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Added tank drive and remade the drive mode switching. Also got lazy a…
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…nd combined most of the screen prints for teleop into one method, only a tiny bit less efficient, it really doesn't matter.
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@floogulinc
floogulinc committed Feb 10, 2014
1 parent c0c3444 commit d0d9d2e
Showing 1 changed file with 106 additions and 61 deletions.
167 changes: 106 additions & 61 deletions src/com/frc2879/bender/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,6 @@
import edu.wpi.first.wpilibj.SimpleRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.camera.AxisCamera;
import edu.wpi.first.wpilibj.camera.AxisCameraException;

/**
*
Expand All @@ -29,16 +28,17 @@ public class Robot extends SimpleRobot {
//Gamepad gp = new Gamepad(1);
GamepadXbox gp = new GamepadXbox(1);

public final String name = "Bender Bot";
public final String version = "v1.09";
public final String fullname = name + " " + version;
public static final String name = "Bender Bot";
public static final String version = "v1.10";
public static final String fullname = name + " " + version;

// CONFIG VALUES
int DriveSensitivity = 100;
int TurnSensitivity = 100;
boolean SquaredInputs = true;

boolean sawyerdrive = false;
//boolean sawyerdrive = false;
int DriveMode = 0; // 0 is arcade, 1 is tank, 2 is sawyer

DSOutput dsout;

Expand Down Expand Up @@ -67,30 +67,63 @@ protected void robotInit() {

boolean bumpertoggle = false; //true is turn sensitivity, false for drive

public void saydrivesensitivity() {
public void saydrivesensitivity(int line) {
if (bumpertoggle) {
dsout.say(2, "DSensitivity: " + Integer.toString(DriveSensitivity));
dsout.say(line, "DSensitivity: " + Integer.toString(DriveSensitivity));
} else {
dsout.say(2, "*DSensitivity: " + Integer.toString(DriveSensitivity));
dsout.say(line, "*DSensitivity: " + Integer.toString(DriveSensitivity));
}

}

public void sayturnsensitivity() {
public void sayturnsensitivity(int line) {
if (bumpertoggle) {
dsout.say(3, "*TSensitivity: " + Integer.toString(TurnSensitivity));
dsout.say(line, "*TSensitivity: " + Integer.toString(TurnSensitivity));
} else {
dsout.say(3, "TSensitivity: " + Integer.toString(TurnSensitivity));
dsout.say(line, "TSensitivity: " + Integer.toString(TurnSensitivity));
}

}

public void saysquaredinputs() {
dsout.say(4, "Squared Inputs: " + SquaredInputs);
public void saysquaredinputs(int line) {
dsout.say(line, "Squared Inputs: " + SquaredInputs);
}


String[] drivemodename = {
"Arcade",
"Tank",
"Sawyer" };

public void saysawyerdrive() {
dsout.say(5, "Sawyer Drive: " + sawyerdrive);
public void saydrivemode(int line) {
dsout.say(line, "Mode: " + drivemodename[DriveMode]);
}

public void sayscreentele() {

dsout.say(1, fullname);
saydrivemode(2);
saysquaredinputs(3);
if(DriveMode == 1){
dsout.clearLine(4);
dsout.clearLine(5);
}else {
saydrivesensitivity(4);
sayturnsensitivity(5);
}
}

public void switchdrivemode(){
switch(DriveMode){
case 0: DriveMode = 1;
break;
case 1: DriveMode = 2;
break;
case 2: DriveMode = 0;
break;
default: DriveMode = 0;
break;
}
}

/**
Expand Down Expand Up @@ -120,80 +153,92 @@ public void autonomous() {
public void operatorControl() {
drivetrain.setSafetyEnabled(true);
dsout.clearOutput();
dsout.say(1, fullname);
saydrivesensitivity();
sayturnsensitivity();
saysquaredinputs();
saysawyerdrive();
sayscreentele();
while (isOperatorControl() && isEnabled()) {

