/**
* Runs the motor from the output of a Joystick.
*/
void OperatorControl() {
while (IsOperatorControl() && IsEnabled()) {
// Set the motor controller's output.
// This takes a number from -1 (100% speed in reverse) to +1 (100% speed forwards).
m_motor.Set(m_stick.GetY());
Wait(kUpdatePeriod); // Wait 5ms for the next update.
}
}
//
// Main Tele Operator Mode function. This function is called once, therefore a while loop that checks IsOperatorControl and IsEnabled is used
// to maintain control until the end of tele operator mode
//
void OperatorControl()
{
//myRobot.SetSafetyEnabled(true);
timer->Start();
Relay* reddlight = new Relay(4);
//Timer* lighttimer = new Timer();
//lighttimer->Start();
while (IsOperatorControl() && IsEnabled())
{
reddlight->Set(reddlight->kForward);
/*
if (lighttimer->Get()<=0.5) {
reddlight->Set(reddlight->kForward);
}
else if(lighttimer->Get()<1){
reddlight->Set(reddlight->kOff);
}
else {
lighttimer->Reset();
}
*/
//
// Get inputs
//
driverInput->GetInputs();
drive->GetInputs();
catapult->GetInputs();
feeder->GetInputs();
//
// Pass values between components as necessary
//
//catapult->SetSafeToFire(feeder->GetAngle()<95);
//
// Execute one step on each component
//
drive->ExecStep();
catapult->ExecStep();
feeder->ExecStep();
//
// Set Outputs on all components
//
catapult->SetOutputs();
feeder->SetOutputs();
//
// Wait for step timer to expire. This allows us to control the amount of time each step takes. Afterwards, restart the
// timer for the next loop
//
while (timer->Get()<(PERIOD_IN_SECONDS));
timer->Reset();
}
}
void WorkshopRobot::OperatorControl(void){
printf("2250 start\n"); //Check in with the console.
while (IsOperatorControl()){ //Called once at the beggining of the teleop mode.
//printf("Feed!\n");
driveSys->RunDriveSystem();
LauncherMech->RunLauncher();
Wait(0.005); //Minimum motor controller wait time. (also handy for ticks)
}
}
void OperatorControl(void)
{
while (IsOperatorControl())
{
driveTrain->Drive();
pickupBall->Pickup();
ballShooter->ShootBall();
}
}
/**
* Runs the motors with arcade steering.
*/
void OperatorControl(void)
{
myRobot.SetSafetyEnabled(true);
while (IsOperatorControl())
{
myRobot.ArcadeDrive(stick); // drive with arcade style (use right stick)
Wait(0.005); // wait for a motor update time
}
}
/**
* Runs the motors with arcade steering.
*/
void OperatorControl(void)
{
GetWatchdog().SetEnabled(true);
while (IsOperatorControl())
{
GetWatchdog().Feed();
myRobot.ArcadeDrive(stick); // drive with arcade style (use right stick)
}
}
void TestBed::OperatorControl(void)
{
while (IsOperatorControl() && !IsDisabled())
{
DriveSys->RemoteDrive();
SmartDashboard::PutNumber("LeftStick: ", DriveSys->LeftStickY);
SmartDashboard::PutNumber("RightStick:", DriveSys->RightStickY);
Wait(0.005);// wait for a motor update time
}
}
/**
* Runs the motors with arcade steering.
*/
void OperatorControl(void)
{
float speed = 0;
while (IsOperatorControl())
{
myRobot.TankDrive(leftstick, rightstick);
//driveleft.Set(1); //Why are we setting driveleft and driveright to 1 and -1?
//driveright.Set(-1);
}
}
void TeleopInit()
{
while(IsOperatorControl())
{
intake();
shoot();
}
}
/**
* Runs the motors with arcade steering.
*/
void OperatorControl()
{
while (IsOperatorControl() && IsEnabled())
{
myRobot.ArcadeDrive(stick); // drive with arcade style (use right stick)
//camera.GetImage(Image); //get the most recent image from the camera
Wait(0.005); // wait for a motor update time
}
}
void OperatorControl(void)
{
SetWatchdogEnabled(true);
while (IsOperatorControl())
{
WatchdogFeed();
ArcadeDrive(JOYSTICK_PORT);
Wait(0.005);
}
}
/**
* Runs the motors under driver control with either tank or arcade steering selected
* by a jumper in DS Digin 0. Also an arm will operate based on a joystick Y-axis.
