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Robot2012.cpp
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Robot2012.cpp
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#include "WPILib.h"
#include "math.h"
#include "SubSystems/ElevatorSystem.h"
#include "SubSystems/Drivetrain.h"
#include "SubSystems/RampArm.h"
#include "Util/Switch.h"
#include "Util/XboxController.h"
#include "Util/DeadReckoner.h"
#include "Settings.h"
#include "RobotSupport.cpp"
#include "Vision/VisionProcessorBridge.h"
const static float TURRET_ROTATION_TICKS = 1488;
const static float TILT_ANGLE_JIG_MEASUREMENT = 2.051; //TODO: ENTER THE TILT ANGLE JIG MEASUREMENT
const static UINT32 SENSOR_ELEVATOR_WAIT = 1000000;
const static UINT32 SENSOR_KICKER_WAIT = 500000;
//#include "SubSystems/Shooter.h"
vspMessage myVSPMessage;
uint32_t lastMessageSeen = 0;
vspMessage * getVSPMessage() {
return &myVSPMessage;
}
//Robot Server///////////
STATUS tcpServer (void);
class Smoother
{
public:
float TUNING_CONSTANT;
Smoother (float StartReading)
{
lastReading = StartReading;
TUNING_CONSTANT = .5;
}
float NewValue(float CurrentReading)
{
//new_filtered_value = K*previous_filtered_value + (1-K)* new_sample
CurrentReading = (TUNING_CONSTANT * lastReading) + ((1-TUNING_CONSTANT) * CurrentReading);
lastReading = CurrentReading;
return CurrentReading;
}
private:
float lastReading;
};
class EncoderSmoother
{
public:
double PIDSCALE;
EncoderSmoother(Encoder* enc)
{
/*"K" is a tuning constant, which you use to adjust the "strength" of the filter.
* K must be in the range zero to +1. When K=0, there is no filtering. When K=1, the
* filtering is so "strong" that the filtered value never changes.
*/
TUNING_CONSTANT = .8;
SCALE = 100000.0;
PIDSCALE = 1;
_enc = enc;
encoderCurrent = 0;
encoderLast = 0;
timeLast = GetFPGATime();
timeCurrent = 0;
rate = 0;
newRate = 0;
}
double Get()
{
return rate / PIDSCALE;
}
void Update()
{
encoderCurrent = _enc->Get();
timeCurrent = GetFPGATime();
newRate = (encoderCurrent-encoderLast)*SCALE / (timeCurrent - timeLast);
//new_filtered_value = K*previous_filtered_value + (1-K)* new_sample
rate = (TUNING_CONSTANT * rate) + ((1-TUNING_CONSTANT) * newRate);
encoderLast = encoderCurrent;
timeLast = timeCurrent;
}
double TUNING_CONSTANT;
double SCALE;
private:
Encoder* _enc;
int encoderCurrent ;
int encoderLast;
UINT timeLast;
UINT timeCurrent;
double rate;
double newRate;
};
//Robot Class///////////
class Robot2012 : public SimpleRobot
{
// Drive System //////////////////////
Drivetrain *myRobot;
// Outputs ///////////////////////////
// Vision
PWM* greenLightControl;
// Motors
Victor* bBallRotator;
Victor* bBallPitchMotor;
Victor* bBallShooterTop;
Victor* bBallShooterBottom;
Victor* bBallCollector;
Relay* bBallElevatorBottom;
Relay* bBallElevatorTop;
Servo* rampServo;
// Relay* mockRelay;
// Air
Compressor* airCompressor;
Solenoid* shooterArm;
Solenoid* rampArm;
// Inputs //////////////////////////
// On robot //
// Encoders
Encoder* encoderWheelsLeft;
Encoder* encoderWheelsRight;
Encoder* encoderTurretRotation;
Encoder* encoderShooterTop;
Encoder* encoderShooterBottom;
// Switches
DigitalInput *bBallElevatorTopLimit;
DigitalInput *bBallElevatorBottomLimit;
Switch* shooterSwitch;
Switch* switchAimTrigger;
DigitalInput* sensorCollector;
DigitalInput* sensorElevator;
DigitalInput* sensorKicker;
AnalogChannel* tilt;
// Other
// ADXL345_I2C *accel;
// Gyro *gyro;
// Driver Station //
DriverStation *driverStationControl;
