//Controls motion of arm
void Arm::OperateArm() {
AutoArm();
//Controlled by right analog stick
if (xboxController->GetRawAxis(5) >= 0.2 || xboxController->GetRawAxis(5) <= -0.2) { //Absolute value of controller stick
RaiseArm(xboxController->GetRawAxis(5));
}
//Controlled by hat switch on top of joystick
else if (joystick->GetRawAxis(6) > 0.0)
RaiseArm(1);
else if (joystick->GetRawAxis(6) < -0.0)
LowerArm(1);
else if (!automatic)
StopArm();
}
//Automatically lowers and raises the arm all the way to the top/bottom on the press of a button
void Arm::AutoArm() {
if (xboxController->GetRawButton(1)) {
RaiseArm(1);
automatic = true;
}
else if (xboxController->GetRawButton(2)) {
LowerArm(1);
automatic = true;
}
}
// Optionally raises the arm to clear the bridge, then lowers it.
// TODO - Get minimum angle to clear bridge in neutral position
void TipBridge::Execute() {
if (needsReset) {
if (!moving) { RaiseArm(); }
if (accelerometer->GetArmDegree() > 35.0) {
needsReset = false;
StopArm();
}
} else {
LowerArm();
}
}