0){\\n tgtpower=this.gamepad1.left_stick_y;\\n motor1.setPower(-tgtpower);\\n motor2.setPower(tgtpower);\\n }else if (this.gamepad1.left_stick_x > 0){\\n tgtpower=this.gamepad1.left_stick_x;\\n motor1.setPower(tgtpower);\\n motor2.setPower(tgtpower);\\n }else if (this.gamepad1.left_stick_x < 0){\\n tgtpower=-this.gamepad1.left_stick_x;\\n motor1.setPower(-tgtpower);\\n motor2.setPower(-tgtpower);\\n }else{\\n motor1.setPower(0);\\n motor2.setPower(0);\\n }\\n telemetry.addData(\\\"Motor1 Power\\\", motor1.getPower());\\n telemetry.addData(\\\"Motor2 Power\\\", motor2.getPower());\\n telemetry.addData(\\\"Status\\\", \\\"Running\\\");\\n telemetry.update ();\\n\\n\\n /*\\n if (this.gamepad1.right_stick_x == 1){\\n //trying to make robot turn right, == 1 may be wrong\\n motor2.setPower(-1);\\n }\\n else if (this.gamepad1.right_stick_x == -1){\\n //trying to make robot turn left, == -1 may be wrong\\n motor1.setPower(-1);\\n }\\n else {\\n\\n }\\n */\\n\\n\\n /*\\n After the driver presses start,the opMode enters a while loop until the driver presses stop,\\n while the loop is running it will continue to send messages of (\\\"Status\\\", \\\"Running\\\") to the\\n driver station\\n */\\n\\n\\n }\\n }\",\n \"@Override\\n public void teleopPeriodic() {\\n\\t\\t/* xbox processing */\\n\\t\\tdouble leftYstick = xbox.getY(Hand.kLeft);\\n\\t\\tboolean buttonA = xbox.getAButton();\\n boolean buttonB = xbox.getBButton();\\n boolean buttonX = xbox.getXButton();\\n boolean buttonY = xbox.getYButton();\\n\\n\\t\\t/* Get Talon/Victor's current output percentage */\\n\\t\\tdouble motorOutput = elevator.getMotorOutputPercent();\\n\\n\\t\\t/* Deadband gamepad */\\n\\t\\tif (Math.abs(leftYstick) < 0.10) {\\n\\t\\t\\t/* Within 10% of zero */\\n\\t\\t\\tleftYstick = 0;\\n }\\n\\n\\t\\t/* Prepare line to print */\\n\\t\\t_sb.append(\\\"\\\\tout:\\\"); _sb.append((int) (motorOutput * 100)); _sb.append(\\\"%\\\"); // Percent\\n\\t\\t_sb.append(\\\"\\\\tpos:\\\"); _sb.append(elevator.getSelectedSensorPosition(0)); _sb.append(\\\"u\\\"); // Native units\\n\\n\\t\\t/**\\n\\t\\t * When button 1 is pressed, perform Position Closed Loop to selected position,\\n\\t\\t * indicated by Joystick position x10, [-10, 10] rotations\\n\\t\\t */\\n\\t\\t//if (!_lastButton1 && buttonA) {\\n if (buttonB) {\\n\\t\\t\\t/* Position Closed Loop */\\n\\t\\t\\t/* 10 Rotations * 4096 u/rev in either direction */\\n\\t\\t\\ttargetPositionRotations = 5000; // 2* 4096; //leftYstick * 10.0 * 4096;\\n\\t\\t\\televator.set(ControlMode.Position, targetPositionRotations);\\n\\t\\t}\\n if (buttonX) {\\n\\t\\t\\t/* Position Closed Loop */\\n\\t\\t\\t/* 10 Rotations * 4096 u/rev in either direction */\\n\\t\\t\\ttargetPositionRotations = 3000; //2* 4096; //leftYstick * 10.0 * 4096;\\n\\t\\t\\televator.set(ControlMode.Position, -targetPositionRotations);\\n\\t\\t}\\n\\n\\t\\t/* When button 2 is held, just straight drive */\\n\\t\\tif (buttonA) {\\n /* Percent Output */\\n\\t\\t elevator.set(ControlMode.PercentOutput, leftYstick);\\n }\\n \\n if (buttonY) {\\n elevator.setSelectedSensorPosition(0); // reset to zero\\n elevator.getSensorCollection().setQuadraturePosition(0, 10);\\n elevator.set(ControlMode.PercentOutput, 0);\\n }\\n// else{\\n //}\\n\\n\\t\\t/* If Talon is in position closed-loop, print some more info */\\n\\t\\tif (elevator.getControlMode() == ControlMode.Position) {\\n /* Append more signals to print when in speed mode. */\\n\\t\\t\\t_sb.append(\\\"\\\\terr:\\\"); _sb.append(elevator.getClosedLoopError(0)); _sb.append(\\\"u\\\");\\t// Native Units\\n\\t\\t\\t_sb.append(\\\"\\\\ttrg:\\\"); _sb.append(targetPositionRotations); _sb.append(\\\"u\\\");\\t// Native Units\\n\\t\\t}\\n\\n\\t\\t/**\\n\\t\\t * Print every ten loops, printing too much too fast is generally bad\\n\\t\\t * for performance.\\n\\t\\t */\\n\\t\\tif (++_loops >= 10) {\\n\\t\\t\\t_loops = 0;\\n\\t\\t\\tSystem.out.println(_sb.toString());\\n\\t\\t}\\n\\n\\t\\t/* Reset built string for next loop */\\n\\t\\t_sb.setLength(0);\\n\\t\\t\\n\\t\\t/* Save button state for on press detect */\\n\\t\\t//_lastButton1 = buttonA;\\n }\",\n \"private void encoderDrive(double speed,\\n double leftInches, double rightInches,\\n double timeoutS) {\\n int newLeftFrontTarget;\\n int newLeftBackTarget;\\n int newRightFrontTarget;\\n int newRightBackTarget;\\n\\n // Ensure that the opmode is still active\\n if (opModeIsActive()) {\\n\\n robot.resetWheelEncoders();\\n\\n // Determine new target position, and pass to motor controller\\n newLeftFrontTarget = robot.leftFront.getCurrentPosition() + (int) (leftInches * TICKS_PER_INCH);\\n newLeftBackTarget = robot.leftBack.getCurrentPosition() + (int) (leftInches * TICKS_PER_INCH);\\n newRightFrontTarget = robot.rightFront.getCurrentPosition() + (int) (rightInches * TICKS_PER_INCH);\\n newRightBackTarget = robot.rightBack.getCurrentPosition() + (int) (rightInches * TICKS_PER_INCH);\\n robot.leftFront.setTargetPosition(newLeftFrontTarget);\\n robot.leftBack.setTargetPosition(newLeftBackTarget);\\n robot.rightFront.setTargetPosition(newRightFrontTarget);\\n robot.rightBack.setTargetPosition(newRightBackTarget);\\n\\n // Turn On RUN_TO_POSITION\\n robot.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\n\\n\\n // reset the timeout time and start motion.\\n encoderTime.reset();\\n robot.driveForward(Math.abs(speed));\\n\\n // wait for motors to not be busy\\n while (opModeIsActive() &&\\n (encoderTime.seconds() < timeoutS) &&\\n (robot.leftFront.isBusy() && robot.leftBack.isBusy() && robot.rightFront.isBusy() && robot.rightBack.isBusy())) {\\n\\n // Display it for the driver.\\n telemetry.addData(\\\"Goal Position\\\", \\\"%7d :%7d :%7d :%7d\\\", newLeftFrontTarget, newLeftBackTarget, newRightFrontTarget, newRightBackTarget);\\n telemetry.addData(\\\"Current Position\\\", \\\"%7d :%7d :%7d :%7d\\\",\\n robot.leftFront.getCurrentPosition(),\\n robot.leftBack.getCurrentPosition(),\\n robot.rightFront.getCurrentPosition(),\\n robot.rightBack.getCurrentPosition());\\n telemetry.update();\\n }\\n\\n // Stop all motion;\\n robot.stopDriving();\\n\\n // Turn off RUN_TO_POSITION\\n robot.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\n\\n sleep(100); // optional pause after each move\\n }\\n }\",\n \"@Override\\n public void teleopPeriodic() {\\n double triggerVal = \\n (m_driverController.getTriggerAxis(Hand.kRight)\\n - m_driverController.getTriggerAxis(Hand.kLeft))\\n * RobotMap.DRIVING_SPEED;\\n\\n double stick = \\n (m_driverController.getX(Hand.kLeft))\\n * RobotMap.TURNING_RATE;\\n \\n m_driveTrain.tankDrive(triggerVal + stick, triggerVal - stick);\\n\\n if(m_driverController.getAButton()){\\n m_shooter.arcadeDrive(RobotMap.SHOOTER_SPEED, 0.0);\\n }\\n \\n else{\\n m_shooter.arcadeDrive(0.0, 0.0);\\n }\\n \\n }\",\n \"@Override\\n\\tpublic void teleopPeriodic() {\\n\\t\\tif (state.equals(\\\"teleop\\\")) {\\n\\t\\t\\tlastState = \\\"teleop\\\";\\n\\t\\t}\\n\\t\\tstate = \\\"teleop\\\";\\n\\n\\t\\tif (lastState.equals(\\\"auton\\\")) {\\n\\t\\t\\tNetworkTables.getControlsTable().putBoolean(\\\"auton\\\", false);\\n\\t\\t\\t\\n\\t\\t\\t//Changes the control Mode back to PercentVbus\\n\\t\\t\\t//Should only run once - first interation of teleop\\n\\t\\t\\t//And ends auton if running\\n\\t\\t\\tif(autonomousCommand != null){\\n\\t\\t\\t\\tautonomousCommand.cancel();\\n\\t\\t\\t}\\n\\t\\t\\tActuators.getLeftDriveMotor().changeControlMode(TalonControlMode.PercentVbus);\\n\\t\\t\\tActuators.getLeftDriveMotor().set(Constants.MOTOR_STOP);\\n\\t\\t\\tActuators.getRightDriveMotor().changeControlMode(TalonControlMode.PercentVbus);\\n\\t\\t\\tActuators.getRightDriveMotor().set(Constants.MOTOR_STOP);\\n\\t\\t}\\n\\n//\\t\\tNetworkTables.putStream(Gamepad.primary.getX() || Gamepad.secondary.getX());\\n\\t\\t/*\\n\\t\\t * Primary Controllers Controls\\n\\t\\t */\\n\\t\\t// TODO: confirm right trigger forward, left trigger reverse\\n\\t\\t// Drive controls\\n\\t\\tDrive.drive(-Gamepad.primary.getLeftX(), Gamepad.primary.getTriggers()); \\n\\t\\tDrive.shift(Gamepad.primary.getA(), Gamepad.primary.getY()); // shifting with A low gear and Y high gear\\n\\t\\tDrive.shiftToggle(Gamepad.primary.getLB());\\n\\t\\tDrive.crab(Gamepad.primary.getDPadLeft(), Gamepad.primary.getDPadRight());\\n\\t\\t\\n//\\t\\tif (Gamepad.primary.getDPadLeft()){\\n//\\t\\t\\tDrive.goingLeft = true;\\n//\\t\\t\\tDrive.crab();\\t\\t\\n//\\t\\t}else if( Gamepad.primary.getDPadRight()){\\n//\\t\\t\\tDrive.goingLeft = false;\\n//\\t\\t\\tDrive.crab();\\t\\t\\t\\n//\\t\\t}else if (Drive.crabState > 0){\\n//\\t\\t\\tDrive.crab();\\n//\\t\\t}\\n\\n\\t\\t\\n\\t\\t// Climb controls\\n\\t\\tClimb.climbStopPrimary(Gamepad.primary.getDPadUp()); // runs climbStop using left on the DPad - Primary\\n\\t\\t// Climb.climbSafetyTogglePrimary(Gamepad.primary.getBack()); //toggles safety if pressed 3 times\\n\\n\\t\\t// Gear controls\\n\\t\\tScore.dispenseGear(Gamepad.primary.getB() || Gamepad.secondary.getDPadUp());\\n\\n\\t\\t/*\\n\\t\\t * Secondary Controllers Controls\\n\\t\\t */\\n\\t\\t// Intake controls\\n\\t\\tIntake.intake(Gamepad.secondary.getRightButton()); // runs intake with clicking in the Right Joystick on second controller\\n\\t\\tIntake.intakeSpeed(Gamepad.secondary.getRightY()); // Override Y Button\\n\\t\\tIntake.intakeDirection(Gamepad.secondary.getRightX()); // Override Y Button\\n\\t\\tIntake.intakeJam(Gamepad.secondary.getLB()); // Runs the unjamming procedure for a max of 3 seconds per press\\n\\t\\t// Intake.intakeSafety(Gamepad.secondary.getStart()); //Have to press 3 times to toggle the safety\\n\\t\\tIntake.intakeIn(Gamepad.secondary.getA(), Gamepad.secondary.getB(), Gamepad.secondary.getX()); // Toggles Intake running into the robot at full speed\\n\\t\\tIntake.intakeRun(Gamepad.secondary.getRB()); // Runs all stuff for intake in(conveyor and intake motor)\\n//\\t\\tIntake.intakeOut(Gamepad.secondary.getB());\\n\\t\\t// Climb controls\\n\\t\\tClimb.climbStopSecondary(Gamepad.secondary.getDPadRight()); // runs climbStop using left on the DPad - Secondary\\n\\t\\tClimb.climbStartSecondary(Gamepad.secondary.getDPadLeft()); // runs climbStart using right on the DPad Secondary\\n\\t\\tClimb.climbSafetyToggleSecondary(Gamepad.secondary.getBack()); // Have to press 3 times to toggle the safety\\n\\n\\t\\t// Gear controls\\n\\t\\t// Score.gearLock(Gamepad.secondary.getStart(),\\n\\t\\t// Gamepad.secondary.getBack());\\n\\n\\t\\t// Outtake Controls\\n\\t\\t// Score.outtakeToggle(Gamepad.secondary.getLB());\\n\\n\\t\\t// Conveyor Controls\\n\\n\\t\\tScore.conveyor(Gamepad.secondary.getLeftButton()); // runs conveyor with clicking in the Left Joystick on second controller\\n\\t\\tScore.conveyorSpeed(Gamepad.secondary.getLeftY());\\n\\t\\tScore.conveyorDirection(Gamepad.secondary.getLeftX());\\n\\t\\tScore.conveyorIn(Gamepad.secondary.getY());\\n\\n\\t\\t// Sweeper\\n\\t\\t// Sweeper.sweeperMotion(Gamepad.secondary.getTriggers());\\n\\n\\t\\tDash.driveMode();\\n\\n\\t\\tSmartDashboard.putString(\\\"Controls Table\\\", NetworkTables.getControlsTable().getKeys().toString());\\n\\t\\tSmartDashboard.putString(\\\"Stream\\\", NetworkTables.getControlsTable().getString(\\\"stream\\\", \\\"nothing\\\"));\\n\\n\\t}\",\n \"protected void ratCrewInit() {\\n\\n // Init motor state machine.\\n motorTurnType = \\\"none\\\";\\n motorTurnDestination = 0.0f;\\n motorTurnAngleToGo = 0.0f;\\n motorTurnAngleAdjustedToGo = 0.0f;\\n isDriving = false;\\n driveLeftStart = 0;\\n driveRightStart = 0;\\n driveLeftTarget = 0;\\n driveRightTarget = 0;\\n driveRightSpeed = 0.0f;\\n driveLeftSpeed = 0.0f;\\n driveAngleOffset = 0.0f;\\n driveAngleCorrection = 0.0f;\\n\\n // TODO: push into initMotor function\\n if (doMotors) {\\n // Initialize Motors, finding them through the hardware map.\\n leftDrive = hardwareMap.get(DcMotor.class, \\\"motorLeft\\\");\\n rightDrive = hardwareMap.get(DcMotor.class, \\\"motorRight\\\");\\n leftDrive.setDirection(DcMotor.Direction.REVERSE);\\n rightDrive.setDirection(DcMotor.Direction.FORWARD);\\n\\n // initialize the encoder\\n leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);\\n rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);\\n leftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);\\n rightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);\\n leftDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);\\n rightDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);\\n\\n // Set all motors to zero power.\\n leftDrive.setPower(0);\\n rightDrive.setPower(0);\\n\\n gate = hardwareMap.get(Servo.class, \\\"Gate\\\");\\n gate.setPosition(1.0);\\n }\\n initGyroscope();\\n\\n if (doVuforia){\\n initVuforia();\\n initTfod();\\n\\n if (tfod != null) {\\n tfod.activate();\\n\\n // The TensorFlow software will scale the input images from the camera to a lower resolution.\\n // This can result in lower detection accuracy at longer distances (> 55cm or 22\\\").\\n // If your target is at distance greater than 50 cm (20\\\") you can adjust the magnification value\\n // to artificially zoom in to the center of image. For best results, the \\\"aspectRatio\\\" argument\\n // should be set to the value of the images used to create the TensorFlow Object Detection model\\n // (typically 1.78 or 16/9).\\n\\n // Uncomment the following line if you want to adjust the magnification and/or the aspect ratio of the input images.\\n tfod.setZoom(2.5, 1.78);\\n }\\n }\\n\\n // Init run state.\\n madeTheRun = false;\\n startTime = 0;\\n telemetry.addData(\\\"Init\\\", \\\"motors=%b, gyro=%b, vuforia=%b\\\", doMotors, doGyro, doVuforia);\\n telemetry.update();\\n }\",\n \"public void encoderDrive(double speed,\\r\\n double leftInches, \\r\\n double rightInches,\\r\\n String name) \\r\\n {\\n int newLeftTarget = robot.leftDrive.getCurrentPosition() + (int)(leftInches * COUNTS_PER_INCH);\\r\\n int newRightTarget = robot.rightDrive.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH);\\r\\n robot.leftDrive.setTargetPosition(newLeftTarget);\\r\\n robot.rightDrive.setTargetPosition(newRightTarget);\\r\\n\\r\\n // Turn On RUN_TO_POSITION\\r\\n robot.leftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\r\\n robot.rightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\r\\n\\r\\n // reset the timeout time and start motion.\\r\\n ElapsedTime localTimer = new ElapsedTime();\\r\\n localTimer.reset();\\r\\n robot.leftDrive.setPower(Math.abs(speed));\\r\\n robot.rightDrive.setPower(Math.abs(speed));\\r\\n\\r\\n // keep looping while we are still active, and there is time left, and both motors are running.\\r\\n // Note: We use (isBusy() && isBusy()) in the loop test, which means that when EITHER motor hits\\r\\n // its target position, the motion will stop. This is \\\"safer\\\" in the event that the robot will\\r\\n // always end the motion as soon as possible.