VALVE TO OFF");
valve.set(Relay.Value.kOff);
}
Timer.delay(.1);
}
}
public void teleopPeriodic() {
watchdog.feed(); // feed the watchdog
// Toggle drive mode
if (!driveToggle && left.getRawButton(2)) {
driveMode = (driveMode + 1) % 3;
driveToggle = true;
} else if (driveToggle && !left.getRawButton(2)) driveToggle = false;
// Print drive mode to DS & send values to Jaguars
switch (driveMode) {
case 0:
dsLCD.println(DriverStationLCD.Line.kMain6, 1, "Drive mode: Tank ");
red.set(left.getY() + gamePad.getY());
black.set(-right.getY() - gamePad.getThrottle());
break;
case 1:
dsLCD.println(DriverStationLCD.Line.kMain6, 1, "Drive mode: Arcade");
red.set(right.getX() - right.getY());
black.set(right.getX() + right.getY());
break;
case 2:
dsLCD.println(DriverStationLCD.Line.kMain6, 1, "Drive mode: Kaj ");
red.set(left.getX() - right.getY());
black.set(left.getX() + right.getY());
break;
} /**/
dsLCD.println(
DriverStationLCD.Line.kUser3,
1,
"1" + photoreceptorL.get() + "2" + photoreceptorM.get() + "3" + photoreceptorR.get());
dsLCD.println(DriverStationLCD.Line.kUser4, 1, "Encoder in 4,5: " + leftEncoder.get() + " ");
dsLCD.println(
DriverStationLCD.Line.kUser5, 1, "Encoder in 6,7: " + rightEncoder.get() + " ");
dsLCD.updateLCD();
}
