std::vector<WordAnalysis> Vabamorf::analyze(
StringVector const& sentence,
const bool disambiguate,
const bool guess,
const bool phonetic,
const bool propername) {
applyMorfSettings(linguistic, guess, phonetic, propername);
CFSArray<CFSVar> words = convertInput(sentence);
addAnalysis(linguistic, disambiguator, words, disambiguate);
return convertOutput(words);
}
void Machine :: TeleopPeriodic()
{
//SmartDashboard :: Log(autoSwitch.GetVoltage(), "AutoMode");
//camera.refreshImage();
if(rStick.GetTop())
topState = 1;
else if(topState)
{
if(stickToggle < 2)
stickToggle++;
else
stickToggle = 0;
topState = 0;
}
/*
if(rStick.GetTrigger())
rTriggerState = 1;
else if(rTriggerState)
{
cowcatcherState = !cowcatcherState;
cowcatcher.Set(cowcatcherState);
rTriggerState = 0;
}
*/
if(rStick.GetTrigger())
cowcatcher.Set(1);
else
cowcatcher.Set(0);
two = rStick.GetRawButton(2);
three = rStick.GetRawButton(3);
four = rStick.GetRawButton(4);
five = rStick.GetRawButton(5);
six = rStick.GetRawButton(6);
if(two || three || four || five || six)
{
if(!fudge)
{
if(two)
{
camera.refreshImage();
camAngle = camera.getAngle();
turnType = 9;
}
else if(three)
turnType = -2;
else if(four)
turnType = 1;
else if(five)
turnType = -1;
else
turnType = 2;
turnTimer.Start();
turnTimer.Reset();
fudge = 1;
printf("Adjusting \n");
turning = true;
drive.enablePositionControl();
}
}
else
{
fudge = 0;
}
if(turning)
{
switch(turnType)
{
case -2: angle = -(pi / 18.0); break;
case -1: angle = -(pi / 54.0); break;
case 0: angle = 0.0; break;
case 1: angle = (pi / 18.0); break;
case 2: angle = (pi / 54.0); break;
case 9: angle = camAngle; break;
default: printf("Things are seriously wrong \n"); break;
}
printf("Turn_Type: %d, angle: %g, camAngle: %g \n", turnType, angle, camAngle);
if(drive.angleDrive(angle, pi / 360) || turnTimer.Get() > TURN_TIME)
{
drive.enableVoltageControl();
turning = false;
}
}
/*
if(rStick.GetRawButton(2))
{
if(lastDriveMode)
{
drive.enableSpeedControl();
lastDriveMode = true;
}
}
else if(lastDriveMode)
{
drive.enableVoltageControl();
lastDriveMode = false;
}
*/
/*
if(convertOutput(pIO->GetAnalogInRatio(7)) && (!turning))
extraSwitch = 1;
else if(extraSwitch)
{
turning = true;
camera.refreshImage();
drive.enablePositionControl();
extraSwitch = 0;
}
*/
/*
if(lStick.GetTrigger())
{
if(!lTriggerState)
{
lTriggerState = 1;
printf("angle drive enabled \n");
specialTurning = true;
drive.enablePositionControl();
}
}
else
{
lTriggerState = 0;
}
if(specialTurning)
{
//if(drive.angleDrive( (float)camera.getAngle(), (pi / 360.0)))
if(drive.angleDrive((pi / 4), (pi / 360)))
{
drive.enableVoltageControl();
specialTurning = false;
}
}
*/
if(pIO->GetDigital(ILLUMINATOR_SWITCH))
illuminator.Set(Relay::kOn );
else
illuminator.Set(Relay::kOff);
if(lightSensor.Get())
pIO->SetDigitalOutput(RAMP_LIGHT, 1);
else
pIO->SetDigitalOutput(RAMP_LIGHT, 0);
/*
switch (convertOutput(pIO->GetAnalogInRatio(COWCATCHER_SWITCH)))
{
case -1: cowcatcher.Set(1); break;
case 0: break;
case 1: cowcatcher.Set(0); break;
default: printf("Things are seriously wrong. \n");
}
*/
switch (convertOutput(pIO->GetAnalogInRatio(PICKUP_SWITCH)))
{
case -1: pickup.reverse(); break;
case 0: pickup.stop(); break;
case 1: pickup.start(); break;
default: printf("Things are seriously wrong. \n");
}
int shooterSwitch = convertOutput(pIO->GetAnalogInRatio(SHOOTER_SWITCH));
if(shooterSwitch != lastCase)
{
switch (shooterSwitch)
{
case -1: shooter.stop(); lastCase = -1; break;
case 0: lastCase = 0; break;
case 1: shooter.start(1); lastCase = 1; break;
default: printf("Things are seriously wrong. \n");
}
}
switch(convertOutput(pIO->GetAnalogInRatio(TIPPER_SWITCH)))
{
case -1: tipper.Set(0); break;
case 0: break;
case 1: tipper.Set(1); break;
}
shooter.run( 0.3 + 0.750 * pIO->GetAnalogInRatio(ADJUST_SWITCH));
if(pIO->GetDigital(PLUNGER_SWITCH) && shooter.shootEnable)
shooter.shoot();
//float sensitivity = 1.0 / (10 * rStick.GetRawButton(3));
if(!turning)
{
switch(/*stickToggle*/ 2)
{
case 0:
drive.tankDrive(rStick.GetY() , lStick.GetY());
break;
case 1:
drive.arcadeDrive(rStick.GetY() , rStick.GetX() );
break;
case 2:
drive.arcadeDrive(rStick.GetY() , rStick.GetTwist() );
break;
default:
SmartDashboard :: Log(stickToggle, "stickToggle has exceeded its bounds");
break;
}
}
ticks++;
//DriverStation::GetInstance()->GetDigitalIn( 6 )
}
