void TeleopPeriodic() {
//for gear piston
printf("in teleop per \n");
if (xbox->GetButtonB() && BnotPressed) {
gefu->GearOut();
BnotPressed=false;
printf("gearout \n");
}
else if (!xbox->GetButtonB()) {
BnotPressed=true;
}
if (xbox->GetButtonX() && XnotPressed) {
gefu->GearIn();
XnotPressed=false;
printf("gearin \n");
}
else if(!xbox->GetButtonX()) {
XnotPressed=true;
}
// for intake (piston 2)
if(xbox->GetButtonA() && AnotPressed) {
gefu->Horz();
AnotPressed=false;
printf("horz \n");
}
else if (!xbox->GetButtonA()) {
AnotPressed=true;
}
if (xbox->GetButtonY() && (YnotPressed)) {
gefu->Horz2();
YnotPressed=false;
printf("horz2 \n");
}
else if(!xbox->GetButtonY()) {
YnotPressed=true;
}
// for outtake (piston 3)
if (xbox->GetButtonLB() && (LBnotPressed)) {
gefu->Vert();
LBnotPressed=false;
printf("vert \n");
}
else if(!xbox->GetButtonLB()) {
LBnotPressed=true;
}
if (xbox->GetButtonRB() && (RBnotPressed)) {
gefu->Vert2();
RBnotPressed=false;
printf("vert2 \n");
}
else if(!xbox->GetButtonRB()) {
RBnotPressed=true;
}
}
void OperatorControl(void)
{
bool buttonABool;
bool buttonBBool;
bool buttonXBool;
bool buttonYBool;
bool buttonLBBool;
bool buttonRBBool;
bool buttonBackBool;
bool buttonStartBool;
float leftTrigger;
float rightTrigger;
float leftYAxis;
float rightYAxis;
float leftXAxis;
float rightXAxis;
myRobot.SetSafetyEnabled(true);
while (IsOperatorControl())
{
leftYAxis = newStick.GetLeftYAxis();
rightYAxis = newStick.GetRightYAxis();
SmartDashboard::PutNumber("Left Y Axis", leftYAxis);
SmartDashboard::PutNumber("Right Y Axis", rightYAxis);
leftXAxis = newStick.GetLeftXAxis();
rightXAxis = newStick.GetRightXAxis();
SmartDashboard::PutNumber("Left X Axis", leftXAxis);
SmartDashboard::PutNumber("Right X Axis", rightXAxis);
leftTrigger = newStick.GetLeftThrottle();
SmartDashboard::PutNumber("left trigger", leftTrigger);
rightTrigger = newStick.GetRightThrottle();
SmartDashboard::PutNumber("right trigger", rightTrigger);
buttonABool = newStick.GetButtonA();
SmartDashboard::PutNumber("buttonA",buttonABool);
buttonBBool = newStick.GetButtonB();
SmartDashboard::PutNumber("buttonB",buttonBBool);
buttonXBool = newStick.GetButtonX();
SmartDashboard::PutNumber("buttonX",buttonXBool);
buttonYBool = newStick.GetButtonY();
SmartDashboard::PutNumber("buttonY",buttonYBool);
buttonLBBool = newStick.GetButtonLB();
SmartDashboard::PutNumber("buttonLB",buttonLBBool);
buttonRBBool = newStick.GetButtonRB();
SmartDashboard::PutNumber("buttonRB",buttonRBBool);
buttonBackBool = newStick.GetButtonBack();
SmartDashboard::PutNumber("buttonBack",buttonBackBool);
buttonStartBool = newStick.GetButtonStart();
SmartDashboard::PutNumber("buttonStart",buttonStartBool);
Wait(0.005);
}
}
void TeleopPeriodic()
{
if (stick->GetButtonA() == true) {
sold->OverrideEnable();
printf("It got here\n");
}
printf("after getbutton\n");
}
