diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robot2016/Teleop.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/Teleop.java | 28 |
1 files changed, 12 insertions, 16 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java index 4853162..41919fa 100644 --- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java +++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java @@ -1,12 +1,13 @@ package org.usfirst.frc.team4272.robot2016; -import org.usfirst.frc.team4272.robotlib.PushButton; +//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.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.Joystick; public class Teleop { - private PushButton camButton = new PushButton(); + //private PushButton camButton = new PushButton(); public Teleop() { } @@ -21,24 +22,18 @@ public class Teleop { /* Drive */ control.lDrive = jsScale(oi.lStick); control.rDrive = jsScale(oi.rStick); - - /* Ball intake/shooter */ - if (oi.lStick.getTrigger()) { - /* intake */ - control.fBall = control.bBall = -SmartDashboard.getNumber("intakeSpeed"); - } else if (oi.rStick.getTrigger()) { - /* outtake */ - control.fBall = 1; - if (oi.rStick.getRawButton(3)) { - control.bBall = 1; - } else { - control.bBall = 0; - } + control.arm = -oi.xbox.getAxis(Axis.LY); + control.fBall = oi.xbox.getAxis(Axis.RTrigger) - oi.xbox.getAxis(Axis.LTrigger); + if (control.fBall < -0.1) { + control.bBall = -1; } else { - control.fBall = control.bBall = 0; + control.bBall = oi.xbox.getButton(Button.A) ? 1 : 0; } + SmartDashboard.putNumber("fBall", control.fBall); + /* Take pictures */ + /* if (camButton.update(oi.xbox.getButton(Button.RT))) { try { ProcessBuilder pb = new ProcessBuilder("/home/lvuser/tweeterbot/bin/snapPhoto"); @@ -46,6 +41,7 @@ public class Teleop { pb.start(); } catch (Exception e) {}; } + */ return control; } |