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package org.usfirst.frc.team4272.robot2016;
//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();
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);
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.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");
pb.redirectErrorStream(true);
pb.start();
} catch (Exception e) {};
}
*/
return control;
}
}
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