C++ Gamepad::GetDPad方法代码示例

    void TeleopPeriodic() {
    	//Target * target = GetLatestTarget();
    	//Begin DRIVER input section
    	if(driverGamepad->GetDPad()==Gamepad::kUp)
    		lc->setMode(1);
    	else if(driverGamepad->GetDPad()==Gamepad::kDown)
    		lc->setMode(6);
    	else
    		lc->setMode(0);
    	if(driverGamepad->GetDPad() == Gamepad::kRight)
    	{
    		cameraLight->Set(Relay::kOff);
    	}
    	else if(driverGamepad->GetDPad() == Gamepad::kLeft)
    	{
    		cameraLight->Set(Relay::kOn);
    	}
    	
    	if(driverGamepad->GetB())
    	{
    		cout << "Resetting the gyro! :D" << endl;
    		//driveGyro->Reset();
    		magicBox->resetGyro();
   		}
    	
    	bool modifySpeed = driverGamepad->GetRightBumper();
    	bool halfSpeed = driverGamepad->GetLeftBumper();
    	
    	/*
    	try {
    		std::string temp = SmartDashboard::GetString("TargetInfo");
    		cout << "temp: " << endl;
    	} catch (exception ex) {
    		cout << "bah! " << ex.what() << endl;
    	}*/
    	
    	//Target t = GetLatestTarget();
    	
    	/*
    	if (t.IsValid()) {
    		cout << "Valid target (" << (t.IsCenter() ? "center" : "side") << "):" << t.Distance() << " ft, " << t.X() << "," << t.Y() << endl;
    	} else {
    		//cout << "No valid target." << endl;
    	} */
    		
    	if(driverGamepad->GetBack())
    	{
    		cout << "Now driving in relation to the robot" << endl;
    			myDrive->setGyroDrive(false);
    	}
    	if(driverGamepad->GetStart())
    	{
    		cout << "Now driving in relation to the field (gyro)" << endl;
    		myDrive->setGyroDrive(true);
    	}
    	
    	// If the driver is holding the X button 
    	/*
    	if (driverGamepad->GetX()) {
    		// Stop using the joysticks to drive the robot, and let this function do it
    	    PointAtTarget(t);
    	} else { */
    		// We aren't auto-targeting. Reset the sequence.
    		target_state = RA13Robot::READY;
    		// Drive based on joysticks.
    		myDrive->Drive(driverGamepad->GetLeftX(), driverGamepad->GetLeftY(), 
    		    			driverGamepad->GetRightX(), magicBox->getGyroAngle(), modifySpeed,halfSpeed);
    	//}
    	//End DRIVER input section
    	
    	Gamepad::DPadDirection dir = operatorGamepad->GetDPad();
    	
    	if (dir != lastdir) {
    		switch(dir) {
    		case Gamepad::kUp:
    			manualAngle += 1;
    			break;
    		case Gamepad::kDown:
    			manualAngle -= 1;
    			break;
    		case Gamepad::kRight:
    			manualAngle += 0.25;
    			break;
    		case Gamepad::kLeft:
    			manualAngle -= 0.25;
    			break;
    		default:
    			break;
    		}
    	}
    	
    	//cout << "Current target angle: " << manualAngle << endl;
    	
    	//Begin OPERATOR input section
    		
    	if(operatorGamepad->GetBack())
    	{
    		myShooter->ResetShooterProcess(); // Re-homes the shooter
    	}
    	
//.........这里部分代码省略.........

/**
 * Periodic code for teleop mode should go here.
 *
 * Use this method for code which will be called periodically at a regular
 * rate while the robot is in teleop mode.
 */
void RobotDemo::TeleopPeriodic()
{
	drive->TeleopDrive(driverPad->GetLeftY() *DRIVER_LEFT_DIRECTION, driverPad->GetRightY() *DRIVER_RIGHT_DIRECTION);
	shooter->handle();
	shooter->debug();
	
	//shooter->setShooterPower(operatorPad->GetRightY());
	
	if((intakeMode == IN_INTAKE_MANUAL_MODE) && operatorPad->GetNumberedButton(INTAKE_AUTO_MODE_BUTTON))
	{
		intakeMode = IN_INTAKE_AUTO_MODE;
		printf ("set into auto roller mode");
		intake->setExtenderMode(IN_INTAKE_AUTO_MODE);
	}
	//sets intake mode to auto if previously in manual and operator presses auto button
	else if((intakeMode == IN_INTAKE_AUTO_MODE) && operatorPad->GetNumberedButton(INTAKE_MANUAL_MODE_BUTTON))
	{
		intakeMode = IN_INTAKE_MANUAL_MODE;
		printf ("set into manual roller mode");
		intake->setExtenderMode(IN_INTAKE_MANUAL_MODE);
	}
	
	intake->handle();
	
	if(intakeMode == IN_INTAKE_MANUAL_MODE)
	{
		intake->move(operatorPad->GetLeftY()*OPERATOR_LEFT_DIRECTION);
	}
	else
	{
		//Extender DPad control
		curPadDir = operatorPad->GetDPad();
		
		if(lastPadDir != curPadDir)
		{
			switch(curPadDir)
			{
			case Gamepad::kUp:
				intake->setExtenderTarget(FULL_EXTEND_DISTANCE);
				break;
			case Gamepad::kDown:
				intake->setExtenderTarget(FULL_RETRACT_DISTANCE);
				break;
			default:
				break;
			}
		}
		
		lastPadDir = curPadDir;
	}
	
	//intake->spinRoller(operatorPad->GetRightY()*OPERATOR_RIGHT_DIRECTION);
	intake->getCurrentPosition();
	
