void OperatorControl()
{
// Loop counter to ensure that the program is running (debug helper
// that can be removed when things get more stable)
int sanity, bigSanity = 0;
gamepad.Update();
while (IsOperatorControl() && IsEnabled())
{
controls = Controls::GetInstance();
controls->SetSpeed(LEFT_DRIVE_PWM, -1.0 * gamepad.GetRightY());
controls->SetSpeed(RIGHT_DRIVE_PWM, -1.0 * gamepad.GetRightY());
gamepad.Update();
dsLCD->Clear();
dsLCD->PrintfLine(DriverStationLCD::kUser_Line1, "2013 Test Fix");
dsLCD->PrintfLine(DriverStationLCD::kUser_Line2, "Teleop Mode");
dsLCD->PrintfLine(DriverStationLCD::kUser_Line6, "bigSanity: %d", sanity);
dsLCD->UpdateLCD();
sanity++;
if (0 == sanity % 20)
{
bigSanity++;
}
Wait(0.05); // wait for a motor update time
}
}
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);
}
}
