//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 Deliver() //constructor same name as class name
{ //Defining the servo
Robotmap map = Robotmap.GetInstance();
deliverServo = Robotmap.GETCANController();
m_currentState = DELIVERSTATE.HoldBalls;
}
public RCRadio3Ch(CANifier canifier)
{
_canifier = canifier;
_canifier.SetStatusFramePeriod(CANifierStatusFrame.Status_3_PwmInputs0, 8, 100);
_canifier.SetStatusFramePeriod(CANifierStatusFrame.Status_4_PwmInputs1, 8, 100);
_canifier.SetStatusFramePeriod(CANifierStatusFrame.Status_5_PwmInputs2, 8, 100);
_canifier.SetStatusFramePeriod(CANifierStatusFrame.Status_6_PwmInputs3, 8, 100);
}
// 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();
}
