C++ Gamepad::GetNumberedButton方法代码示例

/**
 * 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.........

	void TeleopPeriodic(void) {
		float x = gamepad->GetLeftX();
		float y = gamepad->GetLeftY();
		float rot = gamepad->GetRightX();
		
		//small gamepad values are ignored
		if (x < 0.1f && x > -0.1f)
			{
				x = 0;
			}
		if (y < 0.1f && y > -0.1f)
			{
				y = 0;
			}
		
		if (rot < 0.1f && rot > -0.1f)
			{
				rot = 0;
			}
		
		drive->MecanumDrive_Cartesian(SPEED_LIMIT * x, SPEED_LIMIT * y, SPEED_LIMIT * rot);
		
		//shoot smoke if button is pressed
		if (gamepad2->GetNumberedButton(FIRE_SMOKE_BUTTON)){
			//SHOOT SMOKE!
			//makingSmoke = !makingSmoke;
			smoke_cannon->Set(SMOKE_CANNON_SPEED);
			lcd->PrintfLine(DriverStationLCD::kUser_Line5, "Shooting");
				
			firing_smoke_timer->Start(); //measure how long we've fired smoke, so we know if it's ok to make more
			
		}
		else
		{
			smoke_cannon->Set(0.0f);
			lcd->PrintfLine(DriverStationLCD::kUser_Line5, "Not shooting");
			firing_smoke_timer->Stop(); //stop the timer, since we're not firing smoke.
										//don't reset, cuz we need to how much smoke we've fired.

		}
		//Eye Code
		
//		float eye_pos = gamepad2->GetLeftX();
//		
//		right_eye_x->Set((eye_pos * 60) + default_eye_position);
//		left_eye_x->Set((eye_pos * 60) + default_eye_position - LEFT_EYE_OFFSET);
//		
//		//button lock code
//		if(gamepad2->GetNumberedButtonPressed(EYE_LOCK_BUTTON)){
//			default_eye_position = eye_pos;
//		}
//		
		
		
		//left eye control
		//If A isn't pressed the value should stay the same as before
		if (!gamepad2->GetNumberedButton(1)){
			float left_joystick_x = gamepad2->GetLeftX();
			float left_eye_x_axis = (1 - left_joystick_x)*60;
			left_eye_val = left_eye_x_axis + 50;
			
			float right_joystick_x = gamepad2->GetRawAxis(4);//right x axis
			float right_eye_x_axis = (1-right_joystick_x)*60;
			right_eye_val = right_eye_x_axis+20;
		}
		left_eye_x->SetAngle(left_eye_val);		
		right_eye_x->SetAngle(right_eye_val);
		
		//float right_joystick_y = gamepad2->GetRawAxis(4);
		//float right_eye_y_axis = (right_joystick_y+1)*60;
		//right_eye_y->SetAngle(right_eye_y_axis);

		/*
		bool rbutton = gamepad2->GetNumberedButton(HEAD_UP_BUTTON);
		bool lbutton = gamepad2->Ge tNumberedButton(HEAD_DOWN_BUTTON);
		if (rbutton){
			lcd->PrintfLine(DriverStationLCD::kUser_Line6, "rb pressed");
			jaw_motor->Set(0.2f);
		}else if(lbutton){
			lcd->PrintfLine(DriverStationLCD::kUser_Line6, "lb pressed");
			jaw_motor->Set(-0.15f);
		}else{
			lcd->PrintfLine(DriverStationLCD::kUser_Line6, "no buttons");
			jaw_motor->Set(0.0f);
		}
		*/

		//REAL head & jaw code
		//move head down
		if(gamepad2->GetRightX()<=-0.5f && can_move_head_down() && can_move_jaw_down()){
			head_motor->Set(-0.3f);
			jaw_motor->Set(0.3f);
		}
		//move head up
		else if(gamepad2->GetNumberedButton(HEAD_UP_BUTTON) && can_move_head_up()){
			head_motor->Set(0.3f);
			jaw_motor->Set(-0.3f);
		}
		//move jaw down
		else if(gamepad2->GetRightX()>=0.5f && can_move_jaw_down()){
//.........这里部分代码省略.........