1 files changed, 64 insertions, 0 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
new file mode 100644
index 0000000..4bc1b46
--- /dev/null
+++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
@@ -0,0 +1,64 @@
+package org.usfirst.frc.team4272.robot2016;
+
+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;
+	}
+}