/// <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) { //utilize our drive class to call the ArcadeDrive method and accept input from the stick/joystick object drive.TankDrive(-stick.GetRawAxis(1), stick.GetRawAxis(5)); //create a delay of .1 second Timer.Delay(0.1); } }
public void Tank(double left, double right) => drive.TankDrive(left, right);
public void tankDrive(double l, double r, bool squaredInputs) { drive.TankDrive(l, r, squaredInputs); }
/// <summary> /// This function is called periodically during autonomous /// </summary> public override void AutonomousPeriodic() { char letter; switch (autoSelected) { case straightAuto: //Put custom auto code here letter = straight[elapsedTimes]; if (letter == 'a') { drive.TankDrive(-.7, -.7); } else if (letter == 'b') { drive.TankDrive(.7, .7); } else if (letter == 'x') { drive.TankDrive(.7, -.7); } else if (letter == 'y') { drive.TankDrive(-.7, .7); } else if (letter == '\0') { time.Stop(); drive.TankDrive(0f, 0f); } break; case defaultAuto: default: letter = straight[elapsedTimes]; if (letter == 'a') { drive.TankDrive(-.7, -.7); } else if (letter == 'b') { drive.TankDrive(.7, .7); } else if (letter == 'x') { drive.TankDrive(.7, -.7); } else if (letter == 'y') { drive.TankDrive(-.7, .7); } else if (letter == '\0') { time.Stop(); drive.TankDrive(0f, 0f); } break; case leftAuto: letter = straight[elapsedTimes]; if (letter == 'a') { drive.TankDrive(-.7, -.7); } else if (letter == 'b') { drive.TankDrive(.7, .7); } else if (letter == 'x') { drive.TankDrive(.7, -.7); } else if (letter == 'y') { drive.TankDrive(-.7, .7); } else if (letter == '\0') { time.Stop(); drive.TankDrive(0f, 0f); } //Put default auto code here break; } }