/**
* Runs the motors with arcade steering.
*/
void OperatorControl(void)
{
AnalogTrigger trig1(2);
trig1.SetLimitsVoltage(1.5, 2.5);
AnalogTrigger trig2(3);
trig2.SetLimitsVoltage(1.5, 2.5);
Encoder encoder(
trig1.CreateOutput(AnalogTriggerOutput::kRisingPulse),
trig2.CreateOutput(AnalogTriggerOutput::kRisingPulse),
false, Encoder::k2X);
double tm = GetTime();
GetWatchdog().SetEnabled(true);
while (IsOperatorControl())
{
GetWatchdog().Feed();
myRobot.ArcadeDrive(stick); // drive with arcade style (use right stick)
if (GetTime() - tm > 0.25)
{
printf("Encoder: %d\r", encoder.Get());
tm = GetTime();
}
Wait(0.005); // wait for a motor update time
}
}
void static fireTriggers(void) {
if (trigger_guard_trig1(queue_0, ptr_0))
trig1(trigger_trig1_arg_0(queue_1, ptr_1),
trigger_trig1_arg_1(ext_e1, ext_e2, ext_e3_0, ext_ff_1, queue_1, ptr_1),
trigger_trig1_arg_2(queue_2, ptr_2));
}
