/// <summary>
/// This function is called periodically during operator control
/// </summary>
public override void TeleopPeriodic()
{
//while teleop is enabled, and the drivestation is enabled, run this code
while (IsOperatorControl && IsEnabled)
{
//utilize our drive class to call the ArcadeDrive method and accept input from the stick/joystick object
drive.TankDrive(-stick.GetRawAxis(1), stick.GetRawAxis(5));
//create a delay of .1 second
Timer.Delay(0.1);
}
}
public void Tank(double left, double right) => drive.TankDrive(left, right);
public void tankDrive(double l, double r, bool squaredInputs)
{
drive.TankDrive(l, r, squaredInputs);
}
/// <summary>
/// This function is called periodically during autonomous
/// </summary>
public override void AutonomousPeriodic()
{
char letter;
switch (autoSelected)
{
case straightAuto:
//Put custom auto code here
letter = straight[elapsedTimes];
if (letter == 'a')
{
drive.TankDrive(-.7, -.7);
}
else if (letter == 'b')
{
drive.TankDrive(.7, .7);
}
else if (letter == 'x')
{
drive.TankDrive(.7, -.7);
}
else if (letter == 'y')
{
drive.TankDrive(-.7, .7);
}
else if (letter == '\0')
{
time.Stop();
drive.TankDrive(0f, 0f);
}
break;
case defaultAuto:
default:
letter = straight[elapsedTimes];
if (letter == 'a')
{
drive.TankDrive(-.7, -.7);
}
else if (letter == 'b')
{
drive.TankDrive(.7, .7);
}
else if (letter == 'x')
{
drive.TankDrive(.7, -.7);
}
else if (letter == 'y')
{
drive.TankDrive(-.7, .7);
}
else if (letter == '\0')
{
time.Stop();
drive.TankDrive(0f, 0f);
}
break;
case leftAuto:
letter = straight[elapsedTimes];
if (letter == 'a')
{
drive.TankDrive(-.7, -.7);
}
else if (letter == 'b')
{
drive.TankDrive(.7, .7);
}
else if (letter == 'x')
{
drive.TankDrive(.7, -.7);
}
else if (letter == 'y')
{
drive.TankDrive(-.7, .7);
}
else if (letter == '\0')
{
time.Stop();
drive.TankDrive(0f, 0f);
}
//Put default auto code here
break;
}
}