/** * * @param controller The {@link SpeedController} that controls the motor. * @param top The top {@link Trigger} (trigger at the positive end of the motor's output). * @param topOnValue The value from the top {@link Trigger} where you want the motor to stop. * @param bottom The bottom {@link Trigger} (trigger at the negative end of the motor's output). * @param bottomOnValue The value from the bottom {@link Trigger} where you want the motor to stop. */ public LimitSwitchedMotor(SpeedController controller,Trigger top,boolean topOnValue, Trigger bottom,boolean bottomOnValue) { _controller = controller; _top = top; _bottom = bottom; _bgThread.schedule(_bgTask, 0, (long)(DEFAULT_PERIOD*1000)); _topOn = topOnValue; _bottomOn = bottomOnValue; }
public MultiTrigger(Trigger[] triggers){ this.triggers = triggers; }
public OI() { this.joystick = new XboxController(RobotMap.XBOX_CONTROLLER); this.joystick2 = new XboxController(RobotMap.XBOX_CONTROLLER2); this.buttonA2 = new JoystickButton(this.joystick2, 1); this.buttonB2 = new JoystickButton(this.joystick2, 2); this.buttonX2 = new JoystickButton(this.joystick2, 3); this.buttonY2 = new JoystickButton(this.joystick2, 4); this.buttonLeftBumper2 = new JoystickButton(this.joystick2, 5); this.buttonRightBumper2 = new JoystickButton(this.joystick2, 6); this.buttonBack2 = new JoystickButton(this.joystick2, 7); this.buttonStart2 = new JoystickButton(this.joystick2, 8); this.buttonLeftThumb2 = new JoystickButton(this.joystick2, 9); this.buttonRightThumb2 = new JoystickButton(this.joystick2, 10); this.dpadUp2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 0;}}; this.dpadUpRight2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 45;}}; this.dpadRight2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 90;}}; this.dpadDownRight2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 135;}}; this.dpadDown2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 180;}}; this.dpadDownLeft2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 225;}}; this.dpadLeft2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 270;}}; this.dpadUpLeft2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 315;}}; // mappings based on this post from CD... // https://www.chiefdelphi.com/forums/attachment.php?attachmentid=20028&d=1455109186 this.buttonA = new JoystickButton(this.joystick, 1); this.buttonB = new JoystickButton(this.joystick, 2); this.buttonX = new JoystickButton(this.joystick, 3); this.buttonY = new JoystickButton(this.joystick, 4); this.buttonLeftBumper = new JoystickButton(this.joystick, 5); this.buttonRightBumper = new JoystickButton(this.joystick, 6); this.buttonBack = new JoystickButton(this.joystick, 7); this.buttonStart = new JoystickButton(this.joystick, 8); this.buttonLeftThumb = new JoystickButton(this.joystick, 9); this.buttonRightThumb = new JoystickButton(this.joystick, 10); this.dpadUp = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 0;}}; this.dpadUpRight = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 45;}}; this.dpadRight = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 90;}}; this.dpadDownRight = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 135;}}; this.dpadDown = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 180;}}; this.dpadDownLeft = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 225;}}; this.dpadLeft = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 270;}}; this.dpadUpLeft = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 315;}}; //this.buttonA.whenPressed(new DriveHeadingAndDistance(0, 1)); //this.buttonA.whenPressed(new DriveStraightCommand(5)); // this.buttonA.whenPressed(new DriveStraightCommand(5)); //this.buttonB.whenPressed(new TurnToHeading(180)); this.buttonRightBumper.whileHeld(new DeliverGearCommand()); this.buttonA2.whenPressed(new FeederCommand()); this.buttonB2.toggleWhenPressed(new ShooterCommand()); //this.buttonX2.whenPressed(new PushGear()); }