Robot.java 文件源码

/**
 * This function is called periodically during operator control
 */
public void teleopPeriodic() {
    Scheduler.getInstance().run();
    if (! Robot.pixyCamera.read(0, 1, buffer))
        pixyValue =  buffer[0] & 0xFF;

    lTrigger = oi.getXBoxController().getRawAxis(2);
    rTrigger = oi.getXBoxController().getRawAxis(3);
    pov = oi.getXBoxController().getPOV(0);

    /* Climbing control - variable on Left Trigger */
    if(lTrigger > 0.1)
        new Climb().start();

    /* Shooting Balls - Right Trigger */
    if(rTrigger > 0.1) {
        if(shootMethod1) {
            Shooter.trigger();

        } else {
            //new Shoot();
        }
    } else {
        new ShooterSequenceOff().start();
    }

    if (isIngesting) {
        BallIntake.ballIntakeMotor.set(0.3);
    } else {
        BallIntake.ballIntakeMotor.set(0);
    }

    /* Allow adjusting Speed of Shooter Motor to test distance */
    //if(pov == -1) {
    //  povActivated = false;
    //} else {
        if (pov != -1)
            if(pov > 90 && pov < 270) {
                shootSpeeed--;
            } else {
                shootSpeeed++;
            }

    //}
    SmartDashboard.putNumber("Shooting speeed", shootSpeeed);

}