It sounds like you want to mix starting in autonomous and finishing with a mixture of human/autonomous control of your climb.
For the autonomous parts just call Solenoid Set at the proper moment in time wit:
- For a double solenoid use "Forward" or "Reverse" hard wired into Solenoid Set
- For a single solenoid use "On" or "Off" hard wired into the Solenoid Set
The joysticks get bypassed during the autonomous period, so you need an alternate way to feed.
It can all be setup as a single sequence in Periodic Tasks that runs both during Autonomous Mode and during Teleop Mode as long as you can tolerate a short Disable Mode in between.
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...at 10 seconds we wait solenoid 3 to be deployed by joystick 11.
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That sounds like the coach taps the driver on the shoulder at the 10 second mark.
Or you can have the code override whatever the driver is doing at the 10 second mark and force solenoid 3 to deploy. Structured properly that can be a stand-alone parallel loop independent of the Driver that just throws solenoid 3 whenever the 10 second mark passes.