protected override void Main()
{
while (true)
{
DriveTrain.TankDrive(-DriveStick_Left.GetRawAxis(1), -DriveStick_Right.GetRawAxis(1));
if ((DriveStick_Left.GetRawAxis(1) < -0.1 || DriveStick_Right.GetRawAxis(1) < -0.1) && !Custom_Board.GetRawButton(4))
{
Intake1.Set(-1);
Intake2.Set(-1);
}
else
{
Intake1.Set(0);
Intake2.Set(0);
}
if (Custom_Board.GetRawButton(4))
{
Shooter.Set(.9);
Agitator.Set(1);
}
else
{
Shooter.Set(0);
Agitator.Set(0);
}
if (DriveStick_Left.GetRawButton(1) || DriveStick_Right.GetRawButton(1))
{
if (flag)
{
Shifters.Set(!Shifters.Get());
flag = false;
}
}
else
{
flag = true;
}
if (DriveStick_Left.GetRawAxis(2) > 0.1)
{
PTO.Set(true);
}
else
{
PTO.Set(false);
}
Shooter_Pivot.Set(.5 * Custom_Board.GetRawAxis(4));
Snooze(10);
}
}
/// <summary>
/// Runs the auto handler.
/// </summary>
protected override void Main()
{
Right1.SetEncoderPostition(0); // Reset the encoder position to 0.
Left1.SetEncoderPostition(0); // Reset the eoncoder position to 0.
// Runs the selected autonomous.
//AutoHandler.RunAuto(Handler.AutoPosition.Disabled);
// Both down. 0b00
if (DriveStick_Left.GetAxis(WPILib.Joystick.AxisType.Z) < 0.5 && DriveStick_Right.GetAxis(WPILib.Joystick.AxisType.Z) < 0.5)
{
SmartConsole.PrintInfo("Currently running disabled autonomous on the " + DriverStation.Instance.GetAlliance() + " alliance.");
AutoHandler.RunAuto(Handler.AutoPosition.Disabled);
}
// Left stick down, right stick up. 0b01
else if (DriveStick_Left.GetAxis(WPILib.Joystick.AxisType.Z) < 0.5 && DriveStick_Right.GetAxis(WPILib.Joystick.AxisType.Z) > 0.5)
{
SmartConsole.PrintInfo("Currently running position 1 autonomous on the " + DriverStation.Instance.GetAlliance() + " alliance.");
AutoHandler.RunAuto(Handler.AutoPosition.Position1);
}
// Left stick up, right stick down. 0b10
else if (DriveStick_Left.GetAxis(WPILib.Joystick.AxisType.Z) > 0.5 && DriveStick_Right.GetAxis(WPILib.Joystick.AxisType.Z) < 0.5)
{
SmartConsole.PrintInfo("Currently running position 2 autonomous on the " + DriverStation.Instance.GetAlliance() + " alliance.");
AutoHandler.RunAuto(Handler.AutoPosition.Position2);
/*DriveTrain.Move(.65, .70);
*
* Snooze(2500);
*
* DriveTrain.StopMotor();
*
* GearSlot.Set(true);
*
* while (true) Snooze(1);*/
}
// Left stick up, right stick up. 0b11
else if (DriveStick_Left.GetAxis(WPILib.Joystick.AxisType.Z) > 0.5 && DriveStick_Right.GetAxis(WPILib.Joystick.AxisType.Z) > 0.5)
{
SmartConsole.PrintInfo("Currently running position 3 autonomous on the " + DriverStation.Instance.GetAlliance() + " alliance.");
AutoHandler.RunAuto(Handler.AutoPosition.Position3);
}
}
protected override void Main()
{
#if DEBUG
SmartConsole.PrintWarning("Robot running in debug mode.");
#endif
Handler.AutoPosition position = Handler.AutoPosition.Disabled;
while (true)
{
// Both down. 0b00
if (DriveStick_Left.GetAxis(WPILib.Joystick.AxisType.Z) < 0.5 && DriveStick_Right.GetAxis(WPILib.Joystick.AxisType.Z) < 0.5)
{
if (!a0)
{
SmartConsole.PrintInfo("Currently running disabled autonomous on the " + DriverStation.Instance.GetAlliance() + " alliance.");
position = Handler.AutoPosition.Disabled;
//AutoHandler.RunAuto(Handler.AutoPosition.Disabled);
a0 = true;
a1 = false;
a2 = false;
a3 = false;
}
}
// Left stick down, right stick up. 0b01
