diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robot2016/Teleop.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/Teleop.java | 34 |
1 files changed, 9 insertions, 25 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java index be88308..aadbc58 100644 --- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java +++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java @@ -6,11 +6,8 @@ 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() { @@ -26,31 +23,18 @@ public class Teleop { /* 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; + /* Ball intake/shooter */ + if (oi.lStick.getTrigger()) { + control.fBall = control.bBall = -1; + } else if (oi.rStick.getTrigger()) { + control.fBall = 1; + if (oi.rStick.getRawButton(3)) { + control.bBall = 1; + } } - /* 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)); - + /* Take pictures */ if (camButton.update(oi.xbox.getButton(Button.RT))) { try { ProcessBuilder pb = new ProcessBuilder("/home/lvuser/tweeterbot/bin/snapPhoto"); |