/// <summary>
/// Constructor
/// </summary>
/// <param name="commonName">CommonName the DoubleSolenoid will have</param>
/// <param name="forwardChannel">The forward channel number on the PCM [0..7]</param>
/// <param name="reverseChannel">The reverse channel number on the PCM [0..7]</param>
/// <param name="_default">Default position for when the Robot is initialized</param>
/// <param name="reversed">If the output is reversed for the forward and reversed states</param>
public DoubleSolenoidItem(string commonName, int forwardChannel, int reverseChannel,
DoubleSolenoid.Value _default, bool reversed = false)
{
solenoid = new DoubleSolenoid(forwardChannel, reverseChannel);
Name = commonName;
Default = _default;
IsReversed = reversed;
solenoid.Set(_default);
}
/// <summary>
/// Calls the method to set the value to the solenoid
/// </summary>
/// <param name="value">The enum variable to set the solenoid to</param>
/// <param name="sender">the caller of this method</param>
public void Set(DoubleSolenoid.Value value, object sender)
{
Sender = sender;
#if USE_LOCKING
lock (solenoid)
#endif
{
solenoid.Set(value);
}
Sender = null;
}
/// <summary>
/// shifts Da hood
/// </summary>
/// <param name="value"></param>
/// <param name="sender"></param>
public void ShiftHood(DoubleSolenoid.Value value, object sender)
{
var tmp = (DoubleSolenoidItem)(config.ActiveCollection.Get(hood));
tmp.Set(value, sender);
}
/// <summary>
/// sets gm rampy thingy
/// </summary>
/// <param name="value"></param>
/// <param name="sender"></param>
public void SetRamp(DoubleSolenoid.Value value, object sender)
{
var tmp = (DoubleSolenoidItem)(config.ActiveCollection.Get(gmRamp));
tmp.Set(value, sender);
}
/// <summary>
/// shift into high/low gear forward=high
/// </summary>
/// <param name="value"></param>
/// <param name="sender"></param>
public void ShiftGears(DoubleSolenoid.Value value, object sender)
{
var tmp = (DoubleSolenoidItem)(config.ActiveCollection.Get(dt_shifter));
tmp.Set(value, sender);
}
/// <summary>
/// Zeros all motor set values, including the Teleop Set, and autonomous ExtSet
/// </summary>
private void Zero()
{
_fstate = FireingState.ReadyToFire;
_wheelSet = 0;
_elevatorSet = 0;
_triggerSet = DoubleSolenoid.Value.Off;
WheelExtSet = 0;
ElevatorExtSet = 0;
TriggerExtSet = DoubleSolenoid.Value.Off;
}
/// <summary>
/// Reads controller input we can make different methods based on different times and places and to save previous attemps
/// </summary>
private void ReadController()
{
//Controls the main spining wheels
if(Math.Abs(_wheelSet) < .0005)
{
if (xbox.GetRightBumper()) _wheelSet += .001;
}
else if( Math.Abs(_wheelSet - 1) < .005)
{
if (xbox.GetLeftBumper()) _wheelSet -= 0.001;
}
else
{
if (xbox.GetLeftBumper()) _wheelSet -= 0.001;
if (xbox.GetRightBumper()) _wheelSet += .001;
}
switch (_fstate)
{
case FireingState.ReadyToFire:
SmartWriter.WriteString("Frisbee Fireing State", "Ready To Fire", DebugMode.Competition);
if (xbox.GetRightTrigger() > .5)
{
_t = new Timer();
_t.Start();
_triggerSet = DoubleSolenoid.Value.Forward;
_fstate = FireingState.Fireing;
}
break;
case FireingState.Fireing:
SmartWriter.WriteString("Frisbee Fireing State", "Fireing", DebugMode.Competition);
if (_t.Get() > 1)
{
_t.Reset();
_fstate = FireingState.Reloading;
}
break;
case FireingState.Reloading:
SmartWriter.WriteString("Frisbee Fireing State", "Reloading", DebugMode.Competition);
if (_t.Get() > 2)
{
_t = null;
_fstate = FireingState.ReadyToFire;
}
break;
}
}
