void TeleopPeriodic() { if(!isWait) { //drive drive->drive(oi->joyDrive->GetRawAxis(FORWARD_Y_AXIS)), setTurnSpeed(oi->joyDrive->GetRawAxis(TURN_X_AXIS)); drive->shift(oi->joyDrive->GetRawButton(8), oi->joyDrive->GetRawButton(9)); //manipulator manip->moveArm(oi->joyManip->GetRawButton(6), oi->joyManip->GetRawButton(7)); manip->intakeBall(oi->joyManip->GetRawButton(INTAKE_BUTTON), oi->joyManip->GetRawButton(OUTTAKE_BUTTON), (oi->getManipJoystick()->GetThrottle()+1)/2); catapult->launchBall(); manip->toggleCompressor(oi->joyDrive->GetRawButton(COMPRESSOR_BUTTON)); } //camera motor mount if(oi->joyManip->GetRawButton(10)) { bCameraLatch = true; } else if(oi->joyManip->GetRawButton(11)) { bCameraLatch = false; } manip->toggleCameraPosition(bCameraLatch); }
void TeleopPeriodic() { manip->toggleCompressor(oi->joyDrive->GetRawButton(COMPRESSOR_BUTTON)); //drive drive->drive(oi->joyDrive->GetRawAxis(FORWARD_Y_AXIS), oi->joyDrive->GetRawAxis(TURN_X_AXIS)); //drive->shift(oi->joyDrive->GetRawButton(8), oi->joyDrive->GetRawButton(9)); //manipulator // TJF: Replaced "magic numbers" with named constants manipArm->moveArm(oi->joyDrive->GetRawButton(UP_INTAKE_BUTTON), oi->joyDrive->GetRawButton(DOWN_INTAKE_BUTTON)); //manipArm->moveArm(oi->joyDrive->GetRawButton(6), oi->joyDrive->GetRawButton(7)); manip->intakeBall(oi->joyDrive->GetRawButton(INTAKE_BUTTON), oi->joyDrive->GetRawButton(OUTTAKE_BUTTON), (oi->joyDrive->GetThrottle()+1)/2); // TJF: removed only because it doesn't work yet catapult->launchBall(); printSmartDashboard(); // 01/18/2016 moved this function because it needed to be updated constantly instead of initializing it only once. }