FRC-2017-Robot-Java/RobotOperation.java at master · SCOTS-Bots/FRC-2017-Robot-Java · GitHub

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package org.scotsbots.robotbase;

import org.scotsbots.robotbase.utils.Gamepad;

import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.PIDOutput;
import edu.wpi.first.wpilibj.PIDSource;
import edu.wpi.first.wpilibj.PIDSourceType;
import edu.wpi.first.wpilibj.Timer;

/**
 * Static class for basic robot operation calls.
 * @author Domenic
 *
 */
public class RobotOperation
{
	public static PIDController encoderControl = new PIDController(.1, .003,0, new PIDSource()
	{


		@Override
		public void setPIDSourceType(PIDSourceType pidSource)
		{
			// TODO Auto-generated method stub

		}

		@Override
		public PIDSourceType getPIDSourceType()
		{
			// TODO Auto-generated method stub
			return null;
		}

		@Override
		public double pidGet()
		{
			// TODO Auto-generated method stub
			return 0;
		}
	}, new PIDOutput()
	{
		public void pidWrite(double d)
		{
			Robot.bot.drivetrain.tankDrive(-d * 0.66, -d * 0.66);
		}
	});


	/**
	 * Drives tank drive.
	 * @param joystickSet 0 - Only gamepads, 1 - attacks and gamepad
	 */
	public static void driveTank(int joystickSet)
	{
		driveTank(joystickSet, 1);
	}

	/**
	 * Drives in tank, multiplies speed by speed ratio.
	 * @param joystickSet 0 - Only gamepads, 1 - attacks and gamepad
	 * @param speedRatio range of motor power
	 */
	public static void driveTank(int joystickSet, double speedRatio)
	{
		if(joystickSet == 0)
		{
		    Robot.bot.drivetrain.tankDrive(Gamepad.primaryGamepad.getLeftY() * speedRatio, Gamepad.primaryGamepad.getRightY() * speedRatio, true);
			//87
		}

		if(joystickSet == 1)
		{
			//double leftThrottle = ((1-Gamepad.primaryLeftAttackJoystick.getZ()) * .35) + .65;
			//double rightThrottle = ((1-Gamepad.primaryRightAttackJoystick.getZ()) * .35) + .65;
			Robot.bot.drivetrain.tankDrive(Gamepad.primaryLeftAttackJoystick.getY() * speedRatio, Gamepad.primaryRightAttackJoystick.getY() * speedRatio, true);
		}

       // Timer.delay(0.005);	// wait 5ms to avoid hogging CPU cycles
	}

	public static void reset()
	{
		// TODO Auto-generated method stub

	}

	public static void initialize()
	{
		// TODO Auto-generated method stub

	}};