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);
}
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.
}