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 SlavedLauncherPID::SendSD() {
SmartDashboard::PutNumber(GetName() + "speed", ReturnPIDInput());
SmartDashboard::PutNumber(GetName() + "power", pidMotor.Get());
SmartDashboard::PutNumber(GetName() + "power2", pidMotor2.Get());
Command* comm = GetCurrentCommand();
if(comm)
{
SmartDashboard::PutString(GetName() + "command" , comm->GetName());
}
}
void MFCBot::AutonomousInit() {
visionControl->PutBoolean("disabled",false);
Scheduler::GetInstance()->RemoveAll();
Command *cmd = ((Command*) chooser->GetSelected());
if (cmd!=NULL) {
cmd->Start();
printf("Starting AUTO: %s\n", cmd->GetName().c_str());
}
SmartDashboard::PutBoolean("HotGoal", false);
Logger::log(Logger::kInfo, "Main", "Autonomous Init%s",
DriverStation::GetInstance()->IsFMSAttached() ? ":FMS" : "");
}
virtual void AutonomousInit()
{
if (_teleopCommand)
{
_teleopCommand->Cancel();
}
clearLCD();
_autonomousCommand = (Command*)_autoChooser->GetSelected();
// _autonomousCommand = (Command*) _autoFireCmd;
printCommandToLCD(_autonomousCommand->GetName());
_autonomousCommand->Start();
}
void OnLog(Logger *logger) override
{
User *user = logger->GetUser();
ChanServ::Channel *channel = logger->GetCi();
Command *command = logger->GetCommand();
CommandSource *source = logger->GetSource();
if (logger->GetType() != LogType::COMMAND || user == nullptr || command == nullptr || channel == nullptr || !Me || !Me->IsSynced())
return;
Channel *c = channel->GetChannel();
for (LogSetting *log : channel->GetRefs<LogSetting *>())
{
/* wrong command */
if (log->GetServiceName() != command->GetName())
continue;
/* if a command name is given check the service and the command */
if (!log->GetCommandName().empty())
{
/* wrong service (only check if not a fantasy command, though) */
if (!source->c && log->GetCommandService() != source->service->nick)
continue;
if (!log->GetCommandName().equals_ci(source->GetCommand()))
continue;
}
const Anope::string &buffer = logger->GetMaskedMessage();
if (log->GetMethod().equals_ci("MEMO") && memoserv && channel->WhoSends() != NULL)
memoserv->Send(channel->WhoSends()->nick, channel->GetName(), buffer, true);
else if (source->c)
/* Sending a channel message or notice in response to a fantasy command */;
else if (log->GetMethod().equals_ci("MESSAGE") && c)
{
IRCD->SendPrivmsg(channel->WhoSends(), log->GetExtra() + c->name, "{0}", buffer);
#warning "fix idletimes"
//l->ci->WhoSends()->lastmsg = Anope::CurTime;
}
else if (log->GetMethod().equals_ci("NOTICE") && c)
IRCD->SendNotice(channel->WhoSends(), log->GetExtra() + c->name, "{0}", buffer);
}
}
/**
* 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));
}
}
}
void MFCBot::WatchDog() {
if (CommandBase::shooter != NULL) {
int watching = 0;
if (CommandBase::shooter->getWenchMotorSpeed() < 0
&& CommandBase::shooter->getTurns()
> SHOOTER_WENCH_POT_FULL_OUT) {
CommandBase::shooter->setWenchMotor(0.0);
watching = 1;
if (watchdogTicks==0)
Logger::log(Logger::kWarning, "Watchdog",
"Shooter motor over released!");
}
if (CommandBase::shooter->getWenchMotorSpeed() < 0
&& CommandBase::shooter->getWLatch() == Shooter::kLatched) {
CommandBase::shooter->setWenchMotor(0.0);
watching = 1;
if (watchdogTicks==0)
Logger::log(Logger::kWarning, "Watchdog",
"Shooter motor released without pawl disengaged!");
}
if (CommandBase::shooter->getWenchMotorSpeed()> 0) {
if (CommandBase::shooter->getTurns() < SHOOTER_WENCH_POT_BACK
&& (CommandBase::oi==NULL
||!CommandBase::oi->isShooterPotPullbackIgnored())) {
CommandBase::shooter->setWenchMotor(0.0);
watching = 1;
if (watchdogTicks==0)
Logger::log(Logger::kWarning, "Watchdog",
"Shooter motor overdrawn sensed by potentiometer!");
}
if (CommandBase::shooter->getTurns()
< SHOOTER_WENCH_POT_REVERSE_ALLOW) {
#if SHOOTER_LIMITSWITCH
if (CommandBase::shooter->isLatchedByProximity()) {
CommandBase::shooter->setWenchMotor(0.0);
watching = 1;
if (watchdogTicks==0)
Logger::log(Logger::kWarning, "Watchdog",
"Shooter motor overdrawn sensed by proximity switch!");
}
#endif
if (CommandBase::shooter->isLatchedByPattern()) {
CommandBase::shooter->setWenchMotor(0.0);
watching = 1;
if (watchdogTicks==0)
Logger::log(Logger::kWarning, "Watchdog",
"Shooter motor overdrawn sensed by latch pattern!");
}
}
}
if (!watching) {
watchdogTicks=0;
} else {
if (watchdogTicks++>10) {
watchdogTicks=0;
}
}
if (CommandBase::shooter->isShooterMotorStalled()
&& CommandBase::shooter->getWenchMotorSpeed()>0
&& CommandBase::shooter->getTurns() > 0.125
&& CommandBase::shooter->getWLatch() != Shooter::kLatched) {
Command *running = CommandBase::shooter->GetCurrentCommand();
if (running != NULL) {
if (running->GetName().compare("WLatch_Latched") != 0) {
printf(
"Watchdog: Killed command %s due to shooter stall!\n",
running->GetName().c_str());
Scheduler::GetInstance()->Remove(running);
Scheduler::GetInstance()->AddCommand(new WLatch(Shooter::kLatched));
}
}
}
}
}
