virtual void TeleopInit() {
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
autonomousCommand->Cancel();
resetSensors->Cancel();
startCompressor->Start();
}
virtual void TeleopInit() {
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (_autonomousCommand)
{
_autonomousCommand->Cancel();
}
clearLCD();
_teleopCommand = (Command*)_teleopChooser->GetSelected();
// _teleopCommand = (Command*)_noOpCmd;
printCommandToLCD(_teleopCommand->GetName());
// if (! CommandBase::azimuthSubsystem->IsCalibrated())
// {
// CommandBase::azimuthSubsystem->CalibrateAzimuth();
// }
_teleopCommand->Start();
// _testRobotCmd->Start();
// _cmd = new TestBridgeArmCmd(CommandBase::oi->driveTrigger);
// _cmd->Start();
}
void TeleopInit()
{
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (autonomousCommand != NULL)
autonomousCommand->Cancel();
}
virtual void TeleopInit() {
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
autonomousCommand->Cancel();
cmdEmergencyStop(); //make sure everything is off and in a netral state when teleop starts.
}
void TeleopInit()
{
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
teleop = new SendI2C(LEDSystem::LEDstate::teleop);
teleop->Initialize();
if (autonomousCommand != NULL)
autonomousCommand->Cancel();
}
virtual void TeleopInit() {
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
autonomousCommand->Cancel();
//reset servos
//uncomment later
//resetCommand->Start();
CommandBase::elevator->updateStatus();
CommandBase::delivery->updateStatus();
CommandBase::intake->updateStatus();
}
// Called repeatedly when this Command is scheduled to run
void CollectorUP::Execute() {
if ((Robot::shooterArm->GetCurrentAngle() >= 57.5) && (Robot::shooterArm->GetTargetAngle() >= 57.5))
{
Robot::collector->SetCollectorPosition(false);
}
else if (Robot::shooterArm->GetTargetAngle() < 57.5)
{
Command *cmd = Robot::collector->GetCurrentCommand();
if (cmd != (Command *)0)
cmd->Cancel();
Robot::shooterArm->SetTargetPosition(ShooterArm::TRUSS);
}
}
virtual void AutonomousInit()
{
if (_teleopCommand)
{
_teleopCommand->Cancel();
}
clearLCD();
_autonomousCommand = (Command*)_autoChooser->GetSelected();
// _autonomousCommand = (Command*) _autoFireCmd;
printCommandToLCD(_autonomousCommand->GetName());
_autonomousCommand->Start();
}
virtual void DisabledPeriodic() {
resetSensors->Cancel();
driversStationUpdater->Run();
SmartDashboard::PutNumber("Gyro Angle", CommandBase::chassisSensors->getGyroAngle());
SmartDashboard::PutNumber("Left Drive Encoder", CommandBase::chassisSensors->getLeftDistance());
SmartDashboard::PutNumber("Right Drive Encoder", CommandBase::chassisSensors->getRightDistance());
SmartDashboard::PutNumber("X-Axis Accelerometer", CommandBase::chassisSensors->getAccelerometerXData());
SmartDashboard::PutNumber("Y-Axis Accelerometer", CommandBase::chassisSensors->getAccelerometerYData());
SmartDashboard::PutNumber("Z-Axis Accelerometer", CommandBase::chassisSensors->getAccelerometerZData());
SmartDashboard::PutNumber("Left Drive Stick", CommandBase::oi->getDriveStickLeft()->GetY());
SmartDashboard::PutNumber("Right Drive Stick", CommandBase::oi->getDriveStickRight()->GetY());
SmartDashboard::PutNumber("Left Front Motor", CommandBase::chassis->getSpeedControllerOutput(1));
SmartDashboard::PutNumber("Left Rear Motor", CommandBase::chassis->getSpeedControllerOutput(3));
SmartDashboard::PutNumber("Right Front Motor", CommandBase::chassis->getSpeedControllerOutput(2));
SmartDashboard::PutNumber("Right Rear Motor", CommandBase::chassis->getSpeedControllerOutput(4));
SmartDashboard::PutBoolean("Shooter State", CommandBase::shooter->getShooterState());
Scheduler::GetInstance()->Run();
}
/**
* Update the network tables associated with the Scheduler object on the
* SmartDashboard.
*/
void Scheduler::UpdateTable() {
CommandSet::iterator commandIter;
if (m_table != nullptr) {
// Get the list of possible commands to cancel
auto new_toCancel = m_table->GetValue("Cancel");
if (new_toCancel)
toCancel = new_toCancel->GetDoubleArray();
else
toCancel.resize(0);
// m_table->RetrieveValue("Ids", *ids);
// cancel commands that have had the cancel buttons pressed
// on the SmartDashboad
if (!toCancel.empty()) {
for (commandIter = m_commands.begin(); commandIter != m_commands.end();
++commandIter) {
for (unsigned i = 0; i < toCancel.size(); i++) {
Command* c = *commandIter;
if (c->GetID() == toCancel[i]) {
c->Cancel();
}
}
}
toCancel.resize(0);
m_table->PutValue("Cancel", nt::Value::MakeDoubleArray(toCancel));
}
// Set the running commands
if (m_runningCommandsChanged) {
commands.resize(0);
ids.resize(0);
for (commandIter = m_commands.begin(); commandIter != m_commands.end();
++commandIter) {
Command* c = *commandIter;
commands.push_back(c->GetName());
ids.push_back(c->GetID());
}
m_table->PutValue("Names", nt::Value::MakeStringArray(commands));
m_table->PutValue("Ids", nt::Value::MakeDoubleArray(ids));
}
}
}
virtual void TeleopInit()
{
autonomousCommand->Cancel();
}
virtual void AutonomousInit() {
autonomousCommand->Start();
clearLCD->Start();
resetSensors->Cancel();
startCompressor->Start();
}
