//is that ; supposed to be there?
private LED()
{
lightie_boies = Robotmap.GETCANController();
// H-Hewo?? somewon pwease hewlp me
// I'm havwing a wittle bit of twobule figuwring out what to do next 3;
}
private void Start() //Sets motor speed
{
//Lower sensor says when a ball passes through a the tube and incruments the ball
//upper sensor tells us tha twe have balls in the tube.
Robotmap map = Robotmap.GetInstance();
transferMotor.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, transferMotorSpeed);
bool ballPresent = IsLowerSensorTripped();
if (ballPresent)
{
numberOfBalls += 1;
}
bool ballPresentTop = IsUpperSensorTripped();
if (!ballPresentTop && numberOfBalls > 0)
{
numberOfBalls = 0;
}
if (numberOfBalls == 0)
{
glowing.set_color(LED.MECHANISM_LED.GREEN);
eject.setState(Intake.INTAKESTATE.Sweep);
}
else if (numberOfBalls == 1)
{
glowing.set_color(LED.MECHANISM_LED.YELLOW);
eject.setState(Intake.INTAKESTATE.Sweep);
}
else
{
glowing.set_color(LED.MECHANISM_LED.RED);
eject.setState(Intake.INTAKESTATE.Expel);
}
}
private Deliver() //constructor same name as class name
{ //Defining the servo
Robotmap map = Robotmap.GetInstance();
deliverServo = Robotmap.GETCANController();
m_currentState = DELIVERSTATE.HoldBalls;
}
private Intake()
{
Robotmap map = Robotmap.GetInstance();
intakeMotor = new TalonSRX(map.GetIntake_ID()); // Creates the TalonSRX motor.
intakeMotor.SetInverted(true); // If you get value i will invert it. if it is going the wrong way it can be inverted.
m_currentState = INTAKESTATE.Off;
}
// Create/Return Robotmap Singleton
public static Robotmap GetInstance()
{
if (instance == null)
{
instance = new Robotmap();
}
return(instance);
}
private void OpenGrabber()
{
Robotmap map = Robotmap.GetInstance();
float pulses = LinearInterpolation.Calculate(OPENGRABBER, -1.0f, minPWMSignalRange, 1.0f, maxPWMSignalRange);
float percentOut = pulses / pwmOutput;
CANController.SetPWMOutput(map.GetFlagGrabberServo_ID(), pulses); //move servo
} //FLAGSURVO LOOK LOOK LOOOK LOOK LOOK LOOK LOOK DO THIS FIX IT HE SHOWED YOU YOU GOTTA DO IT LLLLLLOOOOOOOOOOOK
private void CloseGrabber()
{
Robotmap map = Robotmap.GetInstance();
float pulses = LinearInterpolation.Calculate(CLOSEGRABBER, -1.0f, minPWMSignalRange, 1.0f, maxPWMSignalRange);
float percentOut = pulses / pwmOutput;
CANController.SetPWMOutput(map.GetFlagGrabberServo_ID(), percentOut); //move servo
}
private void deliver()
{
Robotmap map = Robotmap.GetInstance();
float pulses = LinearInterpolation.Calculate(DELIVER, -1.0f, minPWMSignalRange, 1.0f, maxPWMSignalRange);
float percentOut = pulses / pwmOutput;
deliverServo.EnablePWMOutput((int)map.GetDeliverMec_ID(), true);
deliverServo.SetPWMOutput(map.GetDeliverMec_ID(), percentOut); //move servo
}
// Create/Return CANifier Singleton
public static CANifier GETCANController()
{
Robotmap map = Robotmap.GetInstance();
if (m_canifier == null)
{
m_canifier = new CANifier((ushort)map.GetCANIFIER_ID());
}
return(m_canifier);
}
private FlagGrabber()
{
Robotmap theWholeShabang = Robotmap.GetInstance();
CANController = Robotmap.GETCANController();
CANController.EnablePWMOutput((int)theWholeShabang.GetFlagGrabberServo_ID(), true); //move servo
m_currentState = FlagGrabberSTATE.GRABBER_OPEN;
}
private Transfer()
{
Robotmap map = Robotmap.GetInstance();
transferMotor = new TalonSRX(map.GetTransfer_ID()); //Creates the motor
transferMotor.SetInverted(true);
CANController = Robotmap.GETCANController(); //Creates the first sensor
numberOfBalls = 0; //The original amount of balls
glowing = LED.GetInstance();
m_currentState = TRANSFER_STATE.TRANSFER_OFF;
eject = Intake.GetInstance();
}
private Chassis()
{
Robotmap map = Robotmap.GetInstance();
//Constants for variables to use
left_motor = new TalonSRX(map.GetLeftDrive_ID());
left_motor.SetNeutralMode(NeutralMode.Brake);
left_motor.SetInverted(true); // Can invert the direction the motors are moving
right_motor = new TalonSRX(map.GetRightDrive_ID());
right_motor.SetNeutralMode(NeutralMode.Brake);
right_motor.SetInverted(false); // Can invert the direction the motors are moving
drive_assister = new PigeonIMU(map.Get_ID_Pigeon()); //TODO Get real name of pigeon from Christina
bumper_switch = Robotmap.GETCANController();
}
public bool IsUpperSensorTripped()
{
Robotmap map = Robotmap.GetInstance();
return(CANController.GetGeneralInput(map.GetUpperSensor_ID())); // sensors are being wired in reverse
}
public bool Is_Bumper_Switch_Pressed()
{
Robotmap map = Robotmap.GetInstance();
return(!bumper_switch.GetGeneralInput(map.GetBumperSensor_ID())); //Finds if bumper switch is pressed (wired in reverse)
}