\\r\\n // However, if you require that BOTH motors have finished their moves before the robot continues\\r\\n // onto the next step, use (isBusy() || isBusy()) in the loop test.\\r\\n while (localTimer.seconds() < EncoderDrive_Timeout_Second \\r\\n && (robot.leftDrive.isBusy() || robot.rightDrive.isBusy())) {\\r\\n\\r\\n // Display it for the driver.\\r\\n telemetry.addData(\\\"\\\", \\\"%s @ %s\\\", name, localTimer.toString());\\r\\n telemetry.addData(\\\"To\\\", \\\"%7d :%7d\\\", newLeftTarget, newRightTarget);\\r\\n telemetry.addData(\\\"At\\\", \\\"%7d :%7d\\\",\\r\\n robot.leftDrive.getCurrentPosition(),\\r\\n robot.rightDrive.getCurrentPosition());\\r\\n telemetry.update();\\r\\n idle();\\r\\n }\\r\\n\\r\\n // Stop all motion;\\r\\n robot.leftDrive.setPower(0);\\r\\n robot.rightDrive.setPower(0);\\r\\n\\r\\n // Turn off RUN_TO_POSITION\\r\\n robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\r\\n robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\r\\n }\",\n \"@Override\\n public void robotPeriodic() {\\n // m_driveTrain.run(gulce);\\n\\n\\n\\n // workingSerialCom.StringConverter(ros_string, 2);\\n // RoboticArm.run( workingSerialCom.StringConverter(ros_string, 2));\\n }\",\n \"@Override\\n public void runOpMode() throws InterruptedException {\\n float hsvValues[] = {0F, 0F, 0F};\\n\\n // values is a reference to the hsvValues array.\\n final float values[] = hsvValues;\\n\\n\\n double LPower = 0.2;\\n double RPower = 0.2;\\n\\n // Send telemetry message to signify robot waiting;\\n cdim = hardwareMap.deviceInterfaceModule.get(\\\"dim\\\");\\n\\n\\n // get a reference to our ColorSensor object.\\n //sensorRGB1 = hardwareMap.colorSensor.get(\\\"beaconColor\\\");\\n\\n //Resetting encoders\\n LFMotor = hardwareMap.dcMotor.get(\\\"FR\\\");\\n LBMotor = hardwareMap.dcMotor.get(\\\"BR\\\");\\n RFMotor = hardwareMap.dcMotor.get(\\\"FL\\\");\\n RBMotor = hardwareMap.dcMotor.get(\\\"BL\\\");\\n NOM = hardwareMap.dcMotor.get(\\\"NOM\\\");\\n door = hardwareMap.servo.get(\\\"door\\\");\\n Elevator = hardwareMap.dcMotor.get(\\\"Elevator\\\");\\n // Conveyor = hardwareMap.dcMotor.get(\\\"Conveyor\\\");\\n Launch = hardwareMap.dcMotor.get(\\\"Launch\\\");\\n\\n\\n NOM.setDirection(DcMotor.Direction.REVERSE);\\n //Conveyor.setDirection(DcMotor.Direction.REVERSE);\\n\\n telemetry.addData(\\\"Status\\\", \\\"Resetting Encoders\\\");\\n telemetry.update();\\n\\n //servo = hardwareMap.servo.get(\\\"buttonPusher\\\");\\n\\n LFMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);\\n RFMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);\\n LBMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);\\n RBMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);\\n idle();\\n\\n LFMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\n RFMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\n LBMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\n RBMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\n\\n // Send telemetry message to indicate successful Encoder reset\\n telemetry.addData(\\\"Path0\\\", \\\"Starting at %7d :%7d\\\",\\n RFMotor.getCurrentPosition(),\\n RBMotor.getCurrentPosition(),\\n RBMotor.getCurrentPosition(),\\n LFMotor.getCurrentPosition());\\n telemetry.update();\\n //servo.setPosition(.67);\\n\\n\\n // Wait for the game to start (driver presses PLAY)\\n waitForStart();\\n\\n // Step through each leg of the path,verse movement is obtained by s\\n // Note: Reetting a negative distance (not speed)\\n\\n //sleep(14000);\\n\\n sleep(5000);\\n encoderDrive(DRIVE_SPEED_FAST, 10.0, -10.0, 10.0, -10.0, 5.0); //drive forward\\n door.setPosition(.3 );\\n\\n LBMotor.setPower(0);\\n RFMotor.setPower(0);\\n RBMotor.setPower(0);\\n sleep(1500);\\n\\n double start = getRuntime();\\n\\n\\n // servo.setPosition(.28);\\n while ((getRuntime() - start) < 2) {\\n Launch.setPower(.6);\\n }\\n Launch.setPower(0);\\n start = getRuntime();\\n while ((getRuntime() - start) < 2) {\\n door.setPosition(.85);\\n Elevator.setPower(-1);\\n }\\n\\n start = getRuntime();\\n while ((getRuntime() - start) < 2.05) {\\n Launch.setPower(.6);\\n }\\n Elevator.setPower(0);\\n Launch.setPower(0);\\n //servo.setPosition(.67);\\n\\n encoderDrive(TURN_SPEED, .65, .65, .65, .65 , 4.0);\\n encoderDrive(DRIVE_SPEED_FAST, 3, -3, 3, -3, 5.0); //drive forward\\n LFMotor.setPower(0);\\n LBMotor.setPower(0);\\n RFMotor.setPower(0);\\n RBMotor.setPower(0);\\n sleep(1500);\\n\\n\\n }\",\n \"public static void driveMode(){\\n\\n\\t\\tSmartDashboard.putBoolean(\\\"Is Climbing:\\\", TalonDio.climbEncodDio(Actuators.getClimbMotor()));\\n\\t\\tSmartDashboard.putBoolean(\\\"Is Driving:\\\", TalonDio.driveEncodDio(Actuators.getLeftDriveMotor(), Actuators.getRightDriveMotor()));\\n\\t\\tSmartDashboard.putBoolean(\\\"Is Intake Disabled:\\\", Intake.intakeDisabled);\\n\\t\\tSmartDashboard.putNumber(\\\"motorSpeed\\\", Intake.intakeMotorSpeed);\\n\\t\\tSmartDashboard.putNumber(\\\"conveyorMotorSpeed\\\", Score.conveyorMotorSpeed);\\n\\t\\tSmartDashboard.putBoolean(\\\"Intake Motor Inverted?:\\\", Actuators.getFuelIntakeMotor().getInverted());\\n\\t\\tSmartDashboard.putBoolean(\\\"Is Climbing Motor Stalling:\\\", TalonDio.CIMStall(Actuators.getClimbMotor()));\\n\\n\\t\\t\\n\\n\\t\\tSmartDashboard.putBoolean(\\\"Is Climbing:\\\", TalonDio.climbEncodDio(Actuators.getClimbMotor()));\\n\\t\\tSmartDashboard.putBoolean(\\\"Is Driving:\\\", TalonDio.driveEncodDio(Actuators.getLeftDriveMotor(), Actuators.getRightDriveMotor()));\\n\\t\\tSmartDashboard.putBoolean(\\\"Is Climbing Motor Stalling:\\\", TalonDio.CIMStall(Actuators.getClimbMotor()));\\n\\t\\tSmartDashboard.putNumber(\\\"Total Current Draw:\\\", SensorsDio.PDPCurrent(Sensors.getPowerDistro()));\\n\\n\\t\\n\\t//TODO: Add Gear Vibrations for both controllers\\n\\t//Vibration Feedback\\n\\t\\t//Sets the Secondary to vibrate if climbing motor is going to stall\\n\\t\\tVibrations.climbStallVibrate(Constants.MAX_RUMBLE);\\t\\n\\t\\t//If within the second of TIME_RUMBLE then both controllers are set to HALF_RUMBLE\\n\\t\\tVibrations.timeLeftVibrate(Constants.HALF_RUMBLE, Constants.TIME_RUMBLE);\\t\\n\\t\\t\\n\\t}\",\n \"@Override\\n public void teleopPeriodic() {\\n Scheduler.getInstance().run();\\n SmartDashboard.putNumber(\\\"right encoder\\\", drive.getRightEncoder());\\n SmartDashboard.putNumber(\\\"left encoder\\\", drive.getLeftEncoder());\\n \\n PixyCamBlock centerBlock = PixyCam2.GetCentermostBlock();\\n boolean targetInRange = false ;\\n \\n if(centerBlock == null)\\n {\\n targetInRange = false;\\n SmartDashboard.putString(\\\"center block data \\\", \\\"null\\\"); \\n }\\n else if(centerBlock.yCenter < 200)\\n {\\n targetInRange = true;\\n String out = \\\"Center Block, X: \\\"+centerBlock.xCenter + \\\" Y: \\\"+centerBlock.yCenter;\\n SmartDashboard.putString(\\\"center block data \\\", out); \\n }\\n\\n String targetValue = Boolean.toString(targetInRange);\\n SmartDashboard.putString(\\\"target good?\\\", targetValue);\\n \\n \\n SmartDashboard.putBoolean(\\\"isFlipped\\\", flipped);\\n }\",\n \"@Override\\n public void runOpMode() throws InterruptedException {\\n robot = new OptimizedRobot(gamepad1, gamepad2, telemetry, hardwareMap);\\n\\n // Grab our controller 1 using robot.getController1()\\n\\n controller1 = robot.getController1();\\n\\n // Grab our our encoders using robot.getEncoder() there are TWO of them\\n // Use xEncoder and yEncoder for the names!