	
	//if operator taps in button roller continually spins inward
	if(operatorPad->GetNumberedButton(ROLLER_IN_BUTTON))
	{
		intakeCont = INTAKE_ROLLER_IN_STATE;
	}
	//if operator taps stop button roller stops continually
	else if(operatorPad->GetNumberedButton(ROLLER_OFF_BUTTON))
	{
		intakeCont = INTAKE_ROLLER_STOP_STATE;
	}
	
	//if operator holds spit button roller spins backwards no matter what
	if(operatorPad->GetNumberedButton(ROLLER_OUT_BUTTON))
	{
		intake->spinRoller(INTAKE_ROLLER_SPIT_POWER);
	}
	//not holding spit button
	else
	{
		//roller either spins or is stopped depending on previous code
		if(intakeCont)
		{
			intake->spinRoller(INTAKE_ROLLER_IN_POWER);
		}
		else
		{
			intake->spinRoller(INTAKE_ROLLER_STOP_POWER);
		}
	}
		

	
	if(operatorPad->GetNumberedButton(RIGHT_TRIGGER_BUTTON)) // low shot = Right Trigger
	{
		shooter->initShot(SHOT_LOW_ANGLE, SHOT_LOW_SPEED);
		printf("test button 1 is pressed");
	}
	else if(operatorPad->GetNumberedButton(LEFT_TRIGGER_BUTTON)) // pass = Left Trigger
	{
//.........这里部分代码省略.........

	/**
	 * Periodic code for teleop mode should go here.
	 *
	 * Use this method for code which will be called periodically at a regular
	 * rate while the robot is in teleop mode.
	 */
	void RA14Robot::TeleopPeriodic() {
		StartOfCycleMaintenance();

		//Input Acquisition
		DriverLeftY = DriverGamepad->GetLeftY();
		DriverRightY = DriverGamepad->GetRightY();
		DriverLeftBumper = DriverGamepad->GetLeftBumper(); // Reads state of left bumper 
		DriverRightBumper = DriverGamepad->GetRightBumper(); // Gets state of right bumper
		RingLightButton = OperatorGamepad->GetY();
		ShouldFireButton = DriverGamepad->GetRightTrigger();
		BallCollectPickupButton = DriverGamepad->GetBack();
		DriverDPad = DriverGamepad->GetDPad();
		OperatorDPad = OperatorGamepad->GetDPad();
		//End Input Acquisition


		//Current Sensing
		//myCurrentSensor->Toggle(DriverGamepad->GetStart());
		//End Current Sensing


		//Target Processing
		target->Parse(server->GetLatestPacket());

		/*
		 if (target->IsValid()) {
		 cout << "\tx = " << target->GetX() << ", y = " << target->GetY() << ", distance = " << target->GetDistance() << "ft";
		 cout << "\tside = " << (target->IsLeft() ? "LEFT" : "RIGHT") << ", hot = " << (target->IsHot() ? "HOT" : "NOT") << endl;
		 }
		 else {
		 cout << "No Target Received..." << endl;
		 }
		 */

		//End Target Processing


		//Ball Collection

		/*
		 if(BallCollectPickupButton)
		 {
		 myCollection->Collect();
		 }
		 else
		 {
		 myCollection->ResetPosition();
		 }
		 */

		float spinSpeed = Config::GetSetting("intake_roller_speed", 1);
		int armPosition = 0;
		int rollerPosition = 0;

		switch (OperatorDPad) {
		case Gamepad::kCenter:
			armPosition = 0;
			rollerPosition = 0;
			break;
		case Gamepad::kUp:
			armPosition = -1;
			break;
		case Gamepad::kUpLeft:
			armPosition = -1;
			rollerPosition = -1;
			break;
		case Gamepad::kUpRight:
			armPosition = -1;
			rollerPosition = 1;
			break;
		case Gamepad::kDown:
			armPosition = 1;
			break;
		case Gamepad::kDownLeft:
			armPosition = 1;
			rollerPosition = -1;
			break;
		case Gamepad::kDownRight:
			armPosition = 1;
			rollerPosition = 1;
			break;
		case Gamepad::kLeft:
			rollerPosition = -1;
			break;
		case Gamepad::kRight:
			rollerPosition = 1;
			break;
		}

		if (DriverGamepad->GetLeftTrigger()) {
			armPosition = 0;
			rollerPosition = -1;
		}
		
//.........这里部分代码省略.........