DriverStationLCD* dsLCD;
XboxController *xboxDrive;
XboxController *xboxShoot;
// Systems and Support ///////////////////
ElevatorSystem* robotElevator;
RampArm *robotRampArm;
EncoderSmoother* TopShooterSmoothed;
EncoderSmoother* BottomShooterSmoothed;
Smoother* TiltReadingSmoothed;
// messages from the computer
float msgAngleUp,
msgDistance,
msgRightBasketAngle,
msgCenterBasketAngle,
msgLeftBasketAngle;
bool shooterWheelState;
bool shooting;
bool overrideVSPProcessing;
float speedAdjust;
// global current wheel speed
float bBallTopWheelSpeed,
bBallBottomWheelSpeed,
bBallAngle,
bBallRotationLocation,
bBallAngleOffset;
// double PIDReading;
UINT8 lightValue;
UINT32 opShooterTimer;
UINT32 sensorElevatorTimer;
UINT32 sensorKickerTimer;
PIDScale* PIDTopWheel;
PIDScale* PIDBottomWheel;
PIDScale* PIDTiltReading;
PIDScale* PIDTurretRotation;
DigitalInput *testCompressor;
// float WheelSpeedAtKickTop;
// float WheelSpeedAtKickBottom;
// float TiltAtKick;
public:
void SetupTurret()
{
bBallPitchMotor = new Victor(2, 3);
bBallRotator = new Victor(2, 4);
bBallShooterTop = new Victor(2, 2);
bBallShooterBottom = new Victor(2, 1);
shooterArm = new Solenoid(1);
encoderTurretRotation = new Encoder(2, 3, 2, 4);
encoderShooterTop = new Encoder(2, 5, 2, 6, true, Encoder::k1X);
// encoderShooterBottom = new Encoder(2, 7, 2, 8, false, Encoder::k1X);
encoderShooterBottom = new Encoder(1, 6, 1, 5, true, Encoder::k1X);
tilt = new AnalogChannel(1);
encoderTurretRotation->Start();
encoderShooterTop->Start();
encoderShooterBottom->Start();
TopShooterSmoothed = new EncoderSmoother(encoderShooterTop);
BottomShooterSmoothed = new EncoderSmoother(encoderShooterBottom);
TiltReadingSmoothed = new Smoother(tilt->GetVoltage());
bBallTopWheelSpeed = 0.0;
bBallBottomWheelSpeed = 0.0;
bBallAngle = 2.0 + bBallAngleOffset;
bBallRotationLocation = 0.0;
PIDTopWheel = new PIDScale(11.45, 0.0, 231.85, 1200.0);
PIDBottomWheel = new PIDScale(64.2, 0.0, 2500.0, 1200.0);
PIDTiltReading = new PIDScale(.25, 0.0, 0.0, 0.287);
PIDTurretRotation = new PIDScale(1.0, 0.0, 1.0, 1440.0);
shooterWheelState = false;
shooting = false;
overrideVSPProcessing = false;
opShooterTimer = 0;
}
void SetupCameras()
{
//setup cameras
AxisCamera::GetInstance();
// Outputs //////////////////////////
// Vision
lightValue = 0;
greenLightControl = new PWM(1, 6);
greenLightControl->SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
greenLightControl->EnableDeadbandElimination(false);
msgAngleUp = 0.0;
msgDistance = 0.0;
msgRightBasketAngle = 0.0;
msgCenterBasketAngle = 0.0;
msgLeftBasketAngle = 0.0;
myVSPMessage.semVSPMessage = semMCreate(SEM_Q_FIFO);
//Robot Server///////////
if (taskSpawn("tcpServer", 100, 0, 10000,
(FUNCPTR) tcpServer, 0,0,0,0,0,0,0,0,0,0) == ERROR)
{
/* if taskSpawn fails, close fd and return to top of loop */
perror ("taskSpawn");
}
}
void SetupCollectorElevator()
{
// collector/elevator
bBallElevatorBottom = new Relay(2, 1, Relay::kBothDirections);
bBallElevatorTop = new Relay(2, 2, Relay::kBothDirections);
bBallCollector = new Victor(2, 5);
bBallElevatorTopLimit = new DigitalInput(2, 2);
bBallElevatorBottomLimit = new DigitalInput(2, 1);
sensorCollector = new DigitalInput(2,12);
sensorElevator = new DigitalInput(2,13);
sensorKicker = new DigitalInput(2,14);
sensorElevatorTimer = 0;
sensorKickerTimer = 0;
// robotElevator = new ElevatorSystem(bBallElevatorTop, mockRelay, bBallElevatorBottomLimit, bBallElevatorTopLimit);
robotElevator = new ElevatorSystem(bBallElevatorBottom,
