void HandleShooterInputs()
{
if (shooterTimer.HasPeriodPassed(SPINUP_TIME))
{
shooterTimer.Stop();
shooterTimer.Reset();
indexerMotor.Set(INDEXER_FWD);
}
else if (!m_collectorMotorRunning && !m_shooterMotorRunning)
{
if (kEventClosed == gamepad.GetEvent(BUTTON_SHOOTER))
{
shooterMotor.Set(SHOOTER_FWD);
shooterTimer.Start();
m_shooterMotorRunning = true;
}
}
else
{
if (indexSwitch.GetEvent() == kEventOpened)
{
indexerMotor.Set(0.0);
shooterMotor.Set(0.0);
m_shooterMotorRunning = false;
}
}
}
void HandleShooterInputs()
{
if (!m_collectorMotorRunning && !m_shooterMotorRunning)
{
if (kEventClosed == gamepad.GetEvent(BUTTON_SHOOTER))
{
shooterMotor.Set(-0.5);
indexerMotor.Set(-0.5);
m_shooterMotorRunning = true;
}
}
else
{
if (indexSwitch.GetEvent() == kEventClosed)
{
indexerMotor.Set(0.0);
shooterMotor.Set(0.0);
m_shooterMotorRunning = false;
}
}
}
void Autonomous(void)
{
myRobot.SetSafetyEnabled(false);
// Move the arm to a level position
armMotor.Set(ARM_FWD);
while (!((potentiometer.GetVoltage() > 2.4) && (potentiometer.GetVoltage() < 2.6)))
{
// Check to make sure we don't overrotate the arm in either direction
if (potentiometer.GetVoltage() > 4.5 || potentiometer.GetVoltage() < 0.5)
{
armMotor.Set(0.0);
return;
}
Wait(0.2);
UpdateStatusDisplays();
}
armMotor.Set(0.0);
// Drive robot
DoAutonomousMoveStep(&m_autoForward[0], "Moving...");
DoAutonomousMoveStep(&m_autoForward[1], "Moving...");
//Shoot for five seconds
Timer* t = new Timer();
t->Start();
shooterMotor.Set(SHOOTER_FWD);
indexerMotor.Set(INDEXER_FWD);
while(!t->HasPeriodPassed(5.0))
{
Wait(0.02);
}
shooterMotor.Set(0.0);
indexerMotor.Set(0.0);
}
void HandleResetButton(void)
{
if (gamepad.GetEvent(BUTTON_STOP_ALL) == kEventClosed)
{
collectorMotor.Set(0.0);
m_collectorMotorRunning = false;
shooterMotor.Set(0.0);
m_shooterMotorRunning = false;
indexerMotor.Set(0.0);
armMotor.Set(0.0);
jogTimer.Stop();
jogTimer.Reset();
m_jogTimerRunning = false;
}
}
void UpdateStatusDisplays(void)
{
// Joystick values
SmartDashboard::PutNumber("stickX", stick.GetX());
SmartDashboard::PutNumber("stickY", stick.GetY());
SmartDashboard::PutBoolean("shift", stick2.GetState(BUTTON_SHIFT) ? kStateClosed : kStateOpen);
// Shooter/Indexer values
SmartDashboard::PutBoolean("indexSwitch", indexSwitch.GetState() ? kStateClosed : kStateOpen);
SmartDashboard::PutNumber("shooterMotor", shooterMotor.Get());
SmartDashboard::PutNumber("indexerMotor", indexerMotor.Get());
// Misc Motor Values
SmartDashboard::PutNumber("collectorMotor", collectorMotor.Get());
SmartDashboard::PutNumber("armMotor", armMotor.Get());
// Arm position via potentiometer voltage (2.5 volts is center position)
dsLCD->PrintfLine(DriverStationLCD::kUser_Line3, "Voltage: %3.1f", potentiometer.GetVoltage());
SmartDashboard::PutNumber("Potentiometer", potentiometer.GetVoltage());
// Claw lock states
SmartDashboard::PutBoolean("Green Claw State", greenClawLockSwitch.GetState());
SmartDashboard::PutBoolean("Yellow Claw State", yellowClawLockSwitch.GetState());
dsLCD->PrintfLine(DriverStationLCD::kUser_Line4, "Green : %s",
greenClawLockSwitch.GetState() ? "Locked" : "Unlocked");
dsLCD->PrintfLine(DriverStationLCD::kUser_Line5, "Yellow: %s",
yellowClawLockSwitch.GetState() ? "Locked" : "Unlocked");
// Pneumatic shifter count
SmartDashboard::PutNumber("Shift Count", m_shiftCount);
// State viariables
dsLCD->PrintfLine(DriverStationLCD::kUser_Line6, "CMR: %s SMR: %s JTR: %s",
m_collectorMotorRunning ? "T" : "F",
m_shooterMotorRunning ? "T" : "F",
m_jogTimerRunning ? "T" : "F");
}