\\n\\n xEncoder = robot.getEncoder(\\\"XEncoder\\\");\\n yEncoder = robot.getEncoder(\\\"YEncoder\\\");\\n\\n // Reverse the direction of our left encoder using encoder.setDirection()\\n\\n xEncoder.setDirection(Encoder.Direction.REVERSE);\\n\\n\\n // Waiting for the play button to be pressed\\n waitForStart();\\n\\n robot.log(\\\"Instructions\\\", \\\"Your job is the move the robot \\\"+DISTANCE_TO_TRAVEL+\\\" forward and right for each trial!\\\");\\n\\n for(int i = 0; i < NUM_SAMPLES; i++) {\\n robot.addLog(\\\"Prompt\\\", \\\"Trial #\\\"+(i+1)+\\\" of \\\"+NUM_SAMPLES);\\n robot.addLog(\\\"Prompt\\\", \\\"Set up your robot on its start position and press A to start the tuning!\\\");\\n robot.pushLog();\\n\\n while(!controller1.getBool(OptimizedController.Key.A)) {\\n }\\n\\n prevX = xEncoder.getCurrentPosition();\\n prevY = yEncoder.getCurrentPosition();\\n\\n robot.addLog(\\\"Running\\\", \\\"Drag your robot forward \\\"+DISTANCE_TO_TRAVEL+\\\" inches and \\\"+DISTANCE_TO_TRAVEL+\\\" inches to the right!\\\");\\n robot.addLog(\\\"Running\\\", \\\"Try to keep the robot straight the entire time--try using a line on the floor for reference.\\\");\\n robot.addLog(\\\"Instructions\\\", \\\"Press B when you have finished moving the robot!\\\");\\n robot.pushLog();\\n\\n while(!controller1.getBool(OptimizedController.Key.B)) {\\n estimatedX = xEncoder.getCurrentPosition() - prevX;\\n estimatedY = yEncoder.getCurrentPosition() - prevY;\\n }\\n\\n xTraveled[i] = estimatedX;\\n yTraveled[i] = estimatedY;\\n }\\n\\n\\n double xCoefficient = 0;\\n double yCoefficient = 0;\\n\\n for(int num : xTraveled) {\\n xCoefficient += (TICKS_PER_REV * (DISTANCE_TO_TRAVEL / (2 * Math.PI * ODOMETRY_WHEEL_RADIUS))) / num;\\n }\\n\\n for(int num : yTraveled) {\\n yCoefficient += (TICKS_PER_REV * (DISTANCE_TO_TRAVEL / (2 * Math.PI * ODOMETRY_WHEEL_RADIUS))) / num;\\n }\\n\\n xCoefficient /= NUM_SAMPLES;\\n yCoefficient /= NUM_SAMPLES;\\n\\n robot.addLog(\\\"xEncoder Coefficient = \\\", Math.abs(xCoefficient));\\n robot.addLog(\\\"yEncoder Coefficient = \\\", Math.abs(yCoefficient));\\n robot.pushLog();\\n\\n while(opModeIsActive()) {\\n }\\n }\",\n \"@Override\\n public void runOpMode() {\\n RobotOmniWheels5 myRobot = new RobotOmniWheels5(hardwareMap);\\n\\n // Put initialization blocks here.\\n waitForStart();\\n\\n //code will continue to run until you hit stop in the app\\n while(opModeIsActive()) {\\n\\n double leftStickYValue = gamepad1.left_stick_y;\\n if (leftStickYValue < -.1) {\\n //Set the robotspeed to the stick value\\n //As Stick Y value is negative when pressed up, use negative in front\\n myRobot.setRobotSpeed(-leftStickYValue);\\n myRobot.move();\\n } else {\\n if (leftStickYValue > .1){\\n //Set the robotspeed to the stick value\\n //As Stick Y value is positive when pressed down, use negative in front to move back\\n myRobot.setRobotSpeed(-leftStickYValue);\\n myRobot.move();\\n }\\n else {\\n myRobot.stopMoving();\\n }\\n }\\n }\\n }\",\n \"@Override\\n public void runOpMode() throws InterruptedException {\\n hMap(hardwareMap);\\n ElapsedTime time = new ElapsedTime();\\n\\n\\n\\n markerDeploy.setPosition(0.25);\\n latch.setPosition(0.25);\\n rightBoxRotate.setPosition(.345);\\n leftBoxRotate.setPosition(.655);\\n\\n\\n /** Wait for the game to begin */\\n telemetry.addData(\\\">\\\", \\\"Press Play to start tracking\\\");\\n telemetry.update();\\n waitForStart();\\n\\n rightBoxRotate.setPosition(0.15);\\n leftBoxRotate.setPosition(0.85);\\n\\n motorArmLeft.setPower(0.5);\\n motorArmRight.setPower(-0.5);\\n Thread.sleep(1100);\\n motorArmLeft.setPower(0);\\n motorArmRight.setPower(0);\\n\\n\\n Thread.sleep(100);\\n\\n\\n // moveTo(0.4,20);\\n\\n\\n // Thread.sleep(1000);\\n\\n\\n rightBoxRotate.setPosition(.345);\\n leftBoxRotate.setPosition(.655);\\n\\n Thread.sleep(100);\\n\\n motorArmLeft.setPower(0.5);\\n motorArmRight.setPower(-0.5);\\n Thread.sleep(1150);\\n motorArmLeft.setPower(0);\\n motorArmRight.setPower(0);\\n\\n Thread.sleep(250);\\n\\n setMotors(-0.4,-0.4);\\n Thread.sleep(250);\\n setMotors(0,0);\\n\\n Thread.sleep(250);\\n\\n motorArmLeft.setPower(0.5);\\n motorArmRight.setPower(-0.5);\\n Thread.sleep(475);\\n motorArmLeft.setPower(0);\\n motorArmRight.setPower(0);\\n //up\\n //servo init position\\n Thread.sleep(250);\\n\\n motorArmLeft.setPower(-0.5);\\n motorArmRight.setPower(0.5);\\n Thread.sleep(200);\\n motorArmLeft.setPower(0);\\n motorArmRight.setPower(0);\\n\\n Thread.sleep(100);\\n\\n moveTo(0.4,200);\\n\\n// Thread.sleep(100);\\n\\n// rightBoxRotate.setPosition(0.15);\\n// leftBoxRotate.setPosition(0.85);\\n\\n Thread.sleep(100);\\n manip.setPower(1);\\n }\",\n \"@Override\\r\\n public void teleopPeriodic() {\\n if (m_stick.getRawButton(12)){\\r\\n TestCompressor.setClosedLoopControl(true);\\r\\n System.out.println(\\\"??\\\");\\r\\n } \\r\\n if (m_stick.getRawButton(11)) {\\r\\n TestCompressor.setClosedLoopControl(false);\\r\\n }\\r\\n //// fireCannon(Solenoid_1, m_stick, 8);\\r\\n //// fireCannon(Solenoid_2, m_stick, 10);\\r\\n //// fireCannon(Solenoid_3, m_stick, 12);\\r\\n //// fireCannon(Solenoid_4, m_stick, 7);\\r\\n //// fireCannon(Solenoid_5, m_stick, 9);\\r\\n //// fireCannon(Solenoid_6, m_stick, 11);\\r\\n\\r\\n // Logic to control trigering is inside\\r\\n // DO: Move the logic out here, makes more sense. \\r\\n fireTrio(topSolonoids, m_stick, 5);\\r\\n fireTrio(bottomSolonoids, m_stick, 6);\\r\\n\\r\\n // Make robit go\\r\\n double[] movementList = adjustJoystickInput(-m_stick.getY(), m_stick.getX(), m_stick.getThrottle());\\r\\n m_myRobot.arcadeDrive(movementList[0], movementList[1]);\\r\\n //System.out.println(m_gyro.getAngle());\\r\\n }\",\n \"@Override\\n public void loop() {\\n // Setup a variable for each drive wheel to save power level for telemetry\\n double leftDrivePower;\\n double rightDrivePower;\\n double driveMultiplier;\\n double slowMultiplier;\\n double fastMultiplier;\\n double BASE_DRIVE_SPEED = 0.6;\\n double elevPower;\\n double armPower;\\n boolean lowerLimitPressed;\\n boolean upperLimitPressed;\\n\\n\\n\\n\\n // Tank Mode uses one stick to control each wheel.\\n // - This requires no math, but it is hard to drive forward slowly and keep straight.\\n armPower = -gamepad2.right_stick_x * 0.3;\\n\\n lowerLimitPressed = !lowerLimit.getState();\\n upperLimitPressed = !upperLimit.getState();\\n\\n if((lowerLimitPressed && -gamepad2.left_stick_y < 0) || (upperLimitPressed && -gamepad2.left_stick_y > 0)){\\n elevPower = 0;\\n }\\n else {\\n elevPower = -gamepad2.left_stick_y * 1;\\n }\\n\\n if (gamepad2.left_bumper){\\n hookPosDeg = HOOK_UP;\\n }\\n else if (gamepad2.left_trigger > 0){\\n hookPosDeg = HOOK_DOWN;\\n }\\n\\n if (gamepad2.right_bumper){\\n clawPosDeg = CLAW_OPEN;\\n }\\n else if (gamepad2.right_trigger > 0){\\n clawPosDeg = CLAW_CLOSED;\\n }\\n\\n if (gamepad1.left_trigger > 0){\\n slowMultiplier = 0.10;\\n }\\n else\\n slowMultiplier = 0;\\n\\n if (gamepad1.right_trigger > 0){\\n fastMultiplier = 0.30;\\n }\\n else\\n fastMultiplier = 0;\\n\\n driveMultiplier = BASE_DRIVE_SPEED + slowMultiplier + fastMultiplier;\\n leftDrivePower = -gamepad1.left_stick_y * driveMultiplier;\\n rightDrivePower = -gamepad1.right_stick_y * driveMultiplier;\\n\\n // Send power to actuators\\n leftDrive.setPower(leftDrivePower);\\n rightDrive.setPower(rightDrivePower);\\n elev.setPower(elevPower);\\n// arm.setTargetPosition(armTarget);\\n// arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\n arm.setPower(armPower);\\n hookPos = map(hookPosDeg, HOOK_MIN_POS_DEG, HOOK_MAX_POS_DEG, HOOK_MIN_POS, HOOK_MAX_POS);\\n clawPos = map(clawPosDeg, CLAW_MIN_POS_DEG, CLAW_MAX_POS_DEG, CLAW_MIN_POS, CLAW_MAX_POS);\\n hook.setPosition(hookPos);\\n claw.setPosition(clawPos);\\n\\n // Show the elapsed game time and wheel power.