Ejemplo n.º 1
0
	void TeleopPeriodic()
	{
		if(!isWait)
		{
			//drive
			drive->drive(oi->joyDrive->GetRawAxis(FORWARD_Y_AXIS)), setTurnSpeed(oi->joyDrive->GetRawAxis(TURN_X_AXIS));
			drive->shift(oi->joyDrive->GetRawButton(8), oi->joyDrive->GetRawButton(9));
			//manipulator
			manip->moveArm(oi->joyManip->GetRawButton(6), oi->joyManip->GetRawButton(7));
			manip->intakeBall(oi->joyManip->GetRawButton(INTAKE_BUTTON), oi->joyManip->GetRawButton(OUTTAKE_BUTTON), (oi->getManipJoystick()->GetThrottle()+1)/2);
			catapult->launchBall();
			manip->toggleCompressor(oi->joyDrive->GetRawButton(COMPRESSOR_BUTTON));
		}
		
			//camera motor mount
		if(oi->joyManip->GetRawButton(10))
		{
			bCameraLatch = true;
		}
		else if(oi->joyManip->GetRawButton(11))
		{
			bCameraLatch = false;
		}	
		manip->toggleCameraPosition(bCameraLatch);
	}
Ejemplo n.º 2
0
	void TeleopPeriodic()
	{
		manip->toggleCompressor(oi->joyDrive->GetRawButton(COMPRESSOR_BUTTON));

		//drive
		drive->drive(oi->joyDrive->GetRawAxis(FORWARD_Y_AXIS), oi->joyDrive->GetRawAxis(TURN_X_AXIS));
		//drive->shift(oi->joyDrive->GetRawButton(8), oi->joyDrive->GetRawButton(9));

		//manipulator
		// TJF: Replaced "magic numbers" with named constants
		manipArm->moveArm(oi->joyDrive->GetRawButton(UP_INTAKE_BUTTON), oi->joyDrive->GetRawButton(DOWN_INTAKE_BUTTON)); //manipArm->moveArm(oi->joyDrive->GetRawButton(6), oi->joyDrive->GetRawButton(7));
		manip->intakeBall(oi->joyDrive->GetRawButton(INTAKE_BUTTON), oi->joyDrive->GetRawButton(OUTTAKE_BUTTON), (oi->joyDrive->GetThrottle()+1)/2);

		// TJF: removed only because it doesn't work yet
		catapult->launchBall();
		printSmartDashboard(); // 01/18/2016 moved this function because it needed to be updated constantly instead of initializing it only once.

	}