void EnhancedShooter::doControls() { if(*robotState != robot_class::NORMAL) return; // NO conrols in climbing mode //Lift Control if(gunner -> GetRawButton(GUNNER_BTN_LIFT_UP)) { setLiftPower(LIFT_POWER); } else if(gunner -> GetRawButton(GUNNER_BTN_LIFT_DOWN)) { setLiftPower(-1.0f * LIFT_POWER); } else if(!liftTargetSet) { stopLift(); } //Feeder Controls if(gunner -> GetRawAxis(GUNNER_AXIS_FEEDER) > 0.98f) // right { setFeeder(FORWARD); } else if(gunner -> GetRawAxis(GUNNER_AXIS_FEEDER) < -0.98f) // left { setFeeder(BACKWARD); } }
void strafeLeft(){ setLiftPower(127); delay(500); setLiftPower(0); strafe(127, left); delay(750); strafe(0, left); }
void strafeRight(){ setLiftPower(127); delay(500); setLiftPower(0); strafe(127, right); delay(750); strafe(0, right); }
void EnhancedShooter::update() { if(*robotState == robot_class::NORMAL) { if(liftTargetSet) { if(atPot(liftTarget)) { liftTargetSet = false; stopLift(); } else if(lift.GetPosition() < liftTarget) { lift.Set(0.3141592654); } else { lift.Set(-1.0f * 0.3141592654); } } if(HalEffect.Get() > 0) { stopFeeder(); HalEffect.Reset(); HalEffect.Start(); } if(gunner -> GetRawButton(GUNNER_BTN_SHOOTER_WHEEL_REV)) { wheelForward = false; setSpeed(-1.0f * WHEEL_POWER); } else if(wheelForward) { setSpeed(WHEEL_POWER); } else { stopWheel(); } } else { setLiftPower(-1.0f * LIFT_POWER); //Limit Switch Will Stop It stopFeeder(); stopWheel(); } }