\\n telemetry.addData(\\\"Status\\\", \\\"Run Time: \\\" + runtime.toString());\\n telemetry.addData(\\\"Drive\\\", \\\"left (%.2f), right (%.2f)\\\", leftDrivePower, rightDrivePower);\\n telemetry.addData( \\\"Elev\\\", \\\"power (%.2f)\\\", elevPower);\\n telemetry.addData(\\\"Limit\\\", \\\"lower (%b), upper (%b)\\\", lowerLimitPressed, upperLimitPressed);\\n telemetry.addData(\\\"Arm Enc\\\", arm.getCurrentPosition());\\n\\n }\",\n \"public void teleopPeriodic() {\\n \\t//getInstance().run();;\\n \\t//RobotMap.robotDrive1.arcadeDrive(oi.stickRight); //This line drives the robot using the values of the joystick and the motor controllers selected above\\n \\tScheduler.getInstance().run();\\n\\t\\n }\",\n \"public SiLabsC8051F320_USBIO_ServoController() {\\r\\n interfaceNumber=0;\\r\\n if(UsbIoUtilities.usbIoIsAvailable){\\r\\n pnp=new PnPNotify(this);\\r\\n pnp.enablePnPNotification(GUID);\\r\\n }\\r\\n Runtime.getRuntime().addShutdownHook(new Thread(){\\r\\n @Override\\r\\n public void run(){\\r\\n if(isOpen()){\\r\\n close();\\r\\n }\\r\\n }\\r\\n });\\r\\n servoQueue=new ArrayBlockingQueue<ServoCommand>(SERVO_QUEUE_LENGTH);\\r\\n }\",\n \"public void teleopPeriodic() \\n {\\n // NIVision.Rect rect = new NIVision.Rect(10, 10, 100, 100);\\n /*\\n NIVision.IMAQdxGrab(session, frame, 1);\\n //NIVision.imaqDrawShapeOnImage(frame, frame, rect,\\n // DrawMode.DRAW_VALUE, ShapeMode.SHAPE_OVAL, 0.0f);\\n */\\n \\n //cam.getImage(frame);\\n //camServer.setImage(frame);\\n \\n //CameraServer.getInstance().setImage(frame);\\n \\n if(verticalLift.limitSwitchHit())\\n verticalLift.resetEnc();\\n \\n Scheduler.getInstance().run();\\n }\",\n \"@Override\\n public void robotInit() {\\n myRobot = new DifferentialDrive(leftfrontmotor, rightfrontmotor);\\n leftrearmotor.follow(leftfrontmotor);\\n rightrearmotor.follow(rightfrontmotor);\\n leftfrontmotor.setInverted(true); // <<<<<< Adjust this until robot drives forward when stick is forward\\n\\t\\trightfrontmotor.setInverted(true); // <<<<<< Adjust this until robot drives forward when stick is forward\\n\\t\\tleftrearmotor.setInverted(InvertType.FollowMaster);\\n rightrearmotor.setInverted(InvertType.FollowMaster);\\n \\n CameraServer.getInstance().startAutomaticCapture();\\n\\n \\n\\n comp.setClosedLoopControl(true);\\n \\n\\n /* Set up Dashboard widgets */\\n SmartDashboard.putNumber(\\\"L Stick\\\", gamepad.getRawAxis(1));\\n\\t\\tSmartDashboard.putNumber(\\\"R Stick\\\", gamepad.getRawAxis(5));\\n\\t\\tSmartDashboard.putBoolean(\\\"Back Button\\\", gamepad.getRawButton(5));\\n\\t\\tSmartDashboard.putBoolean(\\\"Fwd Button\\\", gamepad.getRawButton(6));\\n\\t\\t\\n SmartDashboard.putNumber(\\\"LF\\\", pdp.getCurrent(leftfrontmotorid));\\n\\t\\tSmartDashboard.putNumber(\\\"LR\\\", pdp.getCurrent(leftrearmotorid));\\n\\t\\tSmartDashboard.putNumber(\\\"RF\\\", pdp.getCurrent(rightfrontmotorid));\\n\\t\\tSmartDashboard.putNumber(\\\"RR\\\", pdp.getCurrent(rightrearmotorid));\\n SmartDashboard.putNumber(\\\"Total\\\", pdp.getCurrent(0) + pdp.getCurrent(1) + pdp.getCurrent(2) + pdp.getCurrent(3) + pdp.getCurrent(4) + pdp.getCurrent(5) + pdp.getCurrent(6) + pdp.getCurrent(7) + pdp.getCurrent(8) + pdp.getCurrent(9) + pdp.getCurrent(10) + pdp.getCurrent(11) + pdp.getCurrent(12) + pdp.getCurrent(13) + pdp.getCurrent(14) + pdp.getCurrent(15));\\n }\",\n \"public static void main(String[] args) throws Exception{\\n\\t\\t\\r\\n\\t\\tint turnChk = 0;\\r\\n\\t\\tTouchSensor touch = new TouchSensor(SensorPort.S1);\\r\\n\\t\\tLightSensor light = new LightSensor(SensorPort.S3);\\r\\n\\t\\tUltrasonicSensor UltraSonic = new UltrasonicSensor(SensorPort.S4);\\r\\n\\t\\t\\r\\n\\t\\tMotor.A.setSpeed(300);\\r\\n\\t\\tMotor.B.setSpeed(300);\\r\\n\\t\\t\\r\\n\\t\\twaitForLoudSound();\\r\\n\\t\\tMotor.A.forward();\\r\\n\\t\\tMotor.B.forward();\\r\\n\\t\\tThread.sleep(5000);\\r\\n\\t\\t\\r\\n\\t\\twhile(true){\\r\\n\\t\\t\\tUltraSonic = new UltrasonicSensor(SensorPort.S4);\\r\\n\\t\\t\\t\\r\\n\\t\\t\\tLCD.drawString(\\\"START\\\", 0, 0);\\r\\n\\t\\t\\t//LCD.drawString(\\\"turnChk\\\", 0, 1);\\r\\n\\t\\t\\t//LCD.drawInt(turnChk, 9, 1);\\r\\n\\t\\t\\tif(UltraSonic.getDistance() < 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\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t\\r\\n\\t\\t\\t){\\r\\n\\t\\t\\t\\tif(turnChk < 4){\\r\\n\\t\\t\\t\\t\\tMotor.B.stop();\\r\\n\\t\\t\\t\\t\\tMotor.A.rotate(320);\\r\\n\\t\\t\\t\\t}else{\\r\\n\\t\\t\\t\\t\\tbreak;\\r\\n\\t\\t\\t\\t}\\r\\n\\t\\t\\t\\tturnChk++;\\r\\n\\t\\t\\t}else{\\r\\n\\t\\t\\t\\tMotor.A.forward();\\r\\n\\t\\t\\t\\tMotor.B.forward();\\r\\n\\t\\t\\t}\\r\\n\\t\\t}\\r\\n\\t\\tMotor.A.stop();\\r\\n\\t\\tMotor.B.stop();\\r\\n\\t\\tLCD.drawString(\\\"FIRST POINT\\\", 0, 0);\\r\\n\\t\\tThread.sleep(3000);\\r\\n\\t\\tMotor.B.rotate(360);\\r\\n\\t\\t\\r\\n\\t\\twhile(!touch.isPressed()){\\r\\n\\t\\t\\tMotor.A.forward();\\r\\n\\t\\t\\tMotor.B.forward();\\r\\n\\t\\t}\\r\\n\\t\\tMotor.A.stop();\\r\\n\\t\\tMotor.B.stop();\\r\\n\\t\\tLCD.drawString(\\\"NOT FOUND \\\", 0, 0);\\r\\n\\t\\tThread.sleep(3000);\\r\\n\\t\\t\\r\\n\\t\\twhile(light.getNormalizedLightValue()>400){\\r\\n\\t\\t\\tMotor.A.backward();\\r\\n\\t\\t\\tMotor.B.backward();\\r\\n\\t\\t}\\r\\n\\t\\tMotor.B.stop();\\r\\n\\t\\tMotor.A.rotate(380);\\r\\n\\t\\tLCD.drawString(\\\"GO ON \\\", 0, 0);\\r\\n\\t\\tThread.sleep(3000);\\r\\n\\t\\tturnChk = 0;\\r\\n\\t\\twhile(true){\\r\\n\\t\\t\\tUltraSonic = new UltrasonicSensor(SensorPort.S4);\\r\\n\\t\\t\\tLCD.drawString(\\\"GO ON \\\", 0, 0);\\r\\n\\t\\t\\t\\r\\n\\t\\t\\tif(UltraSonic.getDistance()<30){\\r\\n\\t\\t\\t\\tif(turnChk == 0){\\r\\n\\t\\t\\t\\t\\tMotor.A.stop();\\r\\n\\t\\t\\t\\t\\tMotor.B.rotate(360);\\r\\n\\t\\t\\t\\t\\tturnChk = 1;\\r\\n\\t\\t\\t\\t}\\r\\n\\t\\t\\t\\telse{\\r\\n\\t\\t\\t\\t\\tMotor.A.stop();\\r\\n\\t\\t\\t\\t\\tMotor.B.stop();\\r\\n\\t\\t\\t\\t\\tbreak;\\r\\n\\t\\t\\t\\t}\\r\\n\\t\\t\\t}else{\\r\\n\\t\\t\\t\\tMotor.A.forward();\\r\\n\\t\\t\\t\\tMotor.B.forward();\\r\\n\\t\\t\\t}\\t\\r\\n\\t\\t}\\r\\n\\t\\tLCD.drawString(\\\"FOUND \\\", 0, 0);\\r\\n\\t\\tThread.sleep(5000);\\r\\n\\t\\tSystem.exit(0);\\r\\n\\t}\",\n \"private void configVelocityControl() {\\n //config remote sensors\\n //sets the sensor to be a quad encoder, sets our feedback device to be that sensor\\n m_masterMotor.configSelectedFeedbackSensor(TalonSRXFeedbackDevice.CTRE_MagEncoder_Relative, RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n\\n //zero the encoders on every init\\n zeroEncoder();\\n\\n //sets whether our motor is inverted\\n //this is currently false but can be switched based on testing\\n m_masterMotor.setInverted(RobotMap.LAUNCHER_MASTER_INVERTED);\\n m_masterMotor.setSensorPhase(RobotMap.LAUNCHER_MASTER_INVERTED);\\n\\n //this sets how often we pull data from our sensor\\n m_masterMotor.setStatusFramePeriod(StatusFrame.Status_2_Feedback0, RobotMap.LAUNCHER_FEEDBACK_PERIOD_MS, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n\\n //this configs the deadband for the PID output. Any output with an absolute value less than this will be treated as zero\\n m_masterMotor.configNeutralDeadband(0, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n\\n //this sets the peak output for our motor controller.