src/org/usfirst/frc/team4272/robot2016/Teleop.java


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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.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()) {
			control.fBall = control.bBall = -1;
		} else if (oi.rStick.getTrigger()) {
			control.fBall = 1;
			if (oi.rStick.getRawButton(3)) {
				control.bBall = 1;
			}
		}

		/* 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;
	}
}