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();
}
}
