/** Singleton instance and entry into while loop that runs the desired program*/
public static void Main()
{
/* Tracking gamepad buttons states for single press captures*/
bool LastBtn2 = false;
bool LastBtn3 = false;
/* Forword/Backward Scalor */
const float kScalarX = 0.50f;
/* Left/Right Scalor */
const float kScalarY = 0.50f;
/* Turning Scalor */
const float kScalarTwist = 0.30f;
/* Ramp Rate */
const float kVoltageRampSec = 0.2f;
/* Configure Talons to operate in percentage VBus mode, and Ramp Up Voltage*/
foreach (CTRE.TalonSrx temp in Talons)
{
temp.SetControlMode(TalonSrx.ControlMode.kPercentVbus);
temp.SetVoltageRampRate(12.0f / kVoltageRampSec);
}
/* Clear DisplayModule */
LCDDisplay.ClearSprites();
/* Fill the screen with the target object (Top half magenta, bottom half green) */
LCDDisplay.AddRectSprite(CTRE.HERO.Module.DisplayModule.Color.Magenta, 0, 0, 160 / 2, 128);
LCDDisplay.AddRectSprite(CTRE.HERO.Module.DisplayModule.Color.Green, 160 / 2, 0, 160 / 2, 128);
while (true)
{
/* Keep robot enabled if gamepad is connected and in 'D' mode */
if (GamePad.GetConnectionStatus() == CTRE.UsbDeviceConnection.Connected)
{
CTRE.Watchdog.Feed();
}
/* Allow user to enable/disable Display Module backlight
* Button 2 (A) Disables the backlight
* Button 3 (B) Enables the backlight */
bool Btn2 = GamePad.GetButton(2);
bool Btn3 = GamePad.GetButton(3);
if (Btn2 & !LastBtn2)
{
LCDDisplay.BacklightEnable = false;
}
else if (Btn3 & !LastBtn3)
{
LCDDisplay.BacklightEnable = true;
}
LastBtn2 = Btn2;
LastBtn3 = Btn3;
/* Regular mecanum drive that is scaled and Gamepad joysticks have been adjusted */
float X = GamePad.GetAxis(0);
/* Invert gamepad so forward is truly forward */
float Y = -1 * GamePad.GetAxis(1);
float Twist = GamePad.GetAxis(2);
MecanumDrive(Y * kScalarY, X * kScalarX, Twist * kScalarTwist);
}
}
/** Singleton instance and entry into while loop that runs the desired program*/
public static void Main()
{
/* Tracking gamepad buttons states for single press captures*/
bool LastBtn1 = false;
bool LastBtn3 = false;
bool LastBtn2 = false;
/* Forword/Backward Scalor */
const float kScalarX = 0.50f;
/* Left/Right Scalor */
const float kScalarY = 0.50f;
/* Turning Scalor */
const float kScalarTwist = 0.30f;
/* Ramp Rate */
const float kVoltageRampSec = 0.25f;
/* Configure Talons to operate in percentage VBus mode, and Ramp Up Voltage*/
foreach (TalonSRX temp in Talons)
{
temp.Set(ControlMode.PercentOutput, 0);
temp.ConfigOpenloopRamp(kVoltageRampSec);
}
/* Clear DisplayModule */
LCDDisplay.ClearSprites();
LCDDisplay.BacklightEnable = false;
/* Fill the screen with the target object (Top half magenta, bottom half green) */
LCDDisplay.AddRectSprite(DisplayModule.Color.Magenta, 0, 0, 160 / 2, 128);
LCDDisplay.AddRectSprite(DisplayModule.Color.Green, 160 / 2, 0, 160 / 2, 128);
int colorDelay = 0;
int i = 0;
Boolean On = false;
Boolean LEDEnable = true;
while (true)
{
/* Keep robot enabled if gamepad is connected and in 'D' mode */
if (gamepad.GetConnectionStatus() == CTRE.Phoenix.UsbDeviceConnection.Connected)
{
CTRE.Phoenix.Watchdog.Feed();
}
/* Allow user to enable/disable Display Module backlight
* Button 2 (A) Disables the backlight
* Button 3 (B) Enables the backlight */
bool Btn1 = gamepad.GetButton(1);
bool Btn3 = gamepad.GetButton(3);
if (Btn1 & !LastBtn1)
{
LCDDisplay.BacklightEnable = false;
}
else if (Btn3 & !LastBtn3)
{
LCDDisplay.BacklightEnable = true;
}
LastBtn1 = Btn1;
LastBtn3 = Btn3;
/* Enable/Disable LED's */
bool Btn2 = gamepad.GetButton(2);
if (Btn2 & !LastBtn2)
{
LEDEnable = !LEDEnable;
}
LastBtn2 = Btn2;
if (gamepad.GetConnectionStatus() == CTRE.Phoenix.UsbDeviceConnection.Connected)
{
if (LEDEnable)
{
colorDelay++;
if (colorDelay >= 15)
{
_ColorSequencer.Process();
/* You can change the sequence in ColorSequencer.cs by ordering the premade colors or creating your own values */
_LEDStripController.Red = _ColorSequencer.Red;
_LEDStripController.Blue = _ColorSequencer.Blue;
_LEDStripController.Grn = _ColorSequencer.Green;
colorDelay = 0;
}
}
else
{
_LEDStripController.Red = 0;
_LEDStripController.Blue = 0;
_LEDStripController.Grn = 0;
}
}
if (gamepad.GetConnectionStatus() == CTRE.Phoenix.UsbDeviceConnection.NotConnected || _Battery.IsLow())
{
/* Flash RED ??? */
i++;
if (i >= 200)
{
On = !On;
i = 0;
}
/* Decide if strip is white or off */
if (On == true)
{
_LEDStripController.Red = 1;
_LEDStripController.Blue = 0;
_LEDStripController.Grn = 0;
}
else if (On == false)
{
_LEDStripController.Red = 0;
_LEDStripController.Blue = 0;
_LEDStripController.Grn = 0;
}
}
_LEDStripController.Process();
/* Regular mecanum drive that is scaled and Gamepad joysticks have been adjusted */
float X = gamepad.GetAxis(0);
/* Invert gamepad so forward is truly forward */
float Y = -1 * gamepad.GetAxis(1);
float Twist = gamepad.GetAxis(2);
MecanumDrive(Y * kScalarY, X * kScalarX, Twist * kScalarTwist);
}
}