blob: 85b071be49bc0cf2fe1293a6ec2bec842eae480f (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
|
package org.usfirst.frc.team4272.robot2015;
import org.usfirst.frc.team4272.robotlib.ToggleButton;
import org.usfirst.frc.team4272.robotlib.PushButton;
import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Axis;
import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Button;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Relay;
public class Teleop {
private ToggleButton grabButton = new ToggleButton();
private ToggleButton pushButton = new ToggleButton();
private PushButton camButton = new PushButton();
public Teleop() {
}
private static double jsScale(Joystick j) {
double y = -j.getY();/* +:forward; -:backward */
double z = -j.getZ();/* +:more-sensitive; -:less-sensitive */
return Math.copySign(Math.pow(Math.abs(y), 2.0-z), y);
}
public Control run(Control control, HwOI oi) {
/* Drive */
control.lDrive = jsScale(oi.lStick);
control.rDrive = jsScale(oi.rStick);
/* Winch */
control.winch = oi.xbox.getAxis(Axis.LY ) * -1;/* up is neg, down is pos */
if (Math.abs(control.winch) < 0.1) { control.winch = 0; }
/* left intake */
if (oi.xbox.getButton(Button.LB)) {
control.lIntake = Relay.Value.kReverse;
} else if (oi.xbox.getAxis(Axis.LT) > 0.75) {
control.lIntake = Relay.Value.kForward;
} else {
control.lIntake = Relay.Value.kOff;
}
/* right intake */
if (oi.xbox.getButton(Button.RB)) {
control.rIntake=(Relay.Value.kReverse);
} else if (oi.xbox.getAxis(Axis.RT) > 0.75) {
control.rIntake=(Relay.Value.kForward);
} else {
control.rIntake=(Relay.Value.kOff);
}
control.grab = grabButton.update(oi.xbox.getButton(Button.A));
control.push = pushButton.update(oi.xbox.getButton(Button.B));
if (camButton.update(oi.xbox.getButton(Button.RT))) {
try {
ProcessBuilder pb = new ProcessBuilder("/home/lvuser/tweeterbot/bin/snapPhoto");
pb.redirectErrorStream(true);
pb.start();
} catch (Exception e) {};
}
return control;
}
}
|
