void Autonomous(void) { GetWatchdog().SetEnabled(true); bool isHybrid = false; Kinect* kinect = Kinect::GetInstance(); isHybrid = (kinect->GetNumberOfPlayers() > 0); if (!isHybrid) { _driveControl.initializeAutonomous(); shooterControl.InitializeAutonomous(); _poleVaultControl.initialize(); } else { _driveControl.initializeHybrid(); shooterControl.InitializeHybrid(); _poleVaultControl.initialize(); } while (IsEnabled() && IsAutonomous()) { GetWatchdog().Feed(); dsLCD->Clear(); if (!isHybrid) { //Run Autonomous dsLCD->PrintfLine(DriverStationLCD::kUser_Line1, "Autonomous Mode"); //if (_driveControl.RunAuto()) { shooterControl.RunAuto(); //} // if(_driveControl.RunAuto()){ // _poleVaultControl.deploy(); // } } else { //Run Hybrid dsLCD->PrintfLine(DriverStationLCD::kUser_Line1, "Hybrid Mode"); shooterControl.Run(); _driveControl.act(); _poleVaultControl.act(); } dsLCD->UpdateLCD(); Wait(WAIT_TIME); } GetWatchdog().SetEnabled(false); }