*/
void OperatorControl()
{
control->initialize();
while (IsOperatorControl())
{
control->run();
dsLCD->UpdateLCD();
Wait(0.005);
}
}
// Code to be run during the remaining 2:20 of the match (after Autonomous())
//
// OperatorControl
// * Calls all the above methods
void OperatorControl()
{
// SAFETY AND SANITY - SET ALL TO ZERO
intake.Set(0.0);
rightWinch.Set(0.0);
leftWinch.Set(0.0);
arm.Set(DoubleSolenoid::kReverse);
/* TODO: Investigate. At least year's (GTR East) competition, we reached the conclusion that disabling this was
* the only way we could get out robot code to work (reliably). Should this be set to false?
*/
robotDrive.SetSafetyEnabled(false);
Timer clock;
int sanity = 0;
int bigSanity = 0;
loading = false;
loaded = winchSwitch.Get();
RegisterButtons();
gamepad.Update();
leftStick.Update();
compressor.Start();
while (IsOperatorControl() && IsEnabled())
{
clock.Start();
HandleDriverInputs();
HandleShooter();
HandleArm();
// HandleEject();
while (!clock.HasPeriodPassed(LOOP_PERIOD)); // add an IsEnabled???
clock.Reset();
sanity++;
if (sanity >= 100)
{
bigSanity++;
sanity = 0;
dsLCD->PrintfLine(DriverStationLCD::kUser_Line4, "%d", bigSanity);
}
gamepad.Update();
leftStick.Update();
dsLCD->UpdateLCD();
}
// SAFETY AND SANITY - SET ALL TO ZERO
intake.Set(0.0);
rightWinch.Set(0.0);
leftWinch.Set(0.0);
}
/**
* Drive based upon joystick inputs, and automatically control
* motors if the robot begins tipping.
*/
void OperatorControl()
{
robotDrive.SetSafetyEnabled(false);
while (IsOperatorControl() && IsEnabled()) {
double xAxisRate = stick.GetX();
double yAxisRate = stick.GetY();
double pitchAngleDegrees = ahrs->GetPitch();
double rollAngleDegrees = ahrs->GetRoll();
if ( !autoBalanceXMode &&
(fabs(pitchAngleDegrees) >=
fabs(kOffBalanceThresholdDegrees))) {
autoBalanceXMode = true;
}
else if ( autoBalanceXMode &&
(fabs(pitchAngleDegrees) <=
fabs(kOnBalanceThresholdDegrees))) {
autoBalanceXMode = false;
}
if ( !autoBalanceYMode &&
(fabs(pitchAngleDegrees) >=
fabs(kOffBalanceThresholdDegrees))) {
autoBalanceYMode = true;
}
else if ( autoBalanceYMode &&
(fabs(pitchAngleDegrees) <=
fabs(kOnBalanceThresholdDegrees))) {
autoBalanceYMode = false;
}
// Control drive system automatically,
// driving in reverse direction of pitch/roll angle,
// with a magnitude based upon the angle
if ( autoBalanceXMode ) {
double pitchAngleRadians = pitchAngleDegrees * (M_PI / 180.0);
xAxisRate = sin(pitchAngleRadians) * -1;
}
if ( autoBalanceYMode ) {
double rollAngleRadians = rollAngleDegrees * (M_PI / 180.0);
yAxisRate = sin(rollAngleRadians) * -1;
}
try {
// Use the joystick X axis for lateral movement, Y axis for forward movement, and Z axis for rotation.
robotDrive.MecanumDrive_Cartesian(xAxisRate, yAxisRate,stick.GetZ());
} catch (std::exception ex ) {
std::string err_string = "Drive system error: ";
err_string += ex.what();
DriverStation::ReportError(err_string.c_str());
}
Wait(0.005); // wait 5ms to avoid hogging CPU cycles
}
}
/**
* Tells the robot to drive to a set distance (in inches) from an object using
* proportional control.
