/** This function is called periodically during test mode */
public void testPeriodic() {
Watchdog.getInstance().feed(); // Tell watchdog we are running
drive();
shooterUse();
// shooterLoft();
armUse();
System.out.println(
"loftPot value: " + loftPot.getValue() + " armPot Value: " + armPot.getValue());
if (xboxDriver
.getBtnBACK()) { // when driver controls, hold button BACK to unwind winch, release to stop,
// only for testing
winchRelay.set(Relay.Value.kOn);
winchRelay.setDirection(Relay.Direction.kForward);
}
}
public void shooterLoft() {
// Ajust loft
double operatorLeftY = xboxOperator.getLeftY(); // operator has loft control
int loftPotValue = loftPot.getValue();
if (xboxOperator.getBtnX()) { // hold to ajust for close shot
if (loftPotValue < closeShotValue - focusTolerance) {
if (loftPotValue < closeShotValue - angleTolerance) {
shooterLoft.set(-1);
} else {
shooterLoft.set(-0.001);
}
} else if (loftPotValue > closeShotValue + focusTolerance) {
if (loftPotValue > closeShotValue + angleTolerance) {
shooterLoft.set(1);
} else {
shooterLoft.set(0.001);
}
} else {
shooterLoft.set(0);
}
} else if (xboxOperator.getBtnY()) { // hold to ajust for far shot
if (loftPotValue < farShotValue - focusTolerance) {
if (loftPotValue < farShotValue - angleTolerance) {
shooterLoft.set(-1);
} else {
shooterLoft.set(-0.001);
}
} else if (loftPotValue > farShotValue + focusTolerance) {
if (loftPotValue > farShotValue + angleTolerance) {
shooterLoft.set(1);
} else {
shooterLoft.set(0.001);
}
} else {
shooterLoft.set(0);
}
} else if (xboxOperator.getBtnB()) { // hold to ajust for feeding
if (loftPotValue < shooterFeedingValue - focusTolerance) {
if (loftPotValue < shooterFeedingValue - angleTolerance) {
shooterLoft.set(-1);
} else {
shooterLoft.set(-0.001);
}
} else if (loftPotValue > shooterFeedingValue + focusTolerance) {
if (loftPotValue > shooterFeedingValue + angleTolerance) {
shooterLoft.set(1);
} else {
shooterLoft.set(0.001);
}
} else {
shooterLoft.set(0);
}
} else if (loftPotValue > maxHeightValue
&& loftPotValue < minHeightValue
&& ((operatorLeftY > .3) || operatorLeftY < -.3)) { // move loft with left operator stick
shooterLoft.set(operatorLeftY);
} else {
shooterLoft.set(0); // don't move loft
}
} // end of shooter loft
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
public void resetPot() {
elevatorDownPos = pot.getValue();
}
public double getPotVal() {
return (pot.getValue() - elevatorDownPos) * potScale;
}
public double getPot() {
return pot.getValue();
}
public double getUltrasonic() {
return us.getValue() / 1.9;
}
public double getDistance() {
return voltToIn(ultrasonic.getValue());
}