public void run()
{
Loop10Ms();
//if (_gamepad.GetConnectionStatus() == CTRE.UsbDeviceConnection.Connected) // check if gamepad is plugged in OR....
if (_gamepad.GetButton(kEnableButton)) // check if bottom left shoulder buttom is held down.
{
/* then enable motor outputs*/
CTRE.Watchdog.Feed();
}
}
public static void Main()
{
CTRE.UsbHostDevice.GetInstance().SetSelectableXInputFilter(CTRE.UsbHostDevice.SelectableXInputFilter.BothDInputAndXInput);
/* loop forever */
while (true)
{
/* get buttons */
for (uint i = 1; i < 20; ++i)
{
Buttons[i].last = Buttons[i].now;
Buttons[i].now = _gamepad.GetButton(i);
}
/* if button one was pressed, toggles field oriented*/
FieldOriented1 = Buttons[0].WasPressed() ? !FieldOriented1 : FieldOriented1;
/* kills drivetrain if button 2 is pressed or held */
if (Buttons[1].now)
{
motorA.Set(0);
motorB.Set(0);
motorC.Set(0);
motorA.ConfigNeutralMode(CTRE.TalonSrx.NeutralMode.Brake);
motorB.ConfigNeutralMode(CTRE.TalonSrx.NeutralMode.Brake);
motorC.ConfigNeutralMode(CTRE.TalonSrx.NeutralMode.Brake);
EStop = true;
}
/* turns off estop mode if button 10 was pressed*/
if (Buttons[9].WasPressed())
{
EStop = false;
motorA.ConfigNeutralMode(motorAInitialNeutralMode);
motorB.ConfigNeutralMode(motorBInitialNeutralMode);
motorC.ConfigNeutralMode(motorCInitialNeutralMode);
}
/* resets yaw if button six was pressed*/
if (Buttons[5].WasPressed())
{
try
{
Pidgy.SetYaw(0);
}
catch (Exception) { }
}
/* adjust orientation by 120 degrees if button three was pressed*/
Orientation += Buttons[2].WasPressed() ? (float)System.Math.PI * 2 / 3 : 0;
/*adjust orientation back by 120 degrees if button four was pressed*/
Orientation -= Buttons[3].WasPressed() ? (float)System.Math.PI * 2 / 3 : 0;
/* adjust orientation by 180 degrees if button five was pressed*/
Orientation += Buttons[4].WasPressed() ? (float)System.Math.PI : 0;
/* drive robot using gamepad */
Drive();
/* print whatever is in our string builder */
Debug.Print(stringBuilder.ToString());
stringBuilder.Clear();
/* feed watchdog to keep Talon's enabled */
CTRE.Watchdog.Feed();
/* run this task every 20ms */
Thread.Sleep(20);
}
}