\\n m_masterMotor.configPeakOutputForward(RobotMap.LAUNCHER_PID_PEAK_OUTPUT, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n //this does the same thing but for the reverse direction\\n m_masterMotor.configPeakOutputReverse(0, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n \\n //sets the period of the velocity sample\\n //effectively this defines the amount of time used to calculate the velocity\\n m_masterMotor.configVelocityMeasurementPeriod(RobotMap.VELOCITY_MEASUREMENT_PERIOD, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n\\n //Sets the number of samples used in the rolling average for calculating velocity\\n m_masterMotor.configVelocityMeasurementWindow(RobotMap.LAUNCHER_VELOCITY_MEASUREMENT_WINDOW, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n \\n //set p, i, d, f values\\n //the zero is the PID slot, in this case it is zero for the primary PID\\n //the launcher has no auxillary or turning PID control\\n m_masterMotor.config_kP(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_P);\\n m_masterMotor.config_kI(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_I);\\n m_masterMotor.config_kD(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_D);\\n m_masterMotor.config_kF(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_F);\\n\\n //this sets the acceptable amount of Integral error, where if the absolute accumulated error exceeds this ammount, it resets to zero\\n //this is designed to prevent the PID from going crazy if we move too far from our target\\n m_masterMotor.config_IntegralZone(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_I_ZONE, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n\\n //sets the max output of the motor specifically within closed loop control\\n m_masterMotor.configClosedLoopPeakOutput(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_PID_PEAK_OUTPUT, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n\\n //this configures an allowable error in closed loop control\\n //any error less than this is treated as zero.\\n m_masterMotor.configAllowableClosedloopError(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_ACCEPTABLE_ERROR, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n\\n //configures the period for closed loop calculations in MS \\n //should be increased if the can bus is haveing issues\\n m_masterMotor.configClosedLoopPeriod(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_CLOSED_LOOP_PERIOD_MS, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n\\n //configures ramp speed\\n m_masterMotor.configOpenloopRamp(RobotMap.LAUNCHER_OPEN_LOOP_RAMP_TIME_S);\\n m_masterMotor.configClosedloopRamp(0);\\n\\n //sets our closed loop control to use our primary PID slot\\n m_masterMotor.selectProfileSlot(RobotMap.PID_PRIMARY_SLOT, 0);\\n }\",\n \"public void toCollectPos()throws InterruptedException{\\n motorShoulder.setTargetPosition(-90);\\r\\n motorElbow.setTargetPosition(141);\\r\\n motorShoulder.setPower(SLOW_POWER);\\r\\n motorElbow.setPower(SLOW_POWER);\\r\\n sleep(1000);\\r\\n\\r\\n servoBucket.setPosition(0.28);\\r\\n\\r\\n motorShoulder.setTargetPosition(-440);\\r\\n motorElbow.setTargetPosition(280);\\r\\n motorShoulder.setPower(SLOW_POWER);\\r\\n motorElbow.setPower(SLOW_POWER);\\r\\n sleep(1000);\\r\\n\\r\\n motorShoulder.setTargetPosition(-500);\\r\\n motorShoulder.setPower(SLOW_POWER);\\r\\n }\",\n \"void setMotorsMode(DcMotor.RunMode runMode);\",\n \"@Override\\n public void robotInit() {\\n m_oi = new OI();\\n m_chooser.setDefaultOption(\\\"Default Auto\\\", new ExampleCommand());\\n // chooser.addOption(\\\"My Auto\\\", new MyAutoCommand());\\n SmartDashboard.putData(\\\"Auto mode\\\", m_chooser);\\n\\n Comp = new Compressor();\\n\\n //ClimbBack = new DoubleSolenoid(PCM_COMP_24V, 0, 1);\\n //ClimbFront = new DoubleSolenoid(PCM_COMP_24V, 2, 3);\\n LegFrontL = new VictorSPX(30);\\n LegFrontR = new Spark(9);\\n LegBackL = new VictorSPX(31);\\n LegBackR = new VictorSPX(32);\\n\\n BackFootMover = new VictorSP(1);\\n FrontFootMover = new Spark(2);\\n //FeetMovers = new SpeedControllerGroup(BackFootMoverFootMover);\\n\\n MainRight = new CANSparkMax(9, MotorType.kBrushless);\\n AltRight = new CANSparkMax(10, MotorType.kBrushless);\\n MainLeft = new CANSparkMax(11, MotorType.kBrushless);\\n AltLeft = new CANSparkMax(12, MotorType.kBrushless);\\n\\n MainRight.setIdleMode(IdleMode.kCoast);\\n AltRight.setIdleMode(IdleMode.kCoast);\\n MainLeft.setIdleMode(IdleMode.kCoast);\\n AltLeft.setIdleMode(IdleMode.kCoast);\\n\\n AltLeft.follow(MainLeft);\\n AltRight.follow(MainRight);\\n\\n Drive = new DifferentialDrive(MainLeft, MainRight);\\n\\n Lifter = new TalonSRX(6);\\n Lifter.setNeutralMode(NeutralMode.Brake);\\n Lifter.enableCurrentLimit(false);\\n /*Lifter.configContinuousCurrentLimit(40);\\n Lifter.configPeakCurrentLimit(50);\\n Lifter.configPeakCurrentDuration(1500);*/\\n //Lifter.configReverseSoftLimitEnable(true);\\n //Lifter.configReverseSoftLimitThreshold(-27000);\\n //Lifter.configForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);\\n //Lifter.configClearPositionOnLimitF(true, 0);\\n Lifter.selectProfileSlot(0, 0);\\n LiftSetpoint = 0;\\n\\n LiftFollower = new TalonSRX(5);\\n LiftFollower.follow(Lifter);\\n LiftFollower.setNeutralMode(NeutralMode.Brake);\\n\\n ArmExtender = new Solenoid(0);\\n ArmOpener = new Solenoid(1);\\n ArmGrippers = new Spark(0);\\n\\n HatchSwitch0 = new DigitalInput(0);\\n HatchSwitch1 = new DigitalInput(1);\\n\\n Accel = new BuiltInAccelerometer(Range.k2G);\\n\\n //Diagnostics = new DiagnosticsLogger();\\n // Uncomment this line to enable diagnostics. Warning: this may\\n // cause the robot to be slower than it is supposed to be because of lag.\\n //Diagnostics.start();\\n\\n xbox = new XboxController(0);\\n joystick = new Joystick(1);\\n \\n LiftRamp = new SRamp();\\n SpeedRamp = new SRamp();\\n\\n NetworkTableInstance nt = NetworkTableInstance.getDefault();\\n\\n VisionTable = nt.getTable(\\\"ChickenVision\\\");\\n TapeDetectedEntry = VisionTable.getEntry(\\\"tapeDetected\\\");\\n TapePitchEntry = VisionTable.getEntry(\\\"tapePitch\\\");\\n TapeYawEntry = VisionTable.getEntry(\\\"tapeYaw\\\");\\n\\n LedTable = nt.getTable(\\\"LedInfo\\\");\\n LedScript = LedTable.getEntry(\\\"CurrentScript\\\");\\n LedScriptArgument = LedTable.getEntry(\\\"ScriptArgument\\\");\\n LedArmsClosed = LedTable.getEntry(\\\"ArmsClosed\\\");\\n\\n UsbCamera cam = CameraServer.getInstance().startAutomaticCapture();\\n cam.setPixelFormat(PixelFormat.kMJPEG);\\n cam.setResolution(320, 240);\\n cam.setFPS(15);\\n \\n\\n LedScript.setString(\\\"ColorWaves\\\");\\n LedScriptArgument.setString(\\\"\\\");\\n\\n limits = new DigitalInput[8];\\n\\n for (int i = 0; i < limits.length; i++) {\\n limits[i] = new DigitalInput(i + 2);\\n }\\n }\",\n \"public void teleopPeriodic() {\\n \\t//driveTrain.setInputSpeed(xbox.getAxisLeftY(), xbox.getAxisRightY());\\n \\t\\n \\tdriveTrain.print();\\n \\t\\n \\t// funcao PID\\n \\tif (xbox.getButtonX()) {\\n\\t\\t\\tbotaoapertado = true;\\n\\t\\t} else if (xbox.getButtonY()) {\\n\\t\\t\\tbotaoapertado = false;\\n\\t\\t\\tdriveTrain.start();\\n\\t\\t\\tdriveTrain.setSetPoint(0, 0);\\n\\t\\t}\\n \\tif (botaoapertado) {\\n \\t\\tdriveTrain.setSetPoint(100, 100);\\n\\t\\t}\\n \\t\\n }\",\n \"@Override\\n\\tpublic void robotPeriodic() {\\n\\t}\",\n \"@Override\\n\\tpublic void robotPeriodic() {\\n\\t}\",\n \"@Override\\n public void