C++ Gamepad::GetY方法代码示例

//.........这里部分代码省略.........
    	
    	//Begin OPERATOR input section
    		
    	if(operatorGamepad->GetBack())
    	{
    		myShooter->ResetShooterProcess(); // Re-homes the shooter
    	}
    	
    	if(operatorGamepad->GetLeftTrigger())
		{
    		myShooter->SetSpeeds(SHOOTER_FRONTWHEEL_SPEED,SHOOTER_REARWHEEL_SPEED); // (RPM,RPM)
		}
    	else if (operatorGamepad->GetLeftBumper())
    	{
    		myShooter->SetSpeeds(Config::GetSetting("shooter_main_speed_pyramid", 1500),
    							 Config::GetSetting("shooter_secondary_speed_pyramid", 2000));
    	}
    	else
    	{
    		myShooter->SetSpeeds(0,0); // (RPM,RPM)
    	}
    	
    	if(operatorGamepad->GetRightTrigger())
    	{
    		// TODO: Make this selectable somehow. This is probably too powerful for
    		// distant shots.
    		myShooter->ChamberFrisbee(Config::GetSetting("loader_power",-1));
    	}
    	else
    	{
    		myShooter->StopLoader();
    	}
    	
    	if(operatorGamepad->GetY())
    	{
    		myShooter->SetAngle(manualAngle);
    	}
    	if(operatorGamepad->GetX())
    	{
    		myShooter->SetAngle(Config::GetSetting("shooter_loading_angle",0)); //Angle for reloading
    		manualAngle = Config::GetSetting("shooter_loading_angle",0);
    	}
    	if(operatorGamepad->GetA()) //Shooting from load zone
    	{
    		myShooter->SetAngle(Config::GetSetting("load_zone_shooting_angle",13.25));
    		manualAngle = Config::GetSetting("load_zone_shooting_angle",13.25);
    	}
    	if(operatorGamepad->GetB())
    	{
    		myShooter->SetAngle(Config::GetSetting("pyramid_shooting_angle",23.25));
    		manualAngle = Config::GetSetting("pyramid_shooting_angle",23.25);
    	}
    	if(operatorGamepad->GetRightBumper())
    	{
    		//myShooter->SetAngle(Config::GetSetting("funnel_release_angle",35));
    		myShooter->SetAngle(Config::GetSetting("pyramid_basket_angle", 45));
    		manualAngle = Config::GetSetting("pyramid_basket_angle", 45);
    	}
    	if (operatorGamepad->GetLeftPush()) {
    		myShooter->ResetShooterProcess();
    	}
    	
    	// Do something similar, but don't touch the AngleJag.
    	if (operatorGamepad->GetRightPush()) {
    		myShooter->ResetShooterMotors();
    	}

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