void bridgeboot (bool onoff)
{
if (onoff == true)
{
BridgeBootMotor10->SetSpeed(-1.0);
}
else
{
BridgeBootMotor10->SetSpeed(0.5);
}
}
void ballgatherer (bool onoff, bool reverse)
{
if (kicker_in_motion == true){
BallGathererMotor9->SetSpeed(0.0);
return;
}
if (onoff == true){
if (reverse == true) {
BallGathererMotor9->SetSpeed(0.8);
}
else {
BallGathererMotor9->SetSpeed(-1.0);
}
}
else{
BallGathererMotor9->SetSpeed(0.0);
}
//printf ("%d %f ballgatherer onoff:\n");
}
void ShooterControl (bool onoff,double power) //function for the shooter
{
if (onoff = true)
{
shooter1->SetSpeed(-power);
shooter2->SetSpeed(-power);
shooter3->SetSpeed(power);
shooter4->SetSpeed(power);
}
else
{
shooter1->SetSpeed(0.0);
shooter2->SetSpeed(0.0);
shooter3->SetSpeed(0.0);
shooter4->SetSpeed(0.0);
}
}