// This autonomous (along with the sendable chooser above) shows how to select between
// different autonomous modes using the dashboard. The senable chooser code works with
// the Java SmartDashboard. If you prefer the LabVIEW Dashboard, remove all the chooser
// code an uncomment the GetString code to get the uto name from the text box below
// the gyro.
// You can add additional auto modes by adding additional comparisons to the if-else
// structure below with additional strings. If using the SendableChooser
// be sure to add them to the chooser code above as well.
//public bool OnTarget()
//{
// return ((Math.Abs(turn.Controller.Get() - turn.Controller.Setpoint)) < 5);
//}
//public override void Autonomous()
//{
// while (IsAutonomous && IsEnabled)
// {
// turn.Controller.Setpoint = 40;
// turn.Controller.Enable();
// SmartDashboard.PutBoolean("strings", OnTarget());
// if (OnTarget() == true)
// {
// turn.Controller.Disable();
// SmartDashboard.PutBoolean("strings", true);
// while (button.Get() == false)
// {
// SmartDashboard.PutBoolean("string", true);
// Drive(.4);
// }
// SmartDashboard.PutBoolean("string", false);
// Drive(0);
// }
// //if (NavX.GetAngle() <= 90)
// //{
// // Turn(.4, -.4);
// //}
// //else if (NavX.GetAngle() >= 95)
// //{
// // Turn(-.4, .4);
// //}
// //else
// //{
// // Turn(0, 0);
// //}
// SmartDashboard.PutNumber("Angle", NavX.GetAngle());
// }
// //Drive(-0.2);
// //Timer.Delay(3);
// //Turn(0.2, -0.2);
// //Timer.Delay(5);
//}
//public void Drive(double speed)
//{
// frontLeft.Set(-speed);
// frontRight.Set(-speed);
// backLeft.Set(-speed);
// backRight.Set(-speed);
//}
//public void Turn(double right, double left)
//{
// frontLeft.Set(left);
// frontRight.Set(right);
// backLeft.Set(left);
// backRight.Set(right);
//}
///**
//* Runs the motors with arcade steering.
//*/
public override void OperatorControl()
{
while (IsOperatorControl == true && IsEnabled)
{
/*
* frontLeft.Set(joystick.GetRawAxis(1));
* frontRight.Set(joystick.GetRawAxis(1));
* backLeft.Set(joystick.GetRawAxis(1));
* backRight.Set(joystick.GetRawAxis(1));
*/
if (joystick.GetRawButton(7) == true)
{
collector.Set(.5);
}
else if (joystick.GetRawButton(8))
{
collector.Set(-.8);
}
else
{
collector.Set(0.00);
}
switch (joystick.GetPOV(0))
{
case 0:
turrent.Set(0.00);
break;
case 3:
turrent.Set(.5);
break;
case 7:
turrent.Set(-.5);
break;
default:
turrent.Set(0);
break;
}
TH = joystick.GetRawAxis(3);
MT = (((TH - 1) * (.30 - 0)) / (1 - 1));
shooter.Set(MT);
frontRight.Set(((joystick.GetRawAxis(0)) + joystick.GetRawAxis(1) + joystick.GetRawAxis(2)));
frontLeft.Set(((-joystick.GetRawAxis(0)) + joystick.GetRawAxis(1) - joystick.GetRawAxis(2)));
backRight.Set(((-joystick.GetRawAxis(0)) + joystick.GetRawAxis(1) + joystick.GetRawAxis(2)));
backLeft.Set(((joystick.GetRawAxis(0)) + joystick.GetRawAxis(1) - joystick.GetRawAxis(2)));
}
}
