public void BallHandler()
{
bool deliver = !m_gamepad.GetButton(Y_BUTTON);
bool runintake = m_gamepad.GetButton(LEFT_BUMPER); //whether the Intake button is pressed. bool is true or false
bool runexpel = m_gamepad.GetButton(RIGHT_BUMPER); // Whether if the Expel button is pressed is true or false
if (runintake) // If/else if/else statement
{
m_intake.setState(Intake.INTAKESTATE.Sweep); // If the Sweep button is pressed then it will sweep
m_transfer.SetState(Transfer.TRANSFER_STATE.TRANSFER_ON);
}
else if (runexpel)
{
m_intake.setState(Intake.INTAKESTATE.Expel); // Else if the Expel button is pressed then it will expel
m_transfer.SetState(Transfer.TRANSFER_STATE.TRANSFER_EXPEL);
}
else
{
m_intake.setState(Intake.INTAKESTATE.Off); // else no button is pressed then the sweep will be off.
m_transfer.SetState(Transfer.TRANSFER_STATE.TRANSFER_OFF);
}
if (deliver)
{
m_deliver.setState(Deliver.DELIVERSTATE.Deliver);
}
else
{
m_deliver.setState(Deliver.DELIVERSTATE.HoldBalls);
}
m_intake.Run();
m_transfer.Run();
if (prevDeliver != deliver)
{
m_deliver.Run();
}
prevDeliver = deliver;
}
public static void Main()
{
TeleopControl Telecontrol = new TeleopControl();
AutonControl Autocontrol = new AutonControl();
int AutonLoops = LoopSec * AutonTime;
GameController controller = Telecontrol.GetController();
bool okToRun = false; // Can we run code or not
while (true) // loop forever
{
// If the USB controller isn't plugged in or if the stop button is pressed
// it isn't ok to run the motors.
// If the USB is plugged in, use the start button to activate (it will stay
// that way unless the stop button is pressed or the USB becomes dislodged.
if (controller.GetConnectionStatus() == UsbDeviceConnection.Connected)
{
if (controller.GetButton(Telecontrol.GetStartButton()))
{
okToRun = true;
}
else if (controller.GetButton(Telecontrol.GetStopButton()))
{
okToRun = false;
}
}
else
{
okToRun = false;
}
if (okToRun)
{
Watchdog.Feed();
bool runauton = controller.GetButton(Telecontrol.GetAutonButton());
if ((runauton || runningAuton) && AutonLoopCount < AutonLoops)
{
runningAuton = !Autocontrol.Run();
ranAuto = true;
AutonLoopCount++;
}
else if (ranAuto && AutonLoopCount < AutonLoops)
{
Deliver del = Deliver.GetInstance();
del.Run();
AutonLoopCount++;
}
else
{
Telecontrol.Run();
}
Thread.Sleep(20);
}
else
{
Telecontrol.CheckSensors();
}
}
}
