/** This function is called periodically during autonomous */
public void autonomousInit() {
autoTimer.reset();
autoTimer.start();
gyro.reset();
relay.set(Relay.Value.kOn);
setSpeedFast();
setLEDTeamColour();
sol4.set(false);
sol5.set(true);
sol7.set(true);
sol8.set(false);
autoStop = false;
autonomousStopped = false;
autoTimeAtStop = 99999;
drive.setRun(false);
loadAndShoot.setRun(false);
autoForward();
}
public void shoot() {
sol7.set(false);
sol8.set(true);
}
public void setSpeedSlow() {
sol1.set(false);
sol2.set(true);
}
public void setSpeedFast() {
sol1.set(true);
sol2.set(false);
}
public void setNandoAct(boolean x) {
nandoAct.set(x);
}
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 setAngleAct(boolean x) {
angleAct.set(x);
}
public void unlock() {
discLock.set(false);
}
public void lock() {
discLock.set(true);
}
public void retract() {
shooterActuator.set(false);
}
public void extend() {
shooterActuator.set(true);
}
