public int getPostion() throws DriverStationEnhancedIO.EnhancedIOException {
if (ds.getAnalogIn(1) < RobotMap.shooterVDposition0) {
position = 1;
}
// If Station Knob is at
else if (ds.getAnalogIn(1) >= RobotMap.shooterVDposition1
&& ds.getAnalogIn(1) < RobotMap.shooterVDposition1 + .3) {
position = 2;
}
// If Station Knob is at
else if (ds.getAnalogIn(1) >= RobotMap.shooterVDposition2
&& ds.getAnalogIn(1) < RobotMap.shooterVDposition2 + .2) {
position = 3;
}
// If Station Knob is at
else if (ds.getAnalogIn(1) >= RobotMap.shooterVDposition3
&& ds.getAnalogIn(1) < RobotMap.shooterVDposition3 + .3) {
position = 4;
}
// If Station Knob is at
else if (ds.getAnalogIn(1) >= RobotMap.shooterVDposition4
&& ds.getAnalogIn(1) < RobotMap.shooterVDposition4 + .3) {
position = 5;
}
// If Station Knob is at
else if (ds.getAnalogIn(1) >= RobotMap.shooterVDposition5) {
position = 6;
}
return position;
}
public int getLiftPoition() throws DriverStationEnhancedIO.EnhancedIOException {
if (ds.getAnalogIn(2) < RobotMap.liftVDposition1) {
liftPosition = 1;
} else if (ds.getAnalogIn(2) < RobotMap.liftVDposition2) {
liftPosition = 2;
} else if (ds.getAnalogIn(2) < RobotMap.liftVDposition3) {
liftPosition = 3;
} else {
liftPosition = 4;
}
return liftPosition;
}
public double getDelayPot() {
try {
return getMaxVoltage() - enhancedIO.getAnalogIn(DELAY_POT_CHANNEL);
} catch (EnhancedIOException ex) {
return 0.0;
}
}
public double getSpeedPot() {
try {
return getMaxVoltage() - enhancedIO.getAnalogIn(SPEED_TRIM_POT_CHANNEL);
} catch (EnhancedIOException ex) {
return 0.0;
}
}
public double getMaxVoltage() {
try {
return enhancedIO.getAnalogIn(MAX_ANALOG_CHANNEL);
} catch (EnhancedIOException e) {
return 2.2;
}
}
public double getRawAnalogVoltage() {
try {
return enhancedIO.getAnalogIn(DISTANCE_BUTTONS_CHANNEL);
} catch (EnhancedIOException e) {
return 0;
}
}