Exemple #1
0
    void DisabledPeriodic() {

        dashboardLogger->UpdateData();
        //robot->UpdateCurrent();
        //auton->Stop();
        //Reads controls and updates controllers accordingly

        //lights->Update(false);
        visionController->Update();
        humanControl->ReadControls();
        gearController->Update();
        RefreshAllIni();
    }
Exemple #2
0
    void TeleopPeriodic() {
        dashboardLogger->UpdateEssentialData();

        //Updates timer
        lastTimeSec = currTimeSec;
        currTimeSec = robot->GetTime();
        deltaTimeSec = currTimeSec - lastTimeSec;


        //Reads controls and updates controllers accordingly
        //RefreshAllIni();
        humanControl->ReadControls();
        driveController->Update(currTimeSec, deltaTimeSec);
        climberController->Update();
        //visionController->Update();
        gearController->Update();

        if (humanControl->GetJoystickValue(RemoteControl::kOperatorJoy, RemoteControl::kRY) > 0.2) {
        lights->Climbing();
        } else if (humanControl->GetShoutRoutineDesired()) {
        lights->SetShoutRoutine();
        } else if (humanControl->GetGearTitlerIntakeDesired()) {
        lights->GearIntake();

        } else if (humanControl->GetGearTitlerOuttakeDesired()) {
        lights->GearOuttake();

        } else if (humanControl->GetSlowDriveTier1Desired()
                && humanControl->GetSlowDriveTier2Desired()) {
        lights->Brake2();

        } else if (humanControl->GetSlowDriveTier1Desired()) {
        lights->Brake1();

        } else {
        lights->SetEnabledRoutine();
        }
    }