Exemple #1
0
        // ---------- ROBOT MAIN LOOP ---------- //
        public void Run()
        {
            //Read incoming serial packets
            NUC_SerialConnection.ReadFromNUC();

            //Check for dashboard enable signal in order for the robot to be enabled
            bool ROBOT_ENABLED = NUC_SerialConnection.IsRobotEnabled();

            //Reset the robot control mode to disabled
            controlModeHandler.SetMode(ControlModeHandler.ControlMode.DISABLED);


            if (ROBOT_ENABLED)
            {
                //Heartbeat pulse to the motors to enable them
                //Motor controllers will disable automatically if this is not regularly received
                CTRE.Phoenix.Watchdog.Feed();



                //Update the robot control mode and send over the logitech controller object to be updated
                if (ROBOT_ENABLED)
                {
                    controlModeHandler.SetMode(NUC_SerialConnection.GetControlMode());
                    controlModeHandler.updateControllerValues(ref logitechController, ref NUC_SerialConnection);
                }

                //MoveMotors
                if (CAN_NETWORK_IS_ENABLED)
                {
                    // Debug.Print("Fix BackRight shaft key DB");
                    driveBase.Update(ref logitechController, controlModeHandler.IsRobotActive());
                    excavation.Update(ref logitechController, controlModeHandler.IsRobotActive());
                }
            }



            //Serial write to Dashboard with talon motor data
            if (CAN_NETWORK_IS_ENABLED)
            {
                PackageTalonInfo();
            }
        }