teleopPeriodic() {\\n double y = -xbox.getRawAxis(0) * 0.7D * (1.0D + Math.max(0, xbox.getRawAxis(4)) * 1.4285714D);\\n double rawSpeed = xbox.getRawAxis(2) - xbox.getRawAxis(3);\\n\\n if (SAFETY_MODE) {\\n y *= 0.75D;\\n\\n if (xbox.getBumper(Hand.kLeft) && joystick.getRawButton(7)) {\\n if (safetyCount > 0) {\\n safetyCount--;\\n SmartDashboard.putNumber(\\\"Safety Count\\\", safetyCount);\\n\\n if (safetyCount == 0) {\\n safetyTripped = false;\\n clearAllButtonStates();\\n SmartDashboard.putBoolean(\\\"Safety Tripped\\\", safetyTripped);\\n }\\n } else {\\n safetyTripped = false;\\n }\\n } else {\\n safetyTripped = true;\\n safetyCount = MAX_SAFETY_COUNT;\\n SmartDashboard.putNumber(\\\"Safety Count\\\", safetyCount);\\n SmartDashboard.putBoolean(\\\"Safety Tripped\\\", safetyTripped);\\n }\\n } else {\\n safetyTripped = false;\\n }\\n\\n // Climb Speed\\n if (xbox.getRawButton(6)) {\\n rawSpeed = -0.3D;\\n }\\n\\n // Super slow mode\\n if (xbox.getAButton() || SAFETY_MODE) {\\n SpeedRamp.Setpoint = rawSpeed * 0.45D;\\n } else {\\n SpeedRamp.Setpoint = rawSpeed * 0.8D * (1.0D + Math.max(0, xbox.getRawAxis(4)) * 0.25);\\n }\\n\\n SpeedRamp.update();\\n\\n boolean seesTape = TapeDetectedEntry.getBoolean(false);\\n \\n if (seesTape && !safetyTripped) {\\n final double ADJUST_CONST = 0.13281734;\\n //double tapePitch = TapePitchEntry.getNumber(0).doubleValue();\\n double tapeYaw = TapeYawEntry.getNumber(0).doubleValue();\\n final double TARGET_YAW = 0;//PitchYawAdjuster.GetYawFromPitch(tapePitch);\\n\\n //SmartDashboard.putNumber(\\\"tapePitch\\\", tapePitch);\\n //SmartDashboard.putNumber(\\\"tapeYaw\\\", tapeYaw);\\n \\n double diff = tapeYaw - ADJUST_CONST;\\n \\n String s = \\\"\\\";\\n\\n if (diff > 0) {\\n s = \\\"<-- (\\\" + diff + \\\")\\\";\\n } else if (diff < 0) {\\n s = \\\"--> (\\\" + diff + \\\")\\\";\\n }\\n\\n if (/*xbox.getRawButton(5) This is now taken for the safety button*/false) {\\n final double MAX_AFFECT = 0.4;\\n if (diff > MAX_AFFECT) {\\n diff = MAX_AFFECT;\\n } else if (diff < -MAX_AFFECT) {\\n diff = -MAX_AFFECT;\\n }\\n\\n y -= diff;\\n }\\n\\n SmartDashboard.putString(\\\"TapeDir\\\", s);\\n } else {\\n SmartDashboard.putString(\\\"TapeDir\\\", \\\"X\\\");\\n }\\n\\n if (xbox.getRawButtonPressed(7)) {\\n Lifter.setSelectedSensorPosition(0);\\n LiftSetpoint = 0;\\n LiftRamp.Setpoint = 0;\\n LiftRamp.setOutput(0);\\n }\\n\\n //Scheduler.getInstance().run();\\n // Cargo ship is(n't anymore) -13120\\n\\n // The fine adjustment has nothing to do with hammers.\\n // Don't try to use a hammer on the roboRIO. Ever.\\n final int FINE_ADJUSTMENT_AMOUNT = -500;\\n\\n if (!safetyTripped) {\\n if (joystick.getPOV() == 0) {\\n if (!joyPOV0PressedLast) {\\n joyPOV0PressedLast = true;\\n if (LiftSetpoint - FINE_ADJUSTMENT_AMOUNT <= 0)\\n LiftSetpoint -= FINE_ADJUSTMENT_AMOUNT;\\n }\\n } else {\\n joyPOV0PressedLast = false;\\n\\n if (joystick.getPOV() == 180) {\\n if (!joyPOV180PressedLast) {\\n joyPOV180PressedLast = true;\\n LiftSetpoint += FINE_ADJUSTMENT_AMOUNT;\\n }\\n } else {\\n joyPOV180PressedLast = false;\\n }\\n }\\n\\n Drive.arcadeDrive(SpeedRamp.getOutput(), y);\\n\\n if (joystick.getRawButtonPressed(11)) {\\n LiftSetpoint = HATCH_BOTTOM;\\n } else if (joystick.getRawButtonPressed(9)) {\\n LiftSetpoint = HATCH_MIDDLE;\\n //} else if (joystick.getRawButtonPressed(7)) {\\n // This button is now used for safety mode LiftSetpoint = HATCH_TOP;\\n // and also for grab-hatch-on-impact mode\\n } else if (joystick.getRawButtonPressed(12)) {\\n LiftSetpoint = CARGO_BOTTOM;\\n } else if (joystick.getRawButtonPressed(10)) {\\n LiftSetpoint = CARGO_MIDDLE;\\n //} else if (joystick.getRawButtonPressed(8)) {\\n //LiftSetpoint = CARGO_TOP;\\n } else if (joystick.getRawButtonPressed(1)) {\\n LiftSetpoint = CARGO_FLOOR;\\n }\\n\\n double liftY = -joystick.getRawAxis(1);\\n final double deadband = 0.15;\\n\\n if (Math.abs(liftY) > deadband) {\\n double change = (liftY < 0 ? liftY + 0.15 : liftY - 0.15) * 200;//(int)liftEntry.getDouble(0);//\\n \\n if (change > 100) {\\n change = 100;\\n } else if (change < -100) {\\n change = -100;\\n }\\n\\n LiftRamp.setOutput(LiftRamp.getOutput() + change);\\n LiftRamp.Setpoint += change;\\n LiftSetpoint = (int)LiftRamp.Setpoint;\\n }\\n\\n if (LiftSetpoint < LIMIT_UP) {\\n LiftSetpoint = LIMIT_UP;\\n }\\n } else {\\n Drive.arcadeDrive(0, 0);\\n }\\n \\n LiftRamp.Setpoint = LiftSetpoint;\\n SmartDashboard.putNumber(\\\"LiftSetpoint\\\", LiftRamp.Setpoint);\\n //SmartDashboard.putNumber(\\\"LiftEncoderPos\\\", Lifter.getSelectedSensorPosition());\\n SmartDashboard.putNumber(\\\"LiftOutput\\\", LiftRamp.getOutput());\\n LiftRamp.update();\\n\\n Lifter.set(ControlMode.Position, LiftRamp.getOutput());\\n //Lifter.set(ControlMode.PercentOutput, -joystick.getRawAxis(1));\\n\\n if (!safetyTripped) {\\n if (joystick.getRawButtonPressed(4)) {\\n ArmsClosed = !ArmsClosed;\\n } else if (!SAFETY_MODE) {\\n // This is the same as the joystick safety button, so it only works outside\\n // safety mode, and why would it be needed in safety mode anyway?\\n // It should be disabled in safety mode anyway to make sure we don't\\n // accidently attack someone's fingers at a Demo.\\n\\n // Holding joystick button 7 makes the limit switches on the hatch mechanism\\n // active, so when the hatch contacts the switches, the mechanism automatically\\n // grabs the hatch.\\n // HatchSwitch0 does not have to be inverted. It's complicated.\\n if (joystick.getRawButton(7) && (HatchSwitch0.get() || !HatchSwitch1.get())) {\\n ArmsClosed = false;\\n }\\n }\\n\\n if (joystick.getRawButtonPressed(3)) {\\n ArmsExtended = !ArmsExtended;\\n }\\n }\\n\\n ArmExtender.set(ArmsExtended);\\n ArmOpener.set(ArmsClosed);\\n\\n //Diagnostics.writeDouble(\\\"DriveX\\\", x);\\n //Diagnostics.writeDouble(\\\"DriveY\\\", y);\\n\\n // X = out, Y = in\\n\\n final double GRAB_SPEED;\\n\\n if (SAFETY_MODE) {\\n GRAB_SPEED = 0.8D;\\n } else {\\n GRAB_SPEED = 1D; // TODO at one point we had this 0.8, is that what it's supposed to be?\\n }\\n \\n if (!safetyTripped) {\\n ArmGrippers.set(/*xbox.getXButton() || */joystick.getRawButton(6) ? -GRAB_SPEED : /*xbox.getYButton() ||*/ joystick.getRawButton(5) ? GRAB_SPEED : 0);\\n } else {\\n ArmGrippers.set(0);\\n }\\n\\n\\n // === Climbing stuff ===\\n\\n boolean climbSafety = /*joystick.getRawButton(2) &&*/ !safetyTripped;\\n \\n // Have to check all of these every update to make sure it was pressed\\n // between now and the last update\\n boolean retractFront = xbox.getYButton/*Pressed*/();\\n boolean retractBack = xbox.getXButton/*Pressed*/();\\n boolean climbBoth = xbox.getRawButton/*Pressed*/(8);\\n\\n final double CLIMB_SPEED = 1;\\n final double RETRACT_SPEED = 0.75;\\n final double HOLD_SPEED = 0.3;\\n // If you multiply the hold by this, you get the climb value.\\n // Avoids having to thing + or minus so many times.