[DjScribbles]

So I feel like our teams teleop code is in a pretty good place as of last night, and we're getting started with autonomous (and the kinect ). But I'm also a bit curious if I should consider shuffling some routines into tasks.

Here's my current teleop code:

void TeleopPeriodic(void)
{
    // increment the number of teleop periodic loops completed
    m_telePeriodicLoops++;
    
    if (!BUTTON_CAMERA_ALIGN_SHOT_BUTTON())
    {
        anglesComputed = false;
        myRobot.TankDrive(stickLeftDrive,stickRightDrive);
        //myRobot.SetSafetyEnabled(true);
        myRobot.SetSafetyEnabled(false);
        testCount = 0;
    }
    CameraInitialize();
    AxisCamera &camera = AxisCamera::GetInstance("10.24.74.11");
    
    
    ManageAppendages();
    ManageElevator();
    ManageCatapult();
        
    if (camera.IsFreshImage())
    {
        ColorImage *colorImage = new ColorImage(IMAQ_IMAGE_HSL);
        camera.GetImage(colorImage);
        if (BUTTON_CAMERA_ALIGN_SHOT_BUTTON() && (anglesComputed == false))
        {
            DetermineTargetPosition(colorImage);
        }
        delete colorImage;
    }
}

void TeleopContinuous(void)
{
    if ((BUTTON_CAMERA_ALIGN_SHOT_BUTTON()) &&
    (anglesComputed == true))
    {
        RotateToTarget();
    }
}

My other question is do any of the WPILib constructs, like Jaguar, Joystick, Gyro, etc play nice when shared between tasks, or do I need to set things up with semaphores and protect them (semaphoreDriverStick.get) OR will the inards of the WPILib choke if I try to use these attributes outside of the main task (implying that I will need to get values and put them into a seperate variable so I can protect them)?


Unrelated question: How often is periodic? Is it called at a set rate, or is it only when control packets are recieved from the DS (which would really be semi-periodic)?

Thanks