gistfile1.txt

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package edu.wpi.first.wpilibj.templates;


import edu.wpi.first.wpilibj.DriverStationLCD;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.camera.AxisCamera;

/**
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the IterativeRobot
 * documentation. If you change the name of this class or the package after
 * creating this project, you must also update the manifest file in the resource
 * directory.
 */
public class RobotTemplate extends IterativeRobot {
        Jaguar Shooter1;
        //Jaguar Shooter2;
        Victor Shooter3;
        Joystick Joystick1;
        double shootValue1 = 0;
        double shootValue2 = 0;
        double motorSpeed1, motorSpeed2;
        Solenoid s1;
        Solenoid s2;
        AxisCamera camera;
    /**
     * This function is run when the robot is first started up and should be
     * used for any initialization code.
     */
    public void robotInit() {
        Shooter1 = new Jaguar(1);
        //Shooter2 = new Jaguar(2);
        Shooter3 = new Victor(3);
        Joystick1 = new Joystick(1);
        s1 = new Solenoid(1);
        s2 = new Solenoid(2);
        
        //Camera
        camera = AxisCamera.getInstance();
        camera.writeResolution(AxisCamera.ResolutionT.k320x240);
        camera.writeBrightness(0);
    }

    /**
     * This function is called periodically during autonomous
     */
    public void autonomousPeriodic() {

    }

    /**
     * This function is called periodically during operator control
     */
    public void teleopPeriodic() {
        change();
        shoot();
        getValue();
    }
    
    /**
     * This function is called periodically during test mode
     */
    public void testPeriodic() {
    
    }
    private void shoot(){
        Shooter1.set(shootValue1);
        Shooter3.set(shootValue2);
        
        if (Joystick1.getRawButton(8)){
            s1.set(true);
        }else{
            s1.set(false);
        }
        
        if (Joystick1.getRawButton(9)){
            s2.set(true);
        }else{
            s2.set(false);
        }
    }
    private void change(){
        if (Joystick1.getRawButton(2)) {
            shootValue1 -= .01;
        }
        else if (Joystick1.getRawButton(3)) {
            shootValue1 += .01;
        }
        if (Joystick1.getRawButton(4)) {
            shootValue2 -= .01;
        }
        else if (Joystick1.getRawButton(5)) {
            shootValue2 += .01;
        }
        
    }
    private void getValue(){
           motorSpeed1 = Shooter1.get();
           motorSpeed2 = Shooter3.get();
           DriverStationLCD.getInstance().println(DriverStationLCD.Line.kUser1, 1, motorSpeed1+"");
           DriverStationLCD.getInstance().println(DriverStationLCD.Line.kUser2, 1, motorSpeed2+"");
           DriverStationLCD.getInstance().updateLCD();
    }
}