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package org.usfirst.frc.team4272.robot2016;
import org.usfirst.frc.team4272.robotlib.PushButton;
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);
/* 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;
}
} else {
control.fBall = control.bBall = 0;
}
/* 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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