// 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 switch
// structure below with additional strings. If using the SendableChooser
// be sure to add them to the chooser code above as well.
public override void AutonomousInit()
{
autoSelected = (string)chooser.GetSelected();
autoSelected = SmartDashboard.GetString("Auto Selector", defaultAuto);
Console.WriteLine("Auto selected: " + autoSelected);
time = new System.Timers.Timer(50);
time.AutoReset = true;
elapsed = false;
time.Elapsed += TimeAlert;
time.Start();
/* WPILib.Buttons.InternalButton button = new WPILib.Buttons.InternalButton();
* if (button.Get())
* {
* char AutoMode = 'a';
* //a = left
* //b = mid
* //c = right;
* } */
}
/// <summary>
/// This function is called periodically during test mode
/// </summary>
public override void TestPeriodic()
{
time.Stop();
elapsedTimes = 0;
if (elapsed)
{
if (stick.GetRawButton(1))
{
SmartDashboard.PutString("DB/String 3", SmartDashboard.GetString("DB/String 3", "") + char.ToString('a'));
//Console.WriteLine('a');
testTime.Stop();
testTime.Start();
flag = 'a';
drive.TankDrive(-.6, -.6);
}
else if (stick.GetRawButton(2))
{
SmartDashboard.PutString("DB/String 3", SmartDashboard.GetString("DB/String 3", "") + char.ToString('b'));
//Console.WriteLine('b');
testTime.Stop();
testTime.Start();
flag = 'b';
drive.TankDrive(.6, .6);
}
else if (stick.GetRawButton(3))
{
SmartDashboard.PutString("DB/String 3", SmartDashboard.GetString("DB/String 3", "") + char.ToString('x'));
//Console.WriteLine('x');
testTime.Stop();
testTime.Start();
flag = 'x';
drive.TankDrive(.6, -.6);
}
else if (stick.GetRawButton(4))
{
SmartDashboard.PutString("DB/String 3", SmartDashboard.GetString("DB/String 3", "") + char.ToString('y'));
//Console.WriteLine('y');
testTime.Stop();
testTime.Start();
flag = 'y';
drive.TankDrive(-.6, .6);
}
else
{
drive.TankDrive(0f, 0f);
}
}
else
{
if (flag == 'a')
{
drive.TankDrive(-.6, -.6);
}
else if (flag == 'b')
{
drive.TankDrive(.6, .6);
}
else if (flag == 'x')
{
drive.TankDrive(.6, -.6);
}
else if (flag == 'y')
{
drive.TankDrive(-.6, .6);
}
}
}