If you just want to remove the if statements, here's a few things you can do:
Code:
if (xbox.isReleased(JStick.XBOX_A)) {
usingCheesy = !usingCheesy;
}
can become:
Code:
usingCheesy=usingCheesy^xbox.isReleased(JStick.XBOX_A);
Code:
if(slowMode){
driveGear.set(false);
}else{
driveGear.set(normalGear);
}
can become:
Code:
driveGear.set(slowMode?false:normalGear);
Also, this:
Code:
if (shooterMode == SHOOTER_MODE_VOLTAGE) {
lcd.println(DriverStationLCD.Line.kUser1,1,"Shooter mode:voltage ");
} else if (shooterMode == SHOOTER_BANG_BANG) {
lcd.println(DriverStationLCD.Line.kUser1,1,"Shooter mode:bangbang");
} else if (shooterMode == SHOOTER_COMBINED) {
lcd.println(DriverStationLCD.Line.kUser1,1,"Shooter mode:combined");
} else {
lcd.println(DriverStationLCD.Line.kUser1,1,"Shooter mode:????????");
}
can become:
Code:
{
const char *out;
switch(shooterMode){
case SHOOTER_MODE_VOLTAGE: out="Shooter mode:voltage "; break;
case SHOOTER_BANG_BANG: out="Shooter mode:bangbang"; break;
case SHOOTER_COMBINED: out="Shooter mode:combined"; break;
default: out="Shooter mode:????????";
}
lcd.println(DriverStationLCD.Line.kUser1,1,out);
}