bBallElevatorTop,
bBallElevatorBottomLimit,
bBallElevatorTopLimit
);
}
void SetupArm()
{
// ramp
rampServo = new Servo(2, 6);
rampArm = new Solenoid(2);
robotRampArm = new RampArm(rampServo, rampArm);
}
void SetupRobot()
{
// On robot //
encoderWheelsLeft = new Encoder(1, 3, 1, 4, true);
encoderWheelsRight = new Encoder(1, 1, 1, 2, false);
encoderWheelsLeft->Start();
encoderWheelsRight->Start();
// Drive System /////////////////////
// Adjust speed of drive
speedAdjust = 1.0;
myRobot = new Drivetrain(3, 4, 1, 2, encoderWheelsLeft, encoderWheelsRight); // create robot drive base
// other
// Air
airCompressor = new Compressor(1, 10, 2, 3);
airCompressor->Start();
testCompressor = new DigitalInput(1,10);
// Other
// accel = new ADXL345_I2C(1);
// gyro = new Gyro(1);
}
void SetupDriverStation()
{
// Driver Station //
driverStationControl = DriverStation::GetInstance();
dsLCD = DriverStationLCD::GetInstance();
xboxDrive = new XboxController(1);
xboxShoot = new XboxController(2);
}
/**
* Create an instance of a RobotDrive with left and right motors plugged into PWM
*/
Robot2012(void)
{
SetupTurret();
SetupCameras();
SetupCollectorElevator();
SetupArm();
SetupRobot();
SetupDriverStation();
}
void processVisionBridge(char * msg)
{
char * workingMessage = strtok(msg,",");
do
{
double value = atof(&workingMessage[1]);
switch(workingMessage[0])
{
case 'a': msgAngleUp = value; break;
case 'd': msgDistance = value; break;
case 'r': msgRightBasketAngle = value; break;
case 'm': msgCenterBasketAngle = value; break;
case 'l': msgLeftBasketAngle = value; break;
}
} while (workingMessage = strtok(0, ","));
}
void processVSPMessage()
{
semTake(myVSPMessage.semVSPMessage, WAIT_FOREVER);
if (myVSPMessage.count > lastMessageSeen) {
lastMessageSeen = myVSPMessage.count;
processVisionBridge(myVSPMessage.buf);
}
semGive(myVSPMessage.semVSPMessage);
}
void SetAngle(float degrees)
{
}
/**
* Drive left & right motors for 2 seconds, enabled by a jumper (jumper
* must be in for autonomous to operate).
*/
void Autonomous(void)
{
CalculateTiltOffset();
greenLightControl->SetRaw(255);
myRobot->ResetPosition();
shooterArm->Set(false);
// UINT32 waitForArmFirstShot = 0;
// UINT32 waitForArmSecondShot = 0;
// UINT32 loadSecondBallWait = 0;
UINT32 wheelSpinupStart = 0;
UINT32 timer = 0;
UINT32 elapsedTime = 0;
int state = 0;
//Auto one steps
// bool shotFirstBall = false;
// bool drivenToBridge = false;
// bool autoDone = false;
bool shotSecondBall = false;
bool shooting = false;
bBallAngle = 2.0 + bBallAngleOffset;
bBallBottomWheelSpeed = 0.0;
bBallTopWheelSpeed = 0.0;
bBallRotationLocation = 0.0;
while(IsAutonomous() && IsEnabled())
{
/*
* ========================= Select 1 ==============================
*
* Shoot Twice
*/
if(!driverStationControl->GetDigitalIn(1))
{
overrideVSPProcessing = true;
myRobot->Periodic(0.0, 0.0, true);
bBallAngle = 2.12 + bBallAngleOffset;
bBallTopWheelSpeed = 170.0;
bBallBottomWheelSpeed = 1080.0;
shooterWheelState = true;
processVSPMessage();
if(wheelSpinupStart == 0)
{
wheelSpinupStart = GetFPGATime();
}
elapsedTime = GetFPGATime() - wheelSpinupStart;
//wait for time
if(elapsedTime < 6000000)
{
// wait for go time
}
//shoot first
else if(elapsedTime < 6500000)
{
shooting = true;
shooterArm->Set(true);
}
//run elevator
else if(elapsedTime < 6700000)
{
//set elevator up
robotElevator->PeriodicSystem(true);
}
//pull arm back
else if(elapsedTime < 13000000)
{
shooting = false;
shooterArm->Set(false);
}