else if (DriveStick_Left.GetAxis(WPILib.Joystick.AxisType.Z) < 0.5 && DriveStick_Right.GetAxis(WPILib.Joystick.AxisType.Z) > 0.5)
{
if (!a1)
{
SmartConsole.PrintInfo("Currently running side gear (positon 1) autonomous on the " + DriverStation.Instance.GetAlliance() + " alliance.");
position = Handler.AutoPosition.Position1;
//AutoHandler.RunAuto(Handler.AutoPosition.Position1);
a0 = false;
a1 = true;
a2 = false;
a3 = false;
}
}
// Left stick up, right stick down. 0b10
else if (DriveStick_Left.GetAxis(WPILib.Joystick.AxisType.Z) > 0.5 && DriveStick_Right.GetAxis(WPILib.Joystick.AxisType.Z) < 0.5)
{
if (!a2)
{
SmartConsole.PrintInfo("Currently running center gear (positon 2) autonomous on the " + DriverStation.Instance.GetAlliance() + " alliance.");
position = Handler.AutoPosition.Position2;
//AutoHandler.RunAuto(Handler.AutoPosition.Position2);
a0 = false;
a1 = false;
a2 = true;
a3 = false;
}
}
// Left stick up, right stick up. 0b11
else if (DriveStick_Left.GetAxis(WPILib.Joystick.AxisType.Z) > 0.5 && DriveStick_Right.GetAxis(WPILib.Joystick.AxisType.Z) > 0.5 && position != Handler.AutoPosition.Position3)
{
if (!a3)
{
SmartConsole.PrintInfo("Currently running position 3 autonomous on the " + DriverStation.Instance.GetAlliance() + " alliance.");
position = Handler.AutoPosition.Position3;
//AutoHandler.RunAuto(Handler.AutoPosition.Position3);
a0 = false;
a1 = false;
a2 = false;
a3 = true;
}
}
}
}
protected override void Main()
{
while (true)
{
if (Custom_Board.GetRawAxis(2) > 0.1)
{
Intake1.Set(-1);
Intake2.Set(1);
}
else if (DriveStick_Right.GetRawButton(3) || Custom_Board.GetRawAxis(3) > 0.1)
{
Intake1.Set(1);
Intake2.Set(-1);
}
else
{
Intake1.Set(0);
Intake2.Set(0);
}
if (Custom_Board.GetRawButton(3))
{
if (started)
{
if ((Environment.TickCount - time) > 1000)
{
Agitator.Set(1);
IntakeSecondStage.Set(-1);
}
}
else
{
time = Environment.TickCount;
started = true;
Shooter.Set(.95);
}
}
else if (Custom_Board.GetRawButton(2))
{
if (started)
{
if ((Environment.TickCount - time) > 1000)
{
Agitator.Set(-1);
IntakeSecondStage.Set(-1);
}
}
else
{
time = Environment.TickCount;
started = true;
Shooter.Set(.95);
}
}
else
{
Shooter.Set(0);
Agitator.Set(0);
IntakeSecondStage.Set(0);
started = false;
}
if (DriveStick_Left.GetRawButton(1) || DriveStick_Right.GetRawButton(1))
{
if (toggleshift)
{
Shifters.Set(!Shifters.Get());
toggleshift = false;
}
}
else
{
toggleshift = true;
}
if (DriveStick_Left.GetRawButton(6) && DriveStick_Right.GetRawButton(11))
{
if (togglepto)
{
PTO.Set(!PTO.Get());
togglepto = false;
}
}
else
{
togglepto = true;
}
if (PTO.Get())
{
if (DriveStick_Right.GetRawAxis(1) >= 0)
{
DriveTrain.StopMotor();
}
else
{
DriveTrain.Move(DriveStick_Right.GetRawAxis(1), DriveStick_Right.GetRawAxis(1));
}
}
else
{
DriveTrain.Move(-DriveStick_Left.GetRawAxis(1), -DriveStick_Right.GetRawAxis(1));
}
if (Custom_Board.GetRawButton(4))
{
GearSlot.Set(true);
}
else
{
GearSlot.Set(false);
}
//if (DriveStick_Left.GetRawAxis(2) > 0.1) PTO.Set(true);
//else PTO.Set(false);
// Set the shooter pivot to a specific point based on the joysticks.
//TurntableController.Controller.Setpoint = ((encoderTicks + Custom_Board.GetRawAxis(4)) / 2);
Shooter_Pivot.Set(.5 * Custom_Board.GetRawAxis(4));
Snooze(10);
}
}
