void HandleArmInputs(void)
{
if (gamepad.GetLeftY() < -0.1)
{
if (potentiometer.GetVoltage() < 4.5)
{
armMotor.Set(1.0);
}
else
{
armMotor.Set(0.0);
}
}
else if (gamepad.GetLeftY() > 0.1)
{
if (potentiometer.GetVoltage() > .5)
{
armMotor.Set(-1.0);
}
else
{
armMotor.Set(0.0);
}
}
else
{
armMotor.Set(0.0);
}
if (gamepad.GetEvent(BUTTON_CLAW_1_LOCKED) == kEventClosed)
{
greenClaw.Set(DoubleSolenoid::kForward);
}
else if (gamepad.GetEvent(BUTTON_CLAW_1_UNLOCKED) == kEventClosed)
{
greenClaw.Set(DoubleSolenoid::kReverse);
}
else if (gamepad.GetEvent(BUTTON_CLAW_2_LOCKED) == kEventClosed)
{
yellowClaw.Set(DoubleSolenoid::kForward);
}
else if (gamepad.GetEvent(BUTTON_CLAW_2_UNLOCKED) == kEventClosed)
{
yellowClaw.Set(DoubleSolenoid::kReverse);
}
}
void Autonomous(void)
{
myRobot.SetSafetyEnabled(false);
// Move the arm to a level position
armMotor.Set(ARM_FWD);
while (!((potentiometer.GetVoltage() > 2.4) && (potentiometer.GetVoltage() < 2.6)))
{
// Check to make sure we don't overrotate the arm in either direction
if (potentiometer.GetVoltage() > 4.5 || potentiometer.GetVoltage() < 0.5)
{
armMotor.Set(0.0);
return;
}
Wait(0.2);
UpdateStatusDisplays();
}
armMotor.Set(0.0);
// Drive robot
DoAutonomousMoveStep(&m_autoForward[0], "Moving...");
DoAutonomousMoveStep(&m_autoForward[1], "Moving...");
//Shoot for five seconds
Timer* t = new Timer();
t->Start();
shooterMotor.Set(SHOOTER_FWD);
indexerMotor.Set(INDEXER_FWD);
while(!t->HasPeriodPassed(5.0))
{
Wait(0.02);
}
shooterMotor.Set(0.0);
indexerMotor.Set(0.0);
}
void HandleResetButton(void)
{
if (gamepad.GetEvent(BUTTON_STOP_ALL) == kEventClosed)
{
collectorMotor.Set(0.0);
m_collectorMotorRunning = false;
shooterMotor.Set(0.0);
m_shooterMotorRunning = false;
indexerMotor.Set(0.0);
armMotor.Set(0.0);
jogTimer.Stop();
jogTimer.Reset();
m_jogTimerRunning = false;
}
}
void HandleArmInputs(void)
{
if (!m_jogTimerRunning)
{
if (gamepad.GetLeftY() < -0.1)
{
if (potentiometer.GetVoltage() < 4.5)
{
armMotor.Set(ARM_FWD);
}
else
{
armMotor.Set(0.0);
}
}
else if (gamepad.GetLeftY() > 0.1)
{
if (potentiometer.GetVoltage() > .5)
{
armMotor.Set(ARM_REV);
}
else
{
armMotor.Set(0.0);
}
}
else if (kEventClosed == gamepad.GetDPadEvent(Gamepad::kUp))
{
armMotor.Set(ARM_FWD);
jogTimer.Start();
jogTimer.Reset();
m_jogTimerRunning = true;
}
else if (kEventClosed == gamepad.GetDPadEvent(Gamepad::kDown))
{
armMotor.Set(ARM_REV);
jogTimer.Start();
jogTimer.Reset();
m_jogTimerRunning = true;
}
else
{
armMotor.Set(0.0);
}
}
else if (jogTimer.HasPeriodPassed(JOG_TIME))
{
armMotor.Set(0);
jogTimer.Stop();
jogTimer.Reset();
m_jogTimerRunning = false;
}
if (gamepad.GetEvent(BUTTON_CLAW_1_LOCKED) == kEventClosed)
{
greenClaw.Set(DoubleSolenoid::kForward);
}
else if (gamepad.GetEvent(BUTTON_CLAW_1_UNLOCKED) == kEventClosed)
{
greenClaw.Set(DoubleSolenoid::kReverse);
}
else if (gamepad.GetEvent(BUTTON_CLAW_2_LOCKED) == kEventClosed)
{
yellowClaw.Set(DoubleSolenoid::kForward);
}
else if (gamepad.GetEvent(BUTTON_CLAW_2_UNLOCKED) == kEventClosed)
{
yellowClaw.Set(DoubleSolenoid::kReverse);
}
}
