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);
}
