Hey guys, I am a part of this club in my school, and we are taking place in the 2014 robotics competition. We can not test our code yet because we are waiting on our build team to finalize a design. However, we have some code written and were wondering if it would work in theory.
Thank you all so much,
FriendzonedJim
Code:
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Relay;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Talon;
import edu.wpi.first.wpilibj.Timer;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
*/
public class mainClass extends IterativeRobot {
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
double angle = 41.6;
boolean ifLightButtonPushed = false;
Joystick driveStick = new Joystick(1);
Joystick controlStick = new Joystick(2);
RobotDrive mainDrive = new RobotDrive(1,2,3,4);
Talon pickupTalon = new Talon(3);
Talon launchTalon = new Talon(4);
Relay ledRing = new Relay(1);
Encoder pickupEncoder = new Encoder(1,2);
Encoder elasticEncoder = new Encoder(3,4);
public void robotInit() {
pickupEncoder.start();
}
/**
* This function is called periodically during autonomous
*/
public void autonomousPeriodic() {
}
public void autonomousContinuous() {
mainDrive.setSafetyEnabled(false);
mainDrive.drive(0.5,0.0);
Timer.delay(2.0);
mainDrive.drive(0.0,0.0);
}
/**
* This function is called periodically during operator control
*/
public void teleopPeriodic() {
mainDrive.arcadeDrive(driveStick);
if (controlStick.getRawButton(3)) {
if (pickupEncoder.get() < angle) {
pickupTalon.set(.5);
} else {
pickupTalon.set(0.0);
}
} else {
pickupTalon.set(0.0);
}
if (controlStick.getRawButton(1)) {
launchTalon.set(0.5);
} else {
launchTalon.set(0.0);
}
if (controlStick.getRawButton(4)) {
ifLightButtonPushed = !(ifLightButtonPushed);
}
if (ifLightButtonPushed) {
ledRing.set(Relay.Value.kOff);
}
}
/**
* This function is called periodically during test mode
*/
public void testPeriodic() {
}
}