//Password to module wifi is "password1"
/** entry point of the application */
public static void Main()
{
ds = new CTRE.FRC.DriverStation(wifiport); //Create new Driver station object at port 4
_gamepad = new CTRE.Controller.GameController(ds, 0); //Set controller to look at DS with ID 0
//Create two TalonSrx objects and set their control mode
left1 = new CTRE.TalonSrx(1);
right1 = new CTRE.TalonSrx(2);
left1.SetControlMode(CTRE.TalonSrx.ControlMode.kPercentVbus);
right1.SetControlMode(CTRE.TalonSrx.ControlMode.kPercentVbus);
//Set IP module looks for and is configured with, Computer must set to Static IP
ds.SendIP(new byte[] { 10, 0, 33, 2 }, new byte[] { 10, 0, 33, 5 });
while (true)
{
//Must be called for DS to function
ds.update();
//Send Battery Voltage information to Driver Station
ds.SendBattery(left1.GetBusVoltage());
if (ds.IsAuton() && ds.IsEnabled())
{
//Auton Code while enabled
}
else if (ds.IsAuton() && !ds.IsEnabled())
{
//Auton Code while disabled
}
else if (!ds.IsAuton() && ds.IsEnabled())
{
//Teleop Code while enabled
Drive();
Debug.Print(stringBuilder.ToString());
ds.SendUDP(2550, Encoding.UTF8.GetBytes(stringBuilder.ToString()));
stringBuilder.Clear();
}
else if (!ds.IsAuton() && !ds.IsEnabled())
{
//Teleop Code while disabled
}
}
}
public bool IsLow()
{
float vbat;
vbat = _talon.GetBusVoltage();
if (vbat > 10.50)
{
_dnCnt = 0;
if (_upCnt < 100)
{
++_upCnt;
}
}
else if (vbat < 10.00)
{
_upCnt = 0;
if (_dnCnt < 100)
{
++_dnCnt;
}
}
if (_dnCnt > 50)
{
batIsLow = true;
}
else if (_upCnt > 50)
{
batIsLow = false;
}
else
{
//don't change filter ouput
}
return(batIsLow);
}