//shoot again
else if(elapsedTime < 13500000)
{
shooting = true;
shooterArm->Set(true);
}
//stop shooting
else if(elapsedTime < 14000000)
{
shooting = false;
shooterArm->Set(false);
overrideVSPProcessing = false;
}
robotElevator->PeriodicSystem(false);
}
/*
* ========================= Select 2 ==============================
*
* Drive to bridge
* Lower Bridge
* Drive back
* Shoot twice
*/
else if(!driverStationControl->GetDigitalIn(2))
{
//set angle to make it from top of key
bBallAngle = 2.1 + bBallAngleOffset;
//Set Wheel Speeds to make it from the bridge
bBallTopWheelSpeed = 400.0;
bBallBottomWheelSpeed = 1100.0;
shooterWheelState = true;
processVSPMessage();
if(state == 0)
{
robotRampArm->PeriodicSystem(true);
state++;
}
//drive to bridge
if(state == 1)
{
// if(myRobot->PositionY() < 30.0)
if(myRobot->PositionY() < 60.0)
{
myRobot->Periodic(-1.0, -1.0, true);
}
else if(myRobot->PositionY() < 67.0)
{
myRobot->Periodic(-0.97, -0.97, true);
}
else
{
state++;
}
}
if(state == 2)
{
// if(myRobot->PositionY() < 58.0)
if(myRobot->PositionY() < 84.0)
{
myRobot->Periodic(-0.77, -0.77, true);
}
else
{
state++;
}
}
//wait
if(state == 3)
{
if(timer == 0)
{
timer = GetFPGATime();
}
if(GetFPGATime() - timer < 2000000)
{
myRobot->Periodic(0.0, 0.0, true);
}
else
{
state++;
timer = 0;
}
}
//drive back
if(state == 4)
{
if(myRobot->PositionY() >= 5.0)
{
myRobot->Periodic(0.83, 0.83, true);
}
else
{
state++;
}
}
//shoot
if(state == 5)
{
myRobot->Periodic(0.0, 0.0, true);
if(timer == 0)
{
timer = GetFPGATime();
}
elapsedTime = GetFPGATime() - timer;
if(elapsedTime < 500000)
{
}
else if(elapsedTime < 600000)
{
OpShooter(true);
robotElevator->PeriodicSystem(true);
robotRampArm->PeriodicSystem(true);
}
else if(elapsedTime < 6500000)
{
//wait
}
else if(elapsedTime < 6600000)
{
OpShooter(true);
}
}
robotRampArm->PeriodicSystem(false);
robotElevator->PeriodicSystem(false);
OpShooter(false);
}
/*
* ========================= Select 3 ==============================
*
* Drive to bridge
* Lower bridge
* Shoot twice
* Back up
* Raise Arm
*/
/*else if(!driverStationControl->GetDigitalIn(3))
{
//set angle to make it from the bridge
bBallAngle = 2.01 + bBallAngleOffset;
//Set Wheel Speeds to make it from the bridge
bBallTopWheelSpeed = 400.0;
bBallBottomWheelSpeed = 1320.0;
// bBallBottomWheelSpeed = 1800.0;
// bBallTopWheelSpeed = driverStationControl->GetAnalogIn(1)*1300/5;
// bBallBottomWheelSpeed = driverStationControl->GetAnalogIn(2)*1300/5;
//Turn on shooter wheels
shooterWheelState = true;
//Follow Turret
processVSPMessage();
//Ramp arm down
if(robotRampArm->IsRampUp && !autoDone)
{
robotRampArm->PeriodicSystem(true);
}
//drive to bridge
if(myRobot->PositionY() < 60.0)
{
myRobot->Periodic(-(driverStationControl->GetAnalogIn(4)/5.), -(driverStationControl->GetAnalogIn(4)/5.), true);
}
//reached bridge
else
{
if(!shotSecondBall)
{
myRobot->Periodic(0.0, 0.0, true);
}
}
if(myRobot->PositionY() >= 60.0)
{
if(wheelSpinupStart == 0)
{
wheelSpinupStart = GetFPGATime();
}
if(GetFPGATime() - wheelSpinupStart > 5000000)
{
drivenToBridge = true;
}
}
if(drivenToBridge && !shotFirstBall)
{
//take first shot
shooting = true;
shooterArm->Set(true);
if(waitForArmFirstShot == 0){
waitForArmFirstShot = GetFPGATime();
}
if(GetFPGATime() - waitForArmFirstShot > 400000)
{
shooting = false;
shooterArm->Set(false);
shotFirstBall = true;
}
}
if(shotFirstBall)
{
//set elevator up
bBallElevatorTop->Set(Relay::kOn);
bBallElevatorTop->Set(Relay::kReverse);
if(loadSecondBallWait == 0)