// Update joystick values:
double move;
double spin;
move = (gp.getLeftY() * ((double) (DriveSensitivity) / 100));
if(sawyerdrive) {
spin = (gp.getRightX() * ((double) (TurnSensitivity) / 100));
} else {
double move = 0;
double spin = 0;

double tankleft = 0;
double tankright = 0;

if (DriveMode == 0) {
move = (gp.getLeftY() * ((double) (DriveSensitivity) / 100));
spin = (gp.getLeftX() * ((double) (TurnSensitivity) / 100));
} else if (DriveMode == 2) {
move = (gp.getLeftY() * ((double) (DriveSensitivity) / 100));
spin = (gp.getRightX() * ((double) (TurnSensitivity) / 100));
} else if (DriveMode == 1) {
tankleft = gp.getLeftY();
tankright = gp.getRightY();
}


if (gp.getButtonStateRightBumper()) {
pbuttonRB = true;
} else if (pbuttonRB && !gp.getButtonStateRightBumper()) {
if (bumpertoggle) {
TurnSensitivity = (TurnSensitivity) + (10);
sayturnsensitivity();
} else {
DriveSensitivity = (DriveSensitivity) + (10);
saydrivesensitivity();
if (DriveMode != 1) {

if (gp.getButtonStateRightBumper()) {
pbuttonRB = true;
} else if (pbuttonRB && !gp.getButtonStateRightBumper()) {
if (bumpertoggle) {
TurnSensitivity = (TurnSensitivity) + (10);
sayscreentele();
} else {
DriveSensitivity = (DriveSensitivity) + (10);
sayscreentele();
}
pbuttonRB = false;
}
pbuttonRB = false;
}

if (gp.getButtonStateLeftBumper()) {
pbuttonLB = true;
} else if (pbuttonLB && !gp.getButtonStateLeftBumper()) {
if (bumpertoggle) {
TurnSensitivity = (TurnSensitivity) - (10);
sayturnsensitivity();
} else {
DriveSensitivity = (DriveSensitivity) - (10);
saydrivesensitivity();
if (gp.getButtonStateLeftBumper()) {
pbuttonLB = true;
} else if (pbuttonLB && !gp.getButtonStateLeftBumper()) {
if (bumpertoggle) {
TurnSensitivity = (TurnSensitivity) - (10);
sayscreentele();
} else {
DriveSensitivity = (DriveSensitivity) - (10);
sayscreentele();
}
pbuttonLB = false;
}

if (gp.getButtonStateY()) {
pbuttonY = true;
} else if (pbuttonY && !gp.getButtonStateY()) {
bumpertoggle = !bumpertoggle;
sayscreentele();
pbuttonY = false;
}
pbuttonLB = false;
}

if (gp.getButtonStateY()) {
pbuttonY = true;
} else if (pbuttonY && !gp.getButtonStateY()) {
bumpertoggle = !bumpertoggle;
saydrivesensitivity();
sayturnsensitivity();
pbuttonY = false;
}


if (gp.getButtonStateX()) {
pbuttonX = true;
} else if (pbuttonX && !gp.getButtonStateX()) {
SquaredInputs = !SquaredInputs;
saysquaredinputs();
sayscreentele();
pbuttonX = false;
}
if (gp.getButtonStateBACK()) {
pbuttonBACK = true;
} else if (pbuttonBACK && !gp.getButtonStateBACK()) {
sawyerdrive = !sawyerdrive;
saysawyerdrive();
switchdrivemode();
sayscreentele();
pbuttonBACK = false;
}

// Drive da robot:
drivetrain.arcadeDrive(move, spin, SquaredInputs);
if(DriveMode == 1){
drivetrain.tankDrive(tankleft, tankright, SquaredInputs);
} else {
drivetrain.arcadeDrive(move, spin, SquaredInputs);
}


Timer.delay(0.005);
}

dsout.clearOutput();
}

protected void disabled(){
Expand Down

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