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package org.usfirst.frc.team4272.robot2016;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.GenericHID.Hand;
import org.usfirst.frc.team4272.robotlib.PushButton;
public class Teleop {
private final HwRobot robot;
private final double armSoftStop = 95;//295;
private final PushButton shootButton = new PushButton();
private final Timer time = new Timer();
private double lastTime;
private double currentTime;
private boolean state = false;
public Teleop(HwRobot robot) {
this.robot = robot;
}
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);
}
private static double bound(double min, double v, double max) {
return Math.min(Math.max(v, min), max);
}
private static double oneIf(boolean b) {
return b ? 1 : 0;
}
public Control run(Control control, HwOI oi) {
/* Drive */
control.lDrive = -jsScale(oi.lStick);
control.rDrive = -jsScale(oi.rStick);
if (oi.lStick.getTrigger()) {
control.highGear = false;
} else if (oi.rStick.getTrigger()) {
control.highGear = true;
}
if (oi.rStick.getRawButton(2) || oi.lStick.getRawButton(2)) {
currentTime = Timer.getMatchTime();
if(currentTime-lastTime > 0.15){
state = !state;
lastTime = currentTime;
}
if (state){
control.lDrive = 0.5;
control.rDrive = 0;
}
else if(!state){
control.lDrive = 0;
control.rDrive = 0.5;
}
}
if(oi.xbox.getRawAxis(1) > 0.2){
control.climber = oi.xbox.getRawAxis(1);
} else if (oi.xbox.getRawAxis(1) < -0.2) {
control.climber = oi.xbox.getRawAxis(1);
} else {
control.climber = 0;
}
/* gear place */
if (oi.xbox.getAButton()) {
control.gedOut = true;
}
if (oi.xbox.getBButton()) {
control.gedOut = false;
}
if(oi.xbox.getTriggerAxis(Hand.kRight) > 0)
control.camRotate = 1;
else if(oi.xbox.getTriggerAxis(Hand.kLeft) > 0)
control.camRotate = -1;
else
control.camRotate = 0;
control.camTilt = oi.xbox.getX(Hand.kRight);
return control;
}
}
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