/// <summary>
/// This function is called periodically during operator control
/// </summary>
public override void TeleopPeriodic()
{
//while teleop is enabled, and the drivestation is enabled, run this code
while (IsOperatorControl && IsEnabled)
{
//clear out values for new run
SmartDashboard.PutString("DB/String 3", "");
if (stick.GetRawButton(5))
{
drive.TankDrive(stick.GetRawAxis(5), stick.GetRawAxis(1));
}
else
{
if (!stick.GetRawButton(6))
{
drive.TankDrive(stick.GetRawAxis(5) / 1.3, stick.GetRawAxis(1) / 1.3);
}
else
{
drive.TankDrive(-stick.GetRawAxis(1) / 1.3, -stick.GetRawAxis(5) / 1.3);
}
}
SmartDashboard.PutNumber("DB/String 0", stick.GetRawAxis(5));
SmartDashboard.PutNumber("DB/String 1", stick.GetRawAxis(1));
//stick.GetRawButton(0) should be the "a" button
//GetRawButton(1) should be "b"
double speed = 0.0;
// if (stick.GetRawButton(8))
//{
if (stick.GetRawButton(1) || stick.GetRawButton(2))
{
speed += (stick.GetRawButton(1) ? 0.5 : 0.0);
speed += (stick.GetRawButton(2) ? 0.5 : 0.0);
}
//}
climber.SetSpeed(-speed);
getRope.SetSpeed(stick.GetRawAxis(2) / 2 - stick.GetRawAxis(3) / 2);
//create a delay of .1 second
Timer.Delay(0.1);
}
}
public override void TeleopPeriodic()
{
Scheduler.Instance.Run();
Joystick stick = Oi.Pilot;
//train._drive.ArcadeDrive(1, 1);
stick.SetRumble(RumbleType.LeftRumble, stick.GetRawAxis(XboxMap.LeftTrigger));
stick.SetRumble(RumbleType.RightRumble, stick.GetRawAxis(XboxMap.RightTrigger));
SmartDashboard.PutNumber("POV", Oi.Pilot.GetPOV(0));
SmartDashboard.PutString("Drive Mode", Oi.DriveStyle.ToString());
SmartDashboard.PutString("Gear", Oi.ShifterGear.ToString());
SmartDashboard.PutData("Compressor On", new CompressorOnCommand());
SmartDashboard.PutData("Compressor Off", new CompressorOffCommand());
Air.Update();
Match.Update();
Power.Update();
}
/// <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);
}
}
}