Switch arms movement from buttons to operator_stick Y axis
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@ -19,6 +19,8 @@
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#define RAMP_LOWER 3 // Button 4 to lower ramp.
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#define RAMP_LOWER 3 // Button 4 to lower ramp.
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#define UNJAM 11
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#define UNJAM 11
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#define ARMS_SCALE 0.75
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#define DEADZONE_RADIUS 0.05 // Deadzone Radius prevents tiny twitches in the joystick's value from
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#define DEADZONE_RADIUS 0.05 // Deadzone Radius prevents tiny twitches in the joystick's value from
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// affecting the robot. Use this for cleaning up drive train and shooter.
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// affecting the robot. Use this for cleaning up drive train and shooter.
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// Also used for detecting changes in an axis' value.
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// Also used for detecting changes in an axis' value.
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@ -390,37 +392,12 @@ public:
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inverting = false;
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inverting = false;
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}
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}
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if(operator_stick.GetRawButton(4))
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/*
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* Unlike the previous actions, this method does need to be called every iteration of
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* TeleopPeriodic. This is because the logic running this operation needs to be checked
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* Every time the method is called. This cannot be a loop in the Shoot method because
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* that would lock the robot every time the trigger is hit.
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*/
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if(operator_stick.GetRawButton(TRIGGER) || (shooter.GetState() != 0))
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{
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{
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shooting = true;
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arms.Set(-operator_stick.GetY() * ARMS_SCALE);
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shooter.Shoot();
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}
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}
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else if(shooting && !operator_stick.GetRawButton(TRIGGER))
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else
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{
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{
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shooting = false;
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shooter.StopShooter();
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}
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if(!arming && driver_stick.GetRawButton(RAMP_RAISE))
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{
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arming = true;
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arms.Set(1);
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}
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else if(!arming && driver_stick.GetRawButton(RAMP_LOWER))
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{
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arming = true;
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arms.Set(-1);
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}
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else if(arming && !driver_stick.GetRawButton(RAMP_RAISE) && !driver_stick.GetRawButton(RAMP_LOWER))
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{
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arming = false;
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arms.Set(0);
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arms.Set(0);
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}
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}
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