private static Deliver instance = null; // a singlex which will make it so we don't need to define deliver twice if we have it in auton and teleop instead have it once.
public static Deliver GetInstance()
{
if (instance == null)
{
instance = new Deliver();
}
return(instance);
}
public TeleopControl()
{
m_gamepad = new GameController(UsbHostDevice.GetInstance()); // create gamepad
m_chassis = Chassis.GetInstance(); //Creates chassis
m_deliver = Deliver.GetInstance(); // Create deliver
m_transfer = Transfer.GetInstance(); //Creates "Transfer"
m_intake = Intake.GetInstance(); // Creates Intake
m_elevator = FlagElevator.GetInstance(); //Creates Flag Elevator
m_grabber = FlagGrabber.GetInstance(); //Creates Flag Grabber
prevDeliver = false;
}
public static void Main()
{
TeleopControl Telecontrol = new TeleopControl();
AutonControl Autocontrol = new AutonControl();
int AutonLoops = LoopSec * AutonTime;
GameController controller = Telecontrol.GetController();
bool okToRun = false; // Can we run code or not
while (true) // loop forever
{
// If the USB controller isn't plugged in or if the stop button is pressed
// it isn't ok to run the motors.
// If the USB is plugged in, use the start button to activate (it will stay
// that way unless the stop button is pressed or the USB becomes dislodged.
if (controller.GetConnectionStatus() == UsbDeviceConnection.Connected)
{
if (controller.GetButton(Telecontrol.GetStartButton()))
{
okToRun = true;
}
else if (controller.GetButton(Telecontrol.GetStopButton()))
{
okToRun = false;
}
}
else
{
okToRun = false;
}
if (okToRun)
{
Watchdog.Feed();
bool runauton = controller.GetButton(Telecontrol.GetAutonButton());
if ((runauton || runningAuton) && AutonLoopCount < AutonLoops)
{
runningAuton = !Autocontrol.Run();
ranAuto = true;
AutonLoopCount++;
}
else if (ranAuto && AutonLoopCount < AutonLoops)
{
Deliver del = Deliver.GetInstance();
del.Run();
AutonLoopCount++;
}
else
{
Telecontrol.Run();
}
Thread.Sleep(20);
}
else
{
Telecontrol.CheckSensors();
}
}
}
