示例#1
0
  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();
  }
示例#2
0
 /** This function is called periodically during autonomous */
 public void autonomousPeriodic() {
   red.set(1);
   black.set(1);
 }