/**
* Runs the motors with arcade steering.
*/
void OperatorControl(void)
{
myRobot->SetSafetyEnabled(true);
while (IsOperatorControl())
{
bool setLimit;
double cimValue1= -scaleThrottle(-(stick->GetZ())); //Set desired speed from the Throttle, assuming from -1 to 1, also invert the cim, since we want it to rotate coutnerclockwise/clockwise
double cimValue2= scaleThrottle(-(stick->GetZ())); //Set desired speed from the Throttle, assuming from -1 to 1
//For shooter
/*if (stick.GetRawButton(1) == true) {
//back of the robot is moved forward by pushing forward on the joystick
myRobot.ArcadeDrive((stick.GetY()),
(stick.GetX()), false); // inverted drive control
} else {
//front of the robot is moved forward by pushing forward on the joystick
myRobot.ArcadeDrive(-(stick.GetY()),
(stick.GetX()), false); // normal drive control
}
*/
//For manual button speed control, this sets the speed
if (stick->GetRawButton(4) == true) {
cim1->Set(cimValue1); //use the value from the throttle to set cim speed
cim2->Set(cimValue2);//Get speed from throttle, and then scale it
setLimit = true;
//Open Ball Stopper
}
else {
cim1->Set(0.0);
cim2->Set(0.0);
setLimit = false;
//Close Ball Stopper
}
//For precisebelt pickup
if (stick->GetRawButton(1) == true) {
//back of the robot is moved forward by pushing forward on the joystick
if (setLimit == true) {
JagBelt->ArcadeDrive(0.1,
(stick->GetX()), false); // inverted drive control
} else {
JagBelt->ArcadeDrive((stick->GetY()),
(stick->GetX()), false); // inverted drive control
}
} else {
//front of the robot is moved forward by pushing forward on the joystick
if (setLimit == true) {
JagBelt->ArcadeDrive(-0.1,
(stick->GetX()), false); // inverted drive control
} else {
JagBelt->ArcadeDrive(-(stick->GetY()),
(stick->GetX()), false); // inverted drive control
}
}
//For normal belt pickup
/*if (stick->GetRawButton(6) == true) {
JagBelt->Drive(1.0, 0); //opens gripper
} else {
JagBelt->Drive(0.0, 0); //closes gripper
}
*/
//For drive
if (rightstick->GetRawButton(1) == true) {
//back of the robot is moved forward by pushing forward on the joystick
if (rightstick->GetRawButton(10) == true) {
precisionMode= true;
}
else {
precisionMode= false;
}
myRobot->ArcadeDrive((rightstick->GetY()), (rightstick->GetX()), precisionMode); // inverted drive control
} else
{
if (rightstick->GetRawButton(10) == true) {
precisionMode= true;
}
else {
precisionMode= false;
}
//front of the robot is moved forward by pushing forward on the joystick
myRobot->ArcadeDrive(-(rightstick->GetY()), (rightstick->GetX()), precisionMode); // normal drive control
}
/*if (stick->GetRawButton(8) == true) {
cim1->Set(-0.37); //run cim 1 at 50% speed counterclockwise??
cim2->Set(0.37); // run cim at 50% speed clockwise
check = true; //indicate if motors are running
} else if (check == true){ // if motors are running a
Wait(2.0);
belt->Set(1); // run the belt
Wait(2.0); // one sec delay
belt->Set(0.0); // turn belt off
check = false; // put new check
}
else if (check == false){ //if false
// 2 sec delay to wait for the first ball to shoot
cim1->Set(0.0); //stop cims
cim2->Set(0.0);
}
else { // Stop everything
cim1->Set(0.0); //stop cims
cim2->Set(0.0);
belt->Set(0.0);
}
*/
//Code for using window motor
if (rightstick->GetRawButton(4)) {
window->Set(Relay::kOn);
window->Set(Relay::kForward); // tell window motor to go forward
} else if (rightstick->GetRawButton(5) == true){
window->Set(Relay::kOn);
window->Set(Relay::kReverse); //tell window motor to go backward
}
else {
//Wait(1.0);
window->Set(Relay::kOff); //turn it off, if the relays aint being used
}
//Code for Banebot Motor for stopping ballz
if (stick->GetRawButton(2) == true) { // press button TWO to close
pickStop->Set(-0.5); //closes ball stopper
Wait(1);
pickStop->Set(0.0);
} else if (stick->GetRawButton(3) == true){ //press button three to open
pickStop->Set(0.5); //opens ball stopper
Wait(1.2); // too slow, so needs more time
pickStop->Set(0.0);
}
else if (stick->GetRawButton(5)== true){ //press 5 to stop imediately, useful for adjusting angles...
//Wait(1.0);
pickStop->Set(0.0);
}
//Code for ... servoooo
if (stick->GetRawButton(10) == true) { //press 10 on the left stick...
bar->SetAngle(60); // set the angles to 60...clockwise?
bar2->SetAngle(60);
} else if (stick->GetRawButton(11) == true) // press 11 on the left stick
{
bar->SetAngle(-60); //set the angles to -60...counterclockwise?
bar2->SetAngle(-60);
}
// Initialize functions...
// RelayServo();
//PreciseBelt();
//UltrasonicRange();
// Accelerometer();
//dash->GetPacketNumber();
// send data back to dashboard
dash->GetPacketNumber(); //not sure why this is here 0_0
//int limitValue= limitSwitch->Get() ? 1 : 0; // retrieve 1 and 0 only.../ look for 0 and 1
float servoAngle = bar->GetAngle();
//dsLCD->Printf(DriverStationLCD::kUser_Line1, 1, "Limit State: %d", limitValue); //send data back to driver station...
// dsLCD->Printf(DriverStationLCD::kUser_Line2, 2, "Servo Angle: %f", servoAngle); //send data back to driver station...
float gyroVal = gyro -> GetVoltage();//Gets voltage from gyro
float ultraVal = rangeFinder -> GetVoltage(); //Get voltage from ultrasonic sensor
float tempVal = Temperature -> GetVoltage();//Gets temperature
//Do the math to convert data received from the ultrasonic volts->miliVolts->milivolts per inch->inches
float Vm = (ultraVal*1000);
float Ri = (Vm/9.765625);
// Print data back to dashboard
dsLCD->Printf(DriverStationLCD::kUser_Line1, 1, "Ultrasonic Range: %f",Ri);
dsLCD->Printf(DriverStationLCD::kUser_Line2, 1, "Gyro: %f", gyroVal);
dsLCD->Printf(DriverStationLCD::kUser_Line3, 1, "Temperature: %f", tempVal);
dsLCD->Printf(DriverStationLCD::kUser_Line4, 1, "Cim1 Speed: %f%%", (cimValue1*100)); //display speed that the mototrs are reunning at different percentages...
dsLCD->Printf(DriverStationLCD::kUser_Line5, 1, "Cim2 Speed: %f%%", (cimValue2*100));
//Update dashboard
dsLCD->UpdateLCD();
}
}
