void robot_class::TeleopInit() {
stop_vision();
driveTrain->SetSafetyEnabled(true);
shooter->stopWheel(); // stop the shooter wheel after autonomous period is over
// feeder will automatically stop at hall effect sensor
LEDring.Set(Relay::kForward);
}
void robot_class::TestInit() {
std::printf("test init\n");
stop_vision();
driveTrain->SetSafetyEnabled(false);
driveTrain->TankDrive(0.0f,0.0f);
LEDring.Set(Relay::kForward);
init_vision();
std::printf("good\n");
std::printf("engine: %p\n",engine);
engine->startContinuous();
}
void robot_class::AutonomousInit() {
stop_vision();
driveTrain->SetSafetyEnabled(false);
unsigned int choice = 0;
if(autoSwitch.Get())//determining pot angles
choice = 1;
std::printf("switch: %d\n",autoSwitch.Get());
AUTO_ANGLE = AUTO_ANGLES[choice];/*choices are at the top*/
shooter -> setAngle(AUTO_ANGLE); /*and deterined by autoSwitch*/
shooter -> wheelForward = true;
shooter -> setSpeed(AUTO_SPEED);
init_vision();
}
void main_robot::DisabledInit()
{
stop_vision();
}