*/
void OperatorControl() {
double currentDistance; //distance measured from the ultrasonic sensor values
double currentSpeed; //speed to set the drive train motors
while (IsOperatorControl() && IsEnabled()) {
currentDistance = ultrasonic->GetValue() * valueToInches; //sensor returns a value from 0-4095 that is scaled to inches
currentSpeed = (holdDistance - currentDistance) * pGain; //convert distance error to a motor speed
myRobot->Drive(currentSpeed, 0); //drive robot
}
}
/**
* Runs the motors with arcade steering.
*/
void OperatorControl(void) {
while (IsOperatorControl()) {
dsLCD->PrintfLine(DriverStationLCD::kUser_Line2, "Voltage: %f",
signal.GetVoltage());
dsLCD->PrintfLine(DriverStationLCD::kUser_Line3, "CVoltage: %f",
signalControlVoltage.GetVoltage());
dsLCD->UpdateLCD();
Wait(0.005); // wait for a motor update time
}
}
void MainRobot::OperatorControl() {
mWatchdog->SetEnabled(true);
while (IsOperatorControl()) {
mJoystickController->Run();
GetWatchdog().Feed();
Wait(cMotorWait);
}
return;
}
void Michael1::OperatorControl(void)
{
printf("\n\n\tStart Teleop:\n\n");
GetWatchdog().SetEnabled(false);
ariels_light->Set(0);
while (IsOperatorControl())
{
dt->TankDrive(left_stick, right_stick);
}
}
/**
* Runs the motors with arcade steering.
*/
void OperatorControl(void)
{
myRobot.SetSafetyEnabled(true);
while (IsOperatorControl())
{
myRobot.ArcadeDrive(stick.getAxisLeftY(), stick.getAxisLeftX()); // drive with arcade style (use left stick)
dsLCD->Printf(DriverStationLCD::kUser_Line2, 1, "Move: %f4", stick.getAxisLeftY());
dsLCD->Printf(DriverStationLCD::kUser_Line3, 1, "Rotate: %f4", stick.getAxisLeftX());
dsLCD->UpdateLCD();
Wait(0.005); // wait for a motor update time
}
}
void OperatorControl()
{
tank.StartDrive();
kick.StartKicker();
while (IsOperatorControl())
{
comp.checkCompressor();
tank.Drive(PrimaryController.GetRawAxis(LEFT_JOYSTICK), PrimaryController.GetRawAxis(RIGHT_JOYSTICK), (int)PrimaryController.GetRawButton(BUTTON_HIGH_DRIVE_SHIFT), (int)PrimaryController.GetRawButton(BUTTON_LOW_DRIVE_SHIFT));
kick.StateMachine(PrimaryController.GetRawButton(BUTTON_KICK));
collect.runCollector(PrimaryController.GetRawButton(BUTTON_ROLLER_ON));
}
}
/**
* Runs the motors with Mecanum drive.
*/
void OperatorControl()
{
robotDrive.SetSafetyEnabled(false);
while (IsOperatorControl() && IsEnabled())
{
// Use the joystick X axis for lateral movement, Y axis for forward movement, and Z axis for rotation.
// This sample does not use field-oriented drive, so the gyro input is set to zero.
robotDrive.MecanumDrive_Cartesian(stick.GetX(), stick.GetY(), stick.GetZ());
Wait(0.005); // wait 5ms to avoid hogging CPU cycles
}
}
void OperatorControl()
{
while (IsOperatorControl() && IsEnabled())
{
drive->Drive(drivePad);
lifter->RunLifter(gamePad, drivePad);
//printf("Tote: %f\n", lifter->shortLiftMotor1->Get());
//printf("Angle: %f\n", drive->mecanumGyro->GetAngle());
//printf("FL: %f\t FR: %f \t BL: %f\t BR: %f\t Avg: %d\n", drive->FLMotor->GetPosition(), drive->FRMotor->GetPosition(), drive->BLMotor->GetPosition(), drive->BRMotor->GetPosition(), drive->AverageLeftStrafe());
//printf("WideEncoder: %f\t ShortEncoder: %f\n", lifter->canLiftMotor->GetPosition(), lifter->shortLiftMotor1->GetPosition());
}
}
/**
* Code to be run during the remaining 2:20 of the match (after Autonomous())
*/
void OperatorControl()
{
/* TODO: Investigate. At least year's (GTR East) competition, we reached the conclusion that disabling this was
* the only way we could get out robot code to work (reliably). Should this be set to false?
