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AscendRobotics
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AscendData

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Indexer.spin(reverse, 11, volt);
wait(120, msec);
Indexer.stop();
tripleShooting = false;
}
void buttonRightPressed() {
//if b is pressed, toggle optical sensor mode
if (Controller1.ButtonB.pressing()) {
opticalMode = !opticalMode;
//display a note on the controller, and also spin the intake in the right way
if (opticalMode) {
Intake.spin(forward);
Intake.setVelocity(100, percent);
printControllerSetup();
Controller1.Screen.print("Autoshoot mode enabled");
//gain = 0.000103;
flywheelTargetRPM = 1800;
} else {
Intake.stop();
printControllerSetup();
Controller1.Screen.print("Autoshoot mode disabled");
gain = defaultGain; //was 0.00013 before
flywheelTargetRPM = 1800;
}
} else {
//fire one disc
fireIndexer();
}
}
void buttonXPressed() {
//turn on or off the flywheel
//count the time it takes for rpm to reach 0
/*
if (!flywheelOn) {
int fTimer = 0;
while (Flywheel.velocity(rpm) != 0){
wait(20, msec);
fTimer += 20;
}
printController(fTimer);
}*/
if (Controller1.ButtonB.pressing()) {
//change the drawing mode and let the driver know
if (tempDrawMode < 9) {
drawMode = tempDrawMode + 1;
} else {
drawMode = tempDrawMode - 9;
}
if (drawMode > 3) drawMode = 0;
tempDrawMode = drawMode + 10;//let the release Button B function know that we changed the drawing mode
//printController(drawMode);
printControllerSetup();
if (drawMode == 0) {
Controller1.Screen.print("Draw: Flywheel graph");
} else if (drawMode == 1) {
Controller1.Screen.print("Draw: PID graph");
} else if (drawMode == 2) {
Controller1.Screen.print("Draw: Vision sensor");
}
} else {
flywheelOn = !flywheelOn;
//backup: velocity control based on internal motor PID's (it's bad)
if (useTBH == false) {
if (flywheelOn) {
Flywheel.setVelocity(100, percent);
Flywheel.spin(forward);
} else {
Flywheel.setVelocity(0, percent);
}
}
}
}
void buttonXReleased() {
}
void buttonAPressed() {
//reset odometry; if B is held down then display odometry constants instead
if (!Controller1.ButtonB.pressing()) {
/*
Controller1.Screen.clearScreen();
Controller1.Screen.setCursor(1, 1);
Controller1.Screen.print(pos[0]);
Controller1.Screen.newLine();
Controller1.Screen.print(pos[1]);
Controller1.Screen.newLine();
Controller1.Screen.print(angle * 180 / M_PI);
*/
} else {
pos[0] = 0;
pos[1] = 0;
angle = 0;
}
}
void buttonBPressed() {
//prints out a bunch of useful information on the brain screen--a status check
Brain.Screen.clearScreen();
Brain.Screen.setCursor(1, 1);
Brain.Screen.print("Battery voltage: ");
Brain.Screen.print(Brain.Battery.voltage());
Brain.Screen.newLine();
Brain.Screen.print("Battery current: ");