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authorLuke Shumaker <lukeshu@sbcglobal.net>2015-02-16 17:40:02 -0500
committerLuke Shumaker <lukeshu@sbcglobal.net>2015-02-16 17:40:02 -0500
commit74b7077270fdd9d4d7a6eca0bb7011283ae999a8 (patch)
tree1776cc38d7e64bb980df5436655aeaa37dd27b30 /src/org/usfirst/frc/team4272/robot2015/Robot.java
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+
+package org.usfirst.frc.team4272.robot2015;
+
+import org.usfirst.frc.team4272.robotlib.Toggler;
+import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Axis;
+import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Button;
+
+import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.Relay;
+
+/**
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the IterativeRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the manifest file in the resource
+ * directory.
+ */
+public class Robot extends IterativeRobot {
+ private HwRobot robot = new HwRobot();
+ private HwOI oi;
+ /**
+ * This function is run when the robot is first started up and should be
+ * used for any initialization code.
+ */
+ public void robotInit() {
+
+ }
+
+ public void autonomousInit() {
+
+ }
+ public void autonomousPeriodic() {
+
+ }
+
+ private Toggler grabButton = new Toggler();
+ private Toggler pushButton = new Toggler();
+ private Toggler ledsButton = new Toggler();
+ public void teleopInit() {
+ //robot.lDrive.reset();
+ //robot.rDrive.reset();
+ //robot.winch.reset();
+ //robot.lDrive.enable();
+ //robot.rDrive.enable();
+ //robot.winch.enable();
+ robot.grab.setEnabled(true);
+ robot.push.setEnabled(true);
+ oi = new HwOI();
+ grabButton.update(false);
+ pushButton.update(false);
+ ledsButton.update(false);
+ }
+ public void teleopPeriodic() {
+ /* Drive */
+ robot.lDriveM.pidWrite(-oi.lStick.getY()*Math.abs(oi.lStick.getY()));
+ robot.rDriveM.pidWrite( oi.rStick.getY()*Math.abs(oi.rStick.getY()));
+
+ /* Winch */
+ double w = oi.xbox.getAxis(Axis.LY);
+ if (Math.abs(w) < 0.1) { w = 0; }
+ robot.winchM.pidWrite(-w);
+
+ /* left intake */
+ if (oi.xbox.getButton(Button.LB)) {
+ robot.lIntake.set(Relay.Value.kReverse);
+ } else if (oi.xbox.getAxis(Axis.LT) > 0.75) {
+ robot.lIntake.set(Relay.Value.kForward);
+ } else {
+ robot.lIntake.set(Relay.Value.kOff);
+ }
+ /* right intake */
+ if (oi.xbox.getButton(Button.RB)) {
+ robot.rIntake.set(Relay.Value.kReverse);
+ } else if (oi.xbox.getAxis(Axis.RT) > 0.75) {
+ robot.rIntake.set(Relay.Value.kForward);
+ } else {
+ robot.rIntake.set(Relay.Value.kOff);
+ }
+
+ /* grab */
+ robot.grab.setForward(grabButton.update(oi.xbox.getButton(Button.A)));
+ robot.push.setForward(pushButton.update(oi.xbox.getButton(Button.B)));
+ if (ledsButton.update(oi.xbox.getButton(Button.RT))) {
+ robot.lights.set(Relay.Value.kForward);
+ } else {
+ robot.lights.set(Relay.Value.kOff);
+ }
+ }
+
+ public void disabledInit() {
+ //robot.lDrive.reset();
+ //robot.rDrive.reset();
+ //robot.winch.reset();
+ robot.grab.setEnabled(false);
+ robot.push.setEnabled(false);
+ }
+
+ /**
+ * This function is called periodically during test mode
+ */
+ public void testPeriodic() {
+
+ }
+
+}