*/
robotDrive.SetSafetyEnabled(true);
while (IsOperatorControl())
{
robotDrive.ArcadeDrive(rightStick);
Wait(0.005);
}
}
void OperatorControl(void)
{
digEncoder.Start();
const double ppsTOrpm = 60.0/250.0; //This converts from Pos per Second to Rotations per Minute (See second number on back of encoder to replace 250 if you need it)
while (IsOperatorControl())
{
SmartDashboard::PutNumber("Digital Encoder RPM", digEncoder.GetRate()*ppsTOrpm);
Wait(0.1);
}
digEncoder.Stop();
}
/**
* Runs the motors with arcade steering.
*/
void OperatorControl()
{
cout << "Hello operator!" << endl;
myRobot.SetSafetyEnabled(true);
while (IsOperatorControl())
{
myRobot.ArcadeDrive(stick); // drive with arcade style (use right stick)
Wait(0.005); // wait for a motor update time
}
cout << "Bye operator!" << endl;
}
/**
* Run the closed loop position controller on the Jag.
*/
void OperatorControl()
{
printf("In OperatorControl\n");
GetWatchdog().SetEnabled(true);
while (IsOperatorControl() && !IsDisabled())
{
GetWatchdog().Feed();
// Set the desired setpoint
speedJag.Set(stick.GetAxis(axis) * 150.0);
UpdateDashboardStatus();
Wait(0.05);
}
}
void OperatorControl(){
myRobot->ResetDisplacement();
Drive->SetPriority(1);
Drive->join();
Shooter_Intake->SetPriority(2);
Shooter_Intake->join();
while(IsOperatorControl() && IsEnabled()){
Wait(2);
printf("Teleop");
}
}
void OperatorControl(void)
{
GetWatchdog().SetExpiration(.1);
GetWatchdog().SetEnabled(true);
GetWatchdog().Feed();
while (IsOperatorControl())
{
GetWatchdog().Feed();
UpdateDash();
Wait(.001f);
}
}
void OperatorControl()
{
myRobot.SetSafetyEnabled(true);
while (IsOperatorControl() && IsEnabled())
{
//MECANUM DRIVE
float yValue = stick->GetY();
float xValue = stick->GetX();
float rotation = stick->GetTwist();
myRobot.MecanumDrive_Cartesian(xValue, yValue, rotation, 0.0);
Wait(0.005);
}
}
void OperatorControl(void)
{
myRobot.SetSafetyEnabled(true);
gamepad.EnableButton(BUTTON_COLLECTOR_FWD);
gamepad.EnableButton(BUTTON_COLLECTOR_REV);
gamepad.EnableButton(BUTTON_SHOOTER);
gamepad.EnableButton(BUTTON_CLAW_1_LOCKED);
gamepad.EnableButton(BUTTON_CLAW_2_LOCKED);
gamepad.EnableButton(BUTTON_CLAW_1_UNLOCKED);
gamepad.EnableButton(BUTTON_CLAW_2_UNLOCKED);
gamepad.EnableButton(BUTTON_STOP_ALL);
gamepad.EnableButton(BUTTON_JOG_FWD);
gamepad.EnableButton(BUTTON_JOG_REV);
stick2.EnableButton(BUTTON_SHIFT);
// Set inital states for all switches and buttons
gamepad.Update();
indexSwitch.Update();
greenClawLockSwitch.Update();
yellowClawLockSwitch.Update();
stick2.Update();
// Set initial states for all pneumatic actuators
shifter.Set(DoubleSolenoid::kReverse);
greenClaw.Set(DoubleSolenoid::kReverse);
yellowClaw.Set(DoubleSolenoid::kReverse);
compressor.Start ();
while (IsOperatorControl())
{
gamepad.Update();
stick2.Update();
indexSwitch.Update();
greenClawLockSwitch.Update();
yellowClawLockSwitch.Update();
HandleCollectorInputs();
HandleDriverInputsManual();
HandleArmInputs();
HandleShooterInputs();
HandleResetButton();
UpdateStatusDisplays();
dsLCD->UpdateLCD();
Wait(0.005); // wait for a motor update time
}
}
