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); } }