Example #1
0
        public override Int32 Run(ZSDK.Gamepad gamepad)
        {
            Single  LeftVal = 0, RightVal = 0;
            Boolean Slow = true;

            ReadGamepad(gamepad, ref LeftVal, ref RightVal, ref Slow);

#if DEBUG
            Debug.Print(ToString() + " [RAW] L:" + LeftVal.ToString() + " - R:" + RightVal.ToString());
#endif

            /* Apply RPM conversion to values. */
            if (USE_SPEED_MODE)
            {
                LeftVal  *= MAX_RPM;
                RightVal *= MAX_RPM;
            }

            /* Drive in slow mode. */
            if (Slow)
            {
                LeftVal  *= SLOW_MULT;
                RightVal *= SLOW_MULT;
            }

#if DEBUG
            Debug.Print(ToString() + " [SET] L:" + LeftVal.ToString() + " - R:" + RightVal.ToString());
#endif

            Right.Set(RightVal);
            Left.Set(LeftVal);
            return(0);
        }
Example #2
0
        private void ReadGamepad(ZSDK.Gamepad gamepad, ref Single LeftVal, ref Single RightVal, ref Boolean Slow)
        {
#if DEBUG
            for (int idx = 0; idx < gamepad.Axes.Length; ++idx)
            {
                Debug.Print("[AXIS] [" + idx.ToString() + "] Value: " + gamepad.Axes[idx].ToString());
            }
#endif

            if (gamepad is ZSDK.LogitechGamepad)
            {
                /* Tank Drive */
                LeftVal  = (gamepad as ZSDK.LogitechGamepad).Axis_LY;
                RightVal = (gamepad as ZSDK.LogitechGamepad).Axis_RY;
                Boolean Fast = (gamepad as ZSDK.LogitechGamepad).Button_LB || (gamepad as ZSDK.LogitechGamepad).Button_RB;
                Slow = !Fast; // Herp-Derp :P
            }
            else
            {
                /* Arcade fallback */
                Single Y = gamepad.Axes[1], X = gamepad.Axes[2];
                LeftVal  = Y + X;
                RightVal = Y - X;
                Slow     = !gamepad.Buttons[0];
            }
            Deadband(ref LeftVal);
            Deadband(ref RightVal);
        }
        public override Int32 Run(ZSDK.Gamepad gamepad)
        {
            Boolean Fire = false;

            if (gamepad is ZSDK.LogitechGamepad)
            {
                if ((gamepad as ZSDK.LogitechGamepad).Button_A)
                {
                    Fire = true; Mode = FireMode.Normal;
                }
                else if ((gamepad as ZSDK.LogitechGamepad).Button_Y)
                {
                    Fire = true; Mode = FireMode.NoReset;
                }
            }
            else
            {
                if (gamepad.Buttons[0])
                {
                    Fire = true; Mode = FireMode.Normal;
                }
                else if (gamepad.Buttons[1])
                {
                    Fire = true; Mode = FireMode.NoReset;
                }
            }

            if (!Winch.GetForwardLimitOK() || !Winch.GetReverseLimitOK())
            {
                Winch.Set(0);
            }
            if (!Dog.GetForwardLimitOK() || !Dog.GetReverseLimitOK())
            {
                Dog.Set(0);
            }

#if DEBUG
            Debug.Print(ToString() + " [STATE] " + State.ToString());
#endif
            switch (State)
            {
            default:
            case BallLaunchState.Unknown:
                // State 0
                // Assume we are started Released
                Winch.Set(0);
                Dog.Set(0);
                State = BallLaunchState.Released;
                break;

            case BallLaunchState.Loaded:
                // State 1
                Winch.Set(0);
                Dog.Set(0);
                if (Fire)
                {
                    // Run Dog TalonSRX to fire.
                    Dog.Set(DOG_FIRE_DIRECTION);
                    State = BallLaunchState.Releasing;
                }
                break;

            case BallLaunchState.Loading:
                // State 2
                // Start the winch.
                // Check for winch limit switch.
                Boolean WinchLimitOK = Winch.GetReverseLimitOK();
                if (!WinchLimitOK)
                {
                    Winch.Set(0);
                    State = BallLaunchState.Loaded;
                }
                else
                {
                    Boolean WinchStart = DateTime.Now.Subtract(WinchStartTime).Ticks <= WINCH_START_WAIT;
                    Single  WinchSpeed = WinchStart ? WINCH_DIRECTION_START : WINCH_DIRECTION_END;
#if DEBUG
                    Debug.Print(ToString() + " [WINCH SPEED] " + WinchSpeed.ToString());
#endif
                    Winch.Set(WinchSpeed);
                }
                break;

            case BallLaunchState.Released:
                // State 3
                // Reset the Dog Gear.
                // Check for dog limit switch.
                Boolean DogLimitOK = Dog.GetReverseLimitOK();
                if (!DogLimitOK)
                {
                    Dog.Set(0);
                    switch (Mode)
                    {
                    default:
                    case FireMode.Normal:
                        State = BallLaunchState.Loading;
                        break;

                    case FireMode.NoReset:
                        State = BallLaunchState.Loaded;
                        break;
                    }
                    WinchStartTime = DateTime.Now;
                }
                else
                {
                    Dog.Set(DOG_RESET_DIRECTION);
                }
                break;

            case BallLaunchState.Releasing:
                // State 4
                // Wait for a complete fire.

                Boolean DogFireLimitOK = Dog.GetForwardLimitOK();
                if (!DogFireLimitOK)
                {
                    FireTime = DateTime.Now;
                    State    = BallLaunchState.Reseting;
                }
                break;

            case BallLaunchState.Reseting:
                Int64 fire_ticks = DateTime.Now.Subtract(FireTime).Ticks;
                if (fire_ticks >= FIRE_WAIT)
                {
                    State = BallLaunchState.Released;
                }
                break;
            }
            return(0);
        }
Example #4
0
 public HERO(RobotModule[] Modules, Gamepad Gamepad)
 {
     RunLoop      = true;
     this.Modules = Modules;
     this.Gamepad = Gamepad;
 }