methods for Switchable Autonomous Modes

[DavisC]

Hello,

I have looked through much of the forums before Stop Build Date for the best and easiest switchable autonomous mode, but none seemed to work.

I use the Simple Robot Template for my code. (my entire cpp file code is posted below)

I noticed methods that are solely through the driver station (IO, Position, etc), and using something through that interface is preferred. I was unable to get any to work in the code (and was uncertain about the position selector).

My second choice would be a dip switch option on the robot itself. (Just I have never programmed inputs like those on the robot, and I still prefer the DS method).

Thanks,
Davis

Robot Code:

#include "WPILib.h"
#include "Math.h"
#include "stdlib.h"
#include "DriverStation.h"

class RobotDemo : public SimpleRobot
{
	RobotDrive R_myRobot;
	
	Joystick J_stick1;
	Joystick J_stick2;
	Joystick J_stick3;
	Joystick J_stick4;
	
	Relay M_standLeft;
	Relay M_standCenter;
	Relay M_standRight;
	
	Victor M_arm;
	
	Relay M_frisbeePusher;
	Relay M_frisbeeReleaser;

public:
	RobotDemo(void):
		R_myRobot(1, 2),
		
		J_stick1(1),
		J_stick2(2),
		J_stick3(3),
		J_stick4(4),
		
		M_standLeft(1),
		M_standCenter(3),
		M_standRight(2),
		
		M_arm(3),
		
		M_frisbeePusher(4),
		M_frisbeeReleaser(5)
	
	{	
		R_myRobot.SetExpiration(0.1);
	}

	void Autonomous(void)
	{		
		R_myRobot.SetSafetyEnabled(false);		
	}

	void OperatorControl(void)
	{
		R_myRobot.SetSafetyEnabled(true);
		
		// inverts the left motor
		R_myRobot.SetInvertedMotor(R_myRobot.kRearLeftMotor, true);
		// inverts the right motor
		R_myRobot.SetInvertedMotor(R_myRobot.kRearRightMotor, true);
		

		R_myRobot.Drive(0.0, 0.0);
		
		
		while (IsOperatorControl())
		{			
			
			// Drive
			R_myRobot.TankDrive(J_stick1, J_stick2);

			// Arm
			if(J_stick4.GetRawButton(1))
				M_arm.Set(J_stick4.GetY());
			else
				if(J_stick4.GetRawButton(2))
					M_arm.Set(J_stick4.GetY()*3/4);	
				else
					M_arm.Set(0.0);
			
			// frisbee pusher
			if(J_stick1.GetRawButton(1))
				M_frisbeePusher.Set(Relay::kForward);
			else
				if(J_stick1.GetRawButton(2))
					M_frisbeePusher.Set(Relay::kReverse);
				else
					M_frisbeePusher.Set(Relay::kOff);
			
			// frisbee Releaser
			if(J_stick2.GetRawButton(1))
				M_frisbeePusher.Set(Relay::kForward);
			else
				if(J_stick2.GetRawButton(2))
					M_frisbeePusher.Set(Relay::kReverse);
				else
					M_frisbeePusher.Set(Relay::kOff);
			
			// stand center
			if(J_stick4.GetRawButton(4))
				M_standCenter.Set(Relay::kForward);
			else
				if(J_stick4.GetRawButton(5))
					M_standCenter.Set(Relay::kReverse);
				else
					if(J_stick4.GetRawButton(3))
						M_standCenter.Set(Relay::kOff);
									
			// stand left + right
			if(J_stick3.GetRawButton(4))
			{
				M_standLeft.Set(Relay::kForward);
				M_standRight.Set(Relay::kForward);
			}
			else
			{
				if(J_stick3.GetRawButton(5))
				{
					M_standLeft.Set(Relay::kReverse);
					M_standRight.Set(Relay::kReverse);
				}
				else
				{
					if(J_stick3.GetRawButton(3))
					{
						M_standLeft.Set(Relay::kOff);
						M_standRight.Set(Relay::kOff);
					}
					else	
					{
						
						// stand left
						if(J_stick3.GetRawButton(6))
							M_standLeft.Set(Relay::kForward);
						else
						{
							if(J_stick3.GetRawButton(7))
								M_standLeft.Set(Relay::kReverse);
							else
							{
								if(J_stick3.GetRawButton(8))
									M_standLeft.Set(Relay::kOff);
							}
						}
						
						// stand right
						if(J_stick3.GetRawButton(11))
							M_standRight.Set(Relay::kForward);
						else
						{
							if(J_stick3.GetRawButton(10))
								M_standRight.Set(Relay::kReverse);
							else
							{
								if(J_stick3.GetRawButton(9))
									M_standRight.Set(Relay::kOff);
							}
						}
					}
				}
			}
			
			Wait(0.005);
		}
	}
};

START_ROBOT_CLASS(RobotDemo);