public void robotClimb(double value)
{
if ((value <= 1.0) && (value >= -1.0))
{
motorRobotClimb.SetSpeed(value);
}
else
{
Console.WriteLine("INVALID value: " + value.ToString());
}
}
public void shootBall(double value)
{
if ((value <= 1.0) && (value >= -1.0))
{
motorBallShoot.SetSpeed(-value);
}
else
{
Console.WriteLine("INVALID value: " + value.ToString());
}
}
public void readyBall(int clockwise, double value)
{
if ((value <= 1.0) && (value >= -1.0))
{
motorBallReady.SetSpeed(value * clockwise);
}
else
{
Console.WriteLine("INVALID value: " + value.ToString());
}
}
/// <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)
{
//clear out values for new run
SmartDashboard.PutString("DB/String 3", "");
if (stick.GetRawButton(5))
{
drive.TankDrive(stick.GetRawAxis(5), stick.GetRawAxis(1));
}
else
{
if (!stick.GetRawButton(6))
{
drive.TankDrive(stick.GetRawAxis(5) / 1.3, stick.GetRawAxis(1) / 1.3);
}
else
{
drive.TankDrive(-stick.GetRawAxis(1) / 1.3, -stick.GetRawAxis(5) / 1.3);
}
}
SmartDashboard.PutNumber("DB/String 0", stick.GetRawAxis(5));
SmartDashboard.PutNumber("DB/String 1", stick.GetRawAxis(1));
//stick.GetRawButton(0) should be the "a" button
//GetRawButton(1) should be "b"
double speed = 0.0;
// if (stick.GetRawButton(8))
//{
if (stick.GetRawButton(1) || stick.GetRawButton(2))
{
speed += (stick.GetRawButton(1) ? 0.5 : 0.0);
speed += (stick.GetRawButton(2) ? 0.5 : 0.0);
}
//}
climber.SetSpeed(-speed);
getRope.SetSpeed(stick.GetRawAxis(2) / 2 - stick.GetRawAxis(3) / 2);
//create a delay of .1 second
Timer.Delay(0.1);
}
}
public void drivingMotorControlRaw(string where, double value)
{
switch (where)
{
case "left":
motorFrontLeft.SetSpeed(value);
motorRearLeft.SetSpeed(value);
break;
case "right":
motorFrontRight.SetSpeed(value);
motorRearRight.SetSpeed(value);
break;
default:
Console.WriteLine("no method for " + where);
break;
}
}
public void climb(double a)
{
motorClimb.SetSpeed(1 * a * RobotMap.robotClimbSpeedConstant);
}
public void gearIntake(double a)
{
motorGearIntake.SetSpeed(((a > 0)?1:-1) * ((System.Math.Abs(a) > 1)?1:System.Math.Abs(a)) * RobotMap.gearIntakeSpeedConstant);
}
public void gearUp(double a)
{
motorGearUp.SetSpeed(1 * a * RobotMap.gearUpSpeedConstant);
}