// // Main Autonomous Mode function. This function is called once, therefore a while loop that checks IsAutonomous and IsEnabled is used // to maintain control until the end of autonomous mode // void Autonomous() { // Initialize Smart Dashboard SmartDashboard::init(); autonomous = new AutonomousMode(AUTO_TIMEONLY, drive->myRobot, sensors, catapult, STOP_DISTANCE_RANGE, STOP_DISTANCE_ENCOD, STOP_DRIVING_TIME, CAMERA_LED); //myRobot->SetSafetyEnabled(false); //AxisCamera &camera = AxisCamera::GetInstance(); //Relay* redddlight = new Relay(4); //Timer* lighttimer = new Timer(); //lighttimer->Start(); while(IsAutonomous() && IsEnabled()) { /* if (lighttimer->Get()<=0.25) { redddlight->Set(redddlight->kForward); } else if(lighttimer->Get()<0.5){ redddlight->Set(redddlight->kOff); } else { lighttimer->Reset(); } */ feeder->GetInputs(); sensors->GetInputs(); //ColorImage *image; //image = camera.GetImage(); //SmartDashboard::PutNumber("Range Finder Distance", sensors->GetInch(sensors->range->GetVoltage())); //SmartDashboard::PutNumber("Range Finder Average Distance", sensors->GetDistance()); autonomous->GetInputs(); autonomous->ExecStep(); autonomous->SetOutputs(); //delete ℑ //delete image; Wait(0.01); /* DigitalInput *limitswitch = new DigitalInput(1); limitswitch->Get(); */ } }