{
loadSecondBallWait = GetFPGATime();
}
if(GetFPGATime() - loadSecondBallWait > 4000000)
{
shooting = true;
shooterArm->Set(true);
shotSecondBall = true;
}
}
if(shotSecondBall)
{
if(myRobot->PositionY() >= 30.0)
{
myRobot->Periodic((driverStationControl->GetAnalogIn(4)/5.), (driverStationControl->GetAnalogIn(4)/5.), true);
}
else
{
autoDone = true;
if(!robotRampArm->IsRampUp && autoDone)
{
robotRampArm->PeriodicSystem(true);
}
}
}
}*/
driverStationControl->SetDigitalOut(3, shotSecondBall);
OpTurret(false);
Debug();
Wait(.005);
}
}
void OpShooter(bool wantToShoot)
{
bool shoot = false;
if(wantToShoot && !shooting)
{
shoot = true;
}
if(IsOperatorControl() && driverStationControl->GetDigitalIn(7))
{
if (robotElevator->IsRunning)
{
shoot = false;
}
if (sensorKicker->Get())
{
// Start timer
if(sensorKickerTimer == 0)
{
sensorKickerTimer = GetFPGATime();
}
// Wait for ball to settle
if (GetFPGATime() - sensorKickerTimer < SENSOR_KICKER_WAIT)
{
shoot = false;
}
}
else
{
sensorKickerTimer = 0;
}
}
if(shooting || shoot)
{
if(opShooterTimer == 0)
{
opShooterTimer = GetFPGATime();
shooting = true;
}
if(GetFPGATime() - opShooterTimer < 500000)
{
shooterArm->Set(true);
}
else if(GetFPGATime() - opShooterTimer < 1000000)
{
shooterArm->Set(false);
}
else
{
shooting = false;
opShooterTimer = 0;
}
}
}
void OpTurret(bool gotMessage)
{
// Aim ////////////////////////////////
//----------
// float rotationChange = PIDTurretRotation->CalculateChange((float)(encoderTurretRotation->Get()), driverStationControl->In(4)*1488.0/2.5 - 1488);
float rotationChange = PIDTurretRotation->CalculateChange((float)(encoderTurretRotation->Get()), bBallRotationLocation);
//rotator here.....--------------------------------------------------------------------------
///Track Cener Basket
// -10000 == don't know
if(msgCenterBasketAngle > -6000 && driverStationControl->GetDigitalIn(8) && !overrideVSPProcessing)
{
rotationChange = msgCenterBasketAngle / 10.0;
// Offset Slider
rotationChange += (driverStationControl->GetAnalogIn(3) - 2.5) * .04;
if( rotationChange < 100.0 && rotationChange > .015)
{
rotationChange = 0.1365;
}
else if( rotationChange > -100.0 && rotationChange < -.015)
{
rotationChange = -0.125;
}
bBallRotationLocation = encoderTurretRotation->Get();
}
if(fabs(xboxShoot->GetRightX()) > .2)
{
rotationChange = xboxShoot->GetRightX();
bBallRotationLocation = encoderTurretRotation->Get();
}
if(encoderTurretRotation->Get() > TURRET_ROTATION_TICKS && bBallRotationLocation > 0.0){
rotationChange = 0.0;
}
// If rotation too low, will stop the motor
if(encoderTurretRotation->Get() < -TURRET_ROTATION_TICKS && bBallRotationLocation < 0.0){
rotationChange = 0.0;
}
bBallRotator->Set(rotationChange);
//---------------------------------------------Tilt--------------------------------
float tiltChange = PIDTiltReading->CalculateChange(TiltReadingSmoothed->NewValue(tilt->GetVoltage()),bBallAngle);
if(tiltChange > -.22 && tiltChange < -.01)
{
tiltChange = -.22;
}
else if(tiltChange < .33 && tiltChange > .01)
{
tiltChange = .33;
}
if(fabs(xboxShoot->GetLeftY()) > 0.2)
{
tiltChange = xboxShoot->GetLeftY();
bBallAngle = TiltReadingSmoothed->NewValue(tilt->GetVoltage());
//down
if(tiltChange < 0 )
{
tiltChange /= 4.0;
}
//up
else
{
tiltChange /= 2.1;
}
}
// this code is for vpc
// else
// {
// if(tiltChange < 0 )
// {
// tiltChange = tiltChange * 8.0;
// }
// else
// {
// tiltChange = tiltChange * 10.0;
// }
// }
// If tilt is too high, will SAY NO!
