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package org.usfirst.frc.team3695.robot.commands;
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import edu.wpi.first.wpilibj.command.Command;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import org.usfirst.frc.team3695.robot.OI;
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import org.usfirst.frc.team3695.robot.Robot;
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import org.usfirst.frc.team3695.robot.util.Util;
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/** manually command the robot with joysticks */
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public class ManualCommandDrive extends Command {
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public ManualCommandDrive() {
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requires(Robot.SUB_DRIVE);
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}
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protected void initialize() {}
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protected void execute() {
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SmartDashboard.putNumber("Tilt Angle", Robot.SUB_DRIVE.getYAngle());
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SmartDashboard.putBoolean("Docked", Robot.SUB_DRIVE.docking);
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SmartDashboard.putBoolean("Reversed", Robot.SUB_DRIVE.reversing);
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SmartDashboard.putNumber("Right Encoder Inches", Robot.SUB_DRIVE.pid.getRightInches());
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SmartDashboard.putNumber("Left Encoder Inches", Robot.SUB_DRIVE.pid.getLeftInches());
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switch (Robot.SUB_DRIVE.drivetrain) {
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case ROCKET_LEAGUE:
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Robot.SUB_DRIVE.driveRLTank(OI.DRIVER, Util.getAndSetDouble("Rocket Ramp", .75), Util.getAndSetDouble("Drive Inhibitor", 1));
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break;
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case FORZA:
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Robot.SUB_DRIVE.driveForza(OI.DRIVER, Util.getAndSetDouble("Forza Ramp", .75), Util.getAndSetDouble("Radius", 1), Util.getAndSetDouble("Drive Inhibitor", 1));
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break;
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}
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}
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protected boolean isFinished() {
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return false;
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}
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protected void end() {}
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protected void interrupted() {}
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}
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wh1ter0se /
PowerUp-2018
Loading history...
Using constants for hard-coded numbers is a best practice. A constant’s name can explain the rationale behind this magic number. It is also easier to find if you ever need to change it.