// HandleArm
// * Manage solenoids for arm up-down
// ----> ASSUMES kForward on DoubleSolenoid is the down position.
// * Handle intake motors
void HandleArm()
{
if (gamepad.GetEvent(BUTTON_ARM) == kEventClosed && armDown)
{
arm.Set(DoubleSolenoid::kReverse);
armDown = false;
}
else if (gamepad.GetEvent(BUTTON_ARM) == kEventClosed)
{
arm.Set(DoubleSolenoid::kForward);
armDown = true;
}
if (gamepad.GetDPadEvent(BUTTON_INTAKE_COLLECT) == kEventClosed)
{
intake.Set(INTAKE_COLLECT);
}
else if (gamepad.GetDPadEvent(BUTTON_INTAKE_COLLECT) == kEventOpened)
{
intake.Set(0.0);
}
if(gamepad.GetDPadEvent(BUTTON_INTAKE_EJECT) == kEventClosed)
{
intake.Set(INTAKE_EJECT);
}
if (gamepad.GetDPadEvent(BUTTON_INTAKE_EJECT) == kEventOpened)
{
intake.Set(0.0);
}
}
void HandleArmInputs(void)
{
if (!m_jogTimerRunning)
{
if (gamepad.GetLeftY() < -0.1)
{
if (potentiometer.GetVoltage() < 4.5)
{
armMotor.Set(ARM_FWD);
}
else
{
armMotor.Set(0.0);
}
}
else if (gamepad.GetLeftY() > 0.1)
{
if (potentiometer.GetVoltage() > .5)
{
armMotor.Set(ARM_REV);
}
else
{
armMotor.Set(0.0);
}
}
else if (kEventClosed == gamepad.GetDPadEvent(Gamepad::kUp))
{
armMotor.Set(ARM_FWD);
jogTimer.Start();
jogTimer.Reset();
m_jogTimerRunning = true;
}
else if (kEventClosed == gamepad.GetDPadEvent(Gamepad::kDown))
{
armMotor.Set(ARM_REV);
jogTimer.Start();
jogTimer.Reset();
m_jogTimerRunning = true;
}
else
{
armMotor.Set(0.0);
}
}
else if (jogTimer.HasPeriodPassed(JOG_TIME))
{
armMotor.Set(0);
jogTimer.Stop();
jogTimer.Reset();
m_jogTimerRunning = false;
}
if (gamepad.GetEvent(BUTTON_CLAW_1_LOCKED) == kEventClosed)
{
greenClaw.Set(DoubleSolenoid::kForward);
}
else if (gamepad.GetEvent(BUTTON_CLAW_1_UNLOCKED) == kEventClosed)
{
greenClaw.Set(DoubleSolenoid::kReverse);
}
else if (gamepad.GetEvent(BUTTON_CLAW_2_LOCKED) == kEventClosed)
{
yellowClaw.Set(DoubleSolenoid::kForward);
}
else if (gamepad.GetEvent(BUTTON_CLAW_2_UNLOCKED) == kEventClosed)
{
yellowClaw.Set(DoubleSolenoid::kReverse);
}
}
void Test()
{
menuType currentMenu = TOP;
menuType newMenu = TOP;
BaseMenu * menus[NUM_MENU_TYPE];
menus[TOP] = new TopMenu;
menus[ANALOG] = new AnalogMenu;
menus[DIGITAL_TOP] = new DigitalMenu;
menus[SOLENOID] = new SolenoidMenu;
menus[DIGITAL_PWM] = new PWMMenu;
menus[DIGITAL_IO] = new DigitalIOMenu;
menus[DIGITAL_RELAY] = new RelayMenu;
menus[DIGITAL_IO_STATE] = new DigitalIOStateMenu;
menus[DIGITAL_IO_CLOCK] = new DigitalIOClockMenu;
menus[DIGITAL_IO_ENCODER] = new DigitalIOEncoderMenu;
// Write out the TOP menu for the first time
menus[currentMenu]->UpdateDisplay();
// Initialize the button states on the gamepad
gamepad.Update();
// Loop counter to ensure that the program us running (debug helper
// that can be removed when things get more stable)
int sanity = 0;
while (IsTest())
{
// The dpad "up" button is used to move the menu pointer up one line
// on the LCD display
if (kEventClosed == gamepad.GetDPadEvent(Gamepad::kUp))
{
menus[currentMenu]->HandleIndexUp();
}
// The dpad "down" button is used to move the menu pointer down one line
// on the LCD display
if (kEventClosed == gamepad.GetDPadEvent(Gamepad::kDown))
{
menus[currentMenu]->HandleIndexDown();
}
// The dpad left button is used to exit a submenu when the menu pointer
// points to the "back" menu item and to decrease a value (where
// appropriate) on any other menu item.
if (kEventClosed == gamepad.GetDPadEvent(Gamepad::kLeft))
{
newMenu = menus[currentMenu]->HandleSelectLeft();
}
// Theoretically, both the select buttons could be pressed in the
// same 10 msec window. However, if using the dpad on the game
// game controller this is physically impossible so we don't
// need to worry about a previous value of newMenu being
// overwritten in the next bit of code.
// The dpad right button is used to enter a submenu when the menu pointer
// points to a submenu item and to increase a value (where appropriate)
// on any other menu item.
if (kEventClosed == gamepad.GetDPadEvent(Gamepad::kRight))
{
newMenu = menus[currentMenu]->HandleSelectRight();
// Handle change from one menu to a sub menu
if (newMenu != currentMenu)
{
// When we enter a menu we need to set the record the
// menu to return to. We do *not* want to do this when
// returning from a menu to its calling menu.
menus[newMenu]->SetCallingMenu(currentMenu);
}
}
// Handle change from one menu to another
if (newMenu != currentMenu)
{
menus[newMenu]->UpdateDisplay();
currentMenu = newMenu;
}
// Set the motor speed(s) (if any have been enabled via the Digital PWM menu)
menus[DIGITAL_PWM]->SetSpeed(-1.0 * gamepad.GetRightY());
// Update gamepad button states
gamepad.Update();
// Update the display (we do this on every loop pass because some menus
// (analog, for example) need to have values updated even when there are
// no dpad events to handle)
menus[currentMenu]->UpdateDisplay();
// Dump the sanity time value to the LCD
dsLCD->PrintfLine(DriverStationLCD::kUser_Line6, "Sanity: %d", sanity);
dsLCD->UpdateLCD();
sanity++;
// Run the loop every 50 msec (20 times per second)
Wait(0.050);
}
}
