void HandleArmInputs(void) { if (gamepad.GetLeftY() < -0.1) { if (potentiometer.GetVoltage() < 4.5) { armMotor.Set(1.0); } else { armMotor.Set(0.0); } } else if (gamepad.GetLeftY() > 0.1) { if (potentiometer.GetVoltage() > .5) { armMotor.Set(-1.0); } else { armMotor.Set(0.0); } } else { armMotor.Set(0.0); } if (gamepad.GetEvent(BUTTON_CLAW_1_LOCKED) == kEventClosed) { greenClaw.Set(DoubleSolenoid::kForward); } else if (gamepad.GetEvent(BUTTON_CLAW_1_UNLOCKED) == kEventClosed) { greenClaw.Set(DoubleSolenoid::kReverse); } else if (gamepad.GetEvent(BUTTON_CLAW_2_LOCKED) == kEventClosed) { yellowClaw.Set(DoubleSolenoid::kForward); } else if (gamepad.GetEvent(BUTTON_CLAW_2_UNLOCKED) == kEventClosed) { yellowClaw.Set(DoubleSolenoid::kReverse); } }
void HandleArmInputs(void) { if (!m_jogTimerRunning) { if (gamepad.GetLeftY() < -0.1) { if (potentiometer.GetVoltage() < 4.5) { armMotor.Set(ARM_FWD); } else { armMotor.Set(0.0); } } else if (gamepad.GetLeftY() > 0.1) { if (potentiometer.GetVoltage() > .5) { armMotor.Set(ARM_REV); } else { armMotor.Set(0.0); } } else if (kEventClosed == gamepad.GetDPadEvent(Gamepad::kUp)) { armMotor.Set(ARM_FWD); jogTimer.Start(); jogTimer.Reset(); m_jogTimerRunning = true; } else if (kEventClosed == gamepad.GetDPadEvent(Gamepad::kDown)) { armMotor.Set(ARM_REV); jogTimer.Start(); jogTimer.Reset(); m_jogTimerRunning = true; } else { armMotor.Set(0.0); } } else if (jogTimer.HasPeriodPassed(JOG_TIME)) { armMotor.Set(0); jogTimer.Stop(); jogTimer.Reset(); m_jogTimerRunning = false; } if (gamepad.GetEvent(BUTTON_CLAW_1_LOCKED) == kEventClosed) { greenClaw.Set(DoubleSolenoid::kForward); } else if (gamepad.GetEvent(BUTTON_CLAW_1_UNLOCKED) == kEventClosed) { greenClaw.Set(DoubleSolenoid::kReverse); } else if (gamepad.GetEvent(BUTTON_CLAW_2_LOCKED) == kEventClosed) { yellowClaw.Set(DoubleSolenoid::kForward); } else if (gamepad.GetEvent(BUTTON_CLAW_2_UNLOCKED) == kEventClosed) { yellowClaw.Set(DoubleSolenoid::kReverse); } }