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-rw-r--r--src/org/usfirst/frc/team4272/robot2015/Robot.java12
-rw-r--r--src/org/usfirst/frc/team4272/robot2015/Teleop.java16
-rw-r--r--src/org/usfirst/frc/team4272/robotlib/PushButton.java13
-rw-r--r--src/org/usfirst/frc/team4272/robotlib/ToggleButton.java (renamed from src/org/usfirst/frc/team4272/robotlib/Toggler.java)2
4 files changed, 39 insertions, 4 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2015/Robot.java b/src/org/usfirst/frc/team4272/robot2015/Robot.java
index 22abd30..454f226 100644
--- a/src/org/usfirst/frc/team4272/robot2015/Robot.java
+++ b/src/org/usfirst/frc/team4272/robot2015/Robot.java
@@ -2,8 +2,10 @@
package org.usfirst.frc.team4272.robot2015;
+import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Relay;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import java.io.FileWriter;
import java.io.IOException;
@@ -18,6 +20,7 @@ import java.io.PrintWriter;
public class Robot extends IterativeRobot {
private final HwRobot robot = new HwRobot();
private final HwOI oi = new HwOI();
+ private final DriverStation ds = DriverStation.getInstance();
private final Control control = new Control();
private PrintWriter log;
@@ -36,6 +39,7 @@ public class Robot extends IterativeRobot {
private void inLog() throws IOException {
log = new PrintWriter(new FileWriter("/usr/local/frc/share/lukeshu.log", true));
log.println("\ntime"
+ +",ds:alliance,ds:voltage,ds:FMStime"
+",c:lDrive,c:rDrive,c:winch,c:lIntake,c:rIntake,c:grab,c:push"
+",i:lDrive.dist,i:lDrive.rate"
+",i:rDrive.dist,i:rDrive.rate"
@@ -43,7 +47,14 @@ public class Robot extends IterativeRobot {
}
private void doLog() throws Exception {
+ SmartDashboard.putNumber("dist", robot.rDriveE.getDistance());
+ SmartDashboard.putNumber("raw", robot.rDriveE.getRaw());
+ if (!ds.isFMSAttached())
+ return;
log.println(0
+ +","+ds.getAlliance()
+ +","+ds.getBatteryVoltage()
+ +","+ds.getMatchTime()
+","+control.lDrive
+","+control.rDrive
+","+control.winch
@@ -84,6 +95,7 @@ public class Robot extends IterativeRobot {
}
public void teleopInit() {
+ robot.rDriveE.reset();
teleop = new Teleop();
}
diff --git a/src/org/usfirst/frc/team4272/robot2015/Teleop.java b/src/org/usfirst/frc/team4272/robot2015/Teleop.java
index 541099c..058589a 100644
--- a/src/org/usfirst/frc/team4272/robot2015/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2015/Teleop.java
@@ -1,6 +1,7 @@
package org.usfirst.frc.team4272.robot2015;
-import org.usfirst.frc.team4272.robotlib.Toggler;
+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;
@@ -8,8 +9,9 @@ import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Relay;
public class Teleop {
- private Toggler grabButton = new Toggler();
- private Toggler pushButton = new Toggler();
+ private ToggleButton grabButton = new ToggleButton();
+ private ToggleButton pushButton = new ToggleButton();
+ private PushButton camButton = new PushButton();
public Teleop() {
}
@@ -48,6 +50,14 @@ public class Teleop {
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;
}
diff --git a/src/org/usfirst/frc/team4272/robotlib/PushButton.java b/src/org/usfirst/frc/team4272/robotlib/PushButton.java
new file mode 100644
index 0000000..d14c5d3
--- /dev/null
+++ b/src/org/usfirst/frc/team4272/robotlib/PushButton.java
@@ -0,0 +1,13 @@
+package org.usfirst.frc.team4272.robotlib;
+
+public class PushButton {
+ private boolean prev = false;
+ public boolean update(boolean next) {
+ boolean ret = false;
+ if (next && ! prev) {
+ ret = true;
+ }
+ prev = next;
+ return ret;
+ }
+}
diff --git a/src/org/usfirst/frc/team4272/robotlib/Toggler.java b/src/org/usfirst/frc/team4272/robotlib/ToggleButton.java
index 03fffec..1b70ad8 100644
--- a/src/org/usfirst/frc/team4272/robotlib/Toggler.java
+++ b/src/org/usfirst/frc/team4272/robotlib/ToggleButton.java
@@ -1,6 +1,6 @@
package org.usfirst.frc.team4272.robotlib;
-public class Toggler {
+public class ToggleButton {
private boolean prev = false;
private boolean state = false;
public boolean update(boolean next) {