Stronghold

FRC 2016 Game 2016

Gyro2903 Methods

• void Calibrate(float angleErrorMargin)
  • this should initialize and reset the gyro. Called before each autonomous and teleop mode (if needed) The parameter is the amount of error allowed in validating angle goals.
• float GetCurrentAngle()
  • this should return the current value of the gyro and store it.
• float GetAngleChange()
  • this should get the gyro distance changed since last time GetCurrentAngle called
• void SetTargetAngle(float angle)
  • this should set a target angle.
• bool IsTargetReached()
  • this should return true if reached or false if not. If current angle is within the margin specified when Calibrate was called, then true will be returned.

Drive Methods

• void SetDriveMode(DriveMode mode)
  • Sets the driving mode
    • Arcade
      • Joysticks
      • Controller
      • One stick
      • Two sticks
    • Tank
      • Joysticks
      • Controller
• void Turn(float degrees)
  • Turn the robot this number of degrees
• void Drive(float distance)
  • Drive the robot straight for this distance

Arm Methods

• void RaiseArms()
• void LowerArms()

Shooter Methods

• void Initialize()
  • Sets speed to 0
  • sets angle to 0
• void StopShooter()
  • sets shooter speed to 0
• void SetDirection(bool direction)
  • direction = true to shoot boulder
  • direction = false to pick up boulder
• void SetSpeed(float speed)
  • 0 stops shooter
• void RaiseShooter(float degrees)
  • Set shooter angle to degrees and start it moving. If value passed is lower than the current position, the shooter does not move.
• void LowerShooter(float degrees)
  • Set shooter angle to degrees and start it moving. If value passed is higher than than current position, the shooter does not move.
• void MoveShooter()
  • Called during polling loop to get the shooter to the correct position. Will only move the shooter if IsShooterAtAngle() returns false.
• bool IsShooterAtAngle()
  • if shooter has reached angle specified in Raise and Lower shooter, returns true.
• void ResetShooter()
  • sets angle to 0 and starts the shooter moving.
• bool IsShooterReset()
  • return true if shooter is in start position, false otherwise
• float GetShooterAngle()
  • returns the current shooter angle