if(tilt->GetVoltage() > (2.28 + bBallAngleOffset) && tiltChange > 0.0){
tiltChange = 0.0;
}
// If tilt too low, will stop the motor
if(tilt->GetVoltage() < (2.0 + bBallAngleOffset) && tiltChange < 0.0){
tiltChange = 0.0;
}
bBallPitchMotor->Set(tiltChange);
//------------------------------- spin wheels -----------------------
TopShooterSmoothed->Update();
BottomShooterSmoothed->Update();
//Spin up wheels
float topChange = PIDTopWheel->CalculateChange(TopShooterSmoothed->Get(),bBallTopWheelSpeed);
float botChange = PIDBottomWheel->CalculateChange(BottomShooterSmoothed->Get(),bBallBottomWheelSpeed);
// Collect and Shoot bBalls///////////
// right button or right trigger (ignoring accidents)
if(xboxShoot->GetRB() || xboxShoot->GetRightTrigger() < -.1){
shooterWheelState = true;
}
// left button or left trigger (ignoring accidents)
if(xboxShoot->GetLB() || xboxShoot->GetLeftTrigger() > .1){
shooterWheelState = false;
}
driverStationControl->SetDigitalOut(1, shooterWheelState);
driverStationControl->SetDigitalOut(2, shooterArm->Get());
if(shooterWheelState)
{
if (!shooterArm->Get() || PIDTopWheel->CurrentMotorValue < 0.1)
{
PIDTopWheel->CurrentMotorValue += topChange;
if (PIDTopWheel->CurrentMotorValue > 1) { PIDTopWheel->CurrentMotorValue = 1; }
if (PIDTopWheel->CurrentMotorValue < 0) { PIDTopWheel->CurrentMotorValue = 0; }
PIDBottomWheel->CurrentMotorValue += botChange;
if (PIDBottomWheel->CurrentMotorValue > 1) { PIDBottomWheel->CurrentMotorValue = 1; }
if (PIDBottomWheel->CurrentMotorValue < 0) { PIDBottomWheel->CurrentMotorValue = 0; }
}
bBallShooterTop->Set(PIDTopWheel->CurrentMotorValue);
bBallShooterBottom->Set(PIDBottomWheel->CurrentMotorValue);
}
else
{
PIDTopWheel->zeroOut();
PIDBottomWheel->zeroOut();
bBallShooterTop->Set(0.0);
bBallShooterBottom->Set(0.0);
}
}
void OpElevator()
{
// ELEVATORS //////////////////////////////
// REVERSE IS UP ///////////
// bottom down
if(xboxShoot->GetSelect()){
robotElevator->ManualFreezeAll();
bBallElevatorBottom->Set(Relay::kOn);
bBallElevatorBottom->Set(Relay::kForward);
}else
// bottom up
if(xboxShoot->GetStart()){
robotElevator->ManualFreezeAll();
bBallElevatorBottom->Set(Relay::kOn);
bBallElevatorBottom->Set(Relay::kReverse);
}else{
bBallElevatorBottom->Set(Relay::kOff);
}
// top down
if(xboxShoot->GetX()){
bBallElevatorTop->Set(Relay::kOn);
bBallElevatorTop->Set(Relay::kForward);
}else
// top up
if(xboxShoot->GetB()){
bBallElevatorTop->Set(Relay::kOn);
bBallElevatorTop->Set(Relay::kReverse);
}else{
bBallElevatorTop->Set(Relay::kOff);
}
bool runElevator = xboxShoot->GetY();
if(IsOperatorControl() && driverStationControl->GetDigitalIn(7))
{