\\n final double HOLD_CLIMB_MULTIPLIER = CLIMB_SPEED / HOLD_SPEED;\\n\\n // Left is negative, right is positive\\n double xOff = Math.round((Accel.getX() - ZeroX) * 10) / 10D;\\n // Forward is negative, backwards is positive\\n double zOff = Math.round((Accel.getZ() - ZeroZ) * 10) / 10D;\\n\\n\\n SmartDashboard.putNumber(\\\"X\\\", xOff);\\n SmartDashboard.putNumber(\\\"Z\\\", zOff);\\n\\n\\n if (climbSafety || IsHoldingBack || IsHoldingFront) {\\n if (climbBoth) {\\n IsHoldingBack = true;\\n IsHoldingFront = true;\\n\\n \\n double SpeedFR = CLIMB_SPEED;\\n double SpeedFL = -CLIMB_SPEED;\\n double SpeedBR = -CLIMB_SPEED;\\n double SpeedBL = CLIMB_SPEED;\\n\\n final double SLOW_MULT = 0.3;\\n\\n if (xOff < 0 || zOff < 0) {\\n SpeedBR *= SLOW_MULT;\\n }\\n\\n if (xOff < 0 || zOff > 0) {\\n SpeedFR *= SLOW_MULT;\\n }\\n\\n if (xOff > 0 || zOff < 0) {\\n SpeedBL *= SLOW_MULT;\\n }\\n\\n if (xOff > 0 || zOff > 0) {\\n SpeedFL *= SLOW_MULT;\\n }\\n \\n LegFrontR.set(SpeedFR);\\n LegFrontL.set(ControlMode.PercentOutput, SpeedFL);\\n LegBackR.set(ControlMode.PercentOutput, SpeedBR);\\n LegBackL.set(ControlMode.PercentOutput, SpeedBL);\\n\\n } else {\\n if (retractBack) {\\n IsHoldingBack = false;\\n LegBackR.set(ControlMode.PercentOutput, RETRACT_SPEED);\\n LegBackL.set(ControlMode.PercentOutput, -RETRACT_SPEED);\\n } else if (IsHoldingBack) {\\n double rightSpeed = -HOLD_SPEED;\\n double leftSpeed = HOLD_SPEED;\\n int pov = xbox.getPOV();\\n\\n // Front right leg\\n if (pov >= 0 && pov <= 90) {\\n\\n }\\n\\n LegBackR.set(ControlMode.PercentOutput, -HOLD_SPEED);\\n LegBackL.set(ControlMode.PercentOutput, HOLD_SPEED);\\n } else {\\n LegBackR.set(ControlMode.PercentOutput, 0);\\n LegBackL.set(ControlMode.PercentOutput, 0);\\n }\\n\\n if (retractFront) {\\n IsHoldingFront = false;\\n LegFrontR.set(-RETRACT_SPEED);\\n LegFrontL.set(ControlMode.PercentOutput, RETRACT_SPEED);\\n } else if (IsHoldingFront) {\\n double rightSpeed = HOLD_SPEED;\\n double leftSpeed = -HOLD_SPEED;\\n int pov = xbox.getPOV();\\n\\n // Front right leg\\n if (pov >= 0 && pov <= 90) {\\n rightSpeed *= HOLD_CLIMB_MULTIPLIER;\\n }\\n\\n LegFrontR.set(rightSpeed);\\n LegFrontL.set(ControlMode.PercentOutput, leftSpeed);\\n } else {\\n LegFrontR.set(0);\\n LegFrontL.set(ControlMode.PercentOutput, 0);\\n }\\n }\\n } else {\\n LegBackR.set(ControlMode.PercentOutput, 0);\\n LegBackL.set(ControlMode.PercentOutput, 0);\\n LegFrontR.set(0);\\n LegFrontL.set(ControlMode.PercentOutput, 0);\\n }\\n \\n double footSpeed = Math.max(-1.0, Math.min(rawSpeed * 3, 1.0F));\\n\\n if (IsHoldingBack) {\\n // Drive back feet\\n BackFootMover.set(footSpeed);\\n } else {\\n BackFootMover.set(0);\\n }\\n\\n if (IsHoldingFront) {\\n // Drive front feet\\n FrontFootMover.set(footSpeed);\\n } else {\\n FrontFootMover.set(0);\\n }\\n\\n // Publish values to dashboard for LEDs\\n LedArmsClosed.setBoolean(ArmsClosed);\\n }\",\n \"public void runOpMode() throws InterruptedException {\\n robot.init(hardwareMap);\\n BNO055IMU.Parameters parameters1 = new BNO055IMU.Parameters();\\n parameters1.angleUnit = BNO055IMU.AngleUnit.DEGREES;\\n imu = hardwareMap.get(BNO055IMU.class, \\\"imu\\\");\\n imu.initialize(parameters1);\\n int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(\\\"cameraMonitorViewId\\\", \\\"id\\\", hardwareMap.appContext.getPackageName());\\n robot.arm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);\\n robot.arm.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\n\\n //P.S. if you're using the latest version of easyopencv, you might need to change the next line to the following:\\n phoneCam = OpenCvCameraFactory.getInstance().createInternalCamera(OpenCvInternalCamera.CameraDirection.BACK, cameraMonitorViewId);\\n //phoneCam = new OpenCvInternalCamera(OpenCvInternalCamera.CameraDirection.BACK, cameraMonitorViewId);//remove this\\n\\n phoneCam.openCameraDevice();//open camera\\n phoneCam.setPipeline(new StageSwitchingPipeline());//different stages\\n phoneCam.startStreaming(rows, cols, OpenCvCameraRotation.SIDEWAYS_LEFT);//display on RC\\n //width, height\\n //width = height in this case, because camera is in portrait mode.\\n\\n runtime.reset();\\n while (!isStarted()) {\\n for (int i = 0; i <= 7; i++) {\\n telemetry.addData(\\\"Values\\\", vals[i]);\\n }\\n for (int i = 0; i <= 7; i++) {\\n totals = totals + vals[i];\\n }\\n totals = totals / 255;\\n telemetry.addData(\\\"total\\\", totals);\\n\\n telemetry.addData(\\\"Height\\\", rows);\\n telemetry.addData(\\\"Width\\\", cols);\\n\\n telemetry.update();\\n sleep(100);\\n\\n if (totals >= 4) {\\n StartAngle = 30;\\n StartDistance = 105;\\n StartBack = -40;\\n ReturnAngle = 28;\\n ReturnDistance = -85;\\n drop2 = 112;\\n mid = 0;\\n backup2 = -33;\\n } else if (totals <= 0) {\\n StartAngle = 55;\\n StartDistance= 85;\\n StartBack = -5;\\n ReturnAngle = 38;\\n ReturnDistance = -60;\\n drop2 = 65;\\n mid = -2;\\n backup2 = -31;\\n } else {\\n StartAngle = 17;\\n StartDistance = 75;\\n StartBack = -20;\\n ReturnAngle = 22;\\n ReturnDistance = -49;\\n drop2 = 95;\\n mid = -18;\\n backup2 = -41;\\n }\\n totals = 0;\\n }\\n\\n\\n\\n gyroDrive(DRIVE_SPEED,6,0,30,0);\\n gyroDrive(DRIVE_SPEED,36,-45,30,0);\\n gyroDrive(DRIVE_SPEED,StartDistance,StartAngle,30,0);\\n\\n //robot.arm.setTargetPosition(-450);\\n //robot.arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\n /*robot.arm.setPower(-.1);\\n //robot.arm.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\n gyroHold(DRIVE_SPEED,0,2);\\n robot.claw.setPosition(0);\\n robot.arm.setPower(.05);\\n gyroHold(DRIVE_SPEED,0,1);\\n gyroDrive(DRIVE_SPEED,-10,0,5,0);\\n gyroTurn(TURN_SPEED,90);\\n gyroDrive(DRIVE_SPEED,-20,90,5,0);\\n\\n */\\n gyroTurn(TURN_SPEED,ReturnAngle);\\n robot.LWheel.setPower(-.9);\\n robot.RWheel.setPower(-.9);\\n gyroDrive(DRIVE_SPEED, ReturnDistance,ReturnAngle, 30,0);\\n gyroHold(TURN_SPEED,3,1);\\n robot.lock.setPosition(1);\\n robot.RTrack.setPosition(1);\\n robot.LTrack.setPosition(0);\\n gyroHold(TURN_SPEED,0,2);\\n gyroHold(TURN_SPEED,-3,2);\\n robot.LWheel.setPower(0);\\n robot.RWheel.setPower(0);\\n robot.RTrack.setPosition(.5);\\n robot.LTrack.setPosition(.5);\\n gyroTurn(TURN_SPEED,ReturnAngle);\\n gyroDrive(DRIVE_SPEED, backup2, ReturnAngle, 30,0);\\n\\n gyroTurn(TURN_SPEED,90);\\n gyroDrive(DRIVE_SPEED,52,80,5,0);\\n gyroTurn(TURN_SPEED,65);\\n gyroDrive(DRIVE_SPEED,drop2,2 + mid,10,0);\\n robot.RDrop.setPosition(.23);\\n robot.LDrop.setPosition(.23);\\n gyroDrive(DRIVE_SPEED,StartBack,0,5,0);\\n robot.arm.setPower(-.2);\\n\\n gyroHold(TURN_SPEED,0,1.7);\\n robot.arm.setPower(0);\\n }\",\n \"@Override\\n public void robotPeriodic() {\\n /*count++;\\n\\n if (count < 0) {\\n count = 0;\\n }\\n\\n int scriptIdx = count / SCRIPT_LENGTH;\\n\\n String[] script = LED_SCRIPTS[scriptIdx % (LED_SCRIPTS.length)];\\n\\n LedScript.setString(script[0]);\\n \\n if (script.length > 1) {\\n LedScriptArgument.setString(script[1]);\\n }*/\\n\\n // Hatch 0 has to be inverted because it is normally closed\\n //SmartDashboard.putBoolean(\\\"HatchSwitch0\\\", !HatchSwitch0.get());\\n //SmartDashboard.putBoolean(\\\"HatchSwitch1\\\", HatchSwitch1.get());\\n\\n //for (int i = 0; i < limits.length; i++) {\\n // SmartDashboard.putBoolean(\\\"Switch\\\" + (i + 2), limits[i].get());\\n //}\\n\\n\\n final int MAX_TEMP = 100;\\n if (MainLeft.getMotorTemperature() >= MAX_TEMP || AltLeft.getMotorTemperature() >= MAX_TEMP) {\\n xbox.setRumble(RumbleType.kLeftRumble, 0.5);\\n } else {\\n xbox.setRumble(RumbleType.kLeftRumble, 0);\\n }\\n \\n if (MainRight.getMotorTemperature() >= MAX_TEMP || AltRight.getMotorTemperature() >= MAX_TEMP) {\\n xbox.setRumble(RumbleType.kRightRumble, 0.5);\\n } else {\\n xbox.setRumble(RumbleType.kRightRumble, 0);\\n }\\n\\n //SmartDashboard.putNumber(\\\"DaTa\\\", NetworkTableInstance.getDefault().getTable(\\\"VisionTable\\\").getEntry(\\\"THIS IS A RANDOM NUMBER\\\").getNumber(-1).doubleValue());\\n //SmartDashboard.putNumber(\\\"LiftSetpoint\\\", LiftSetpoint);\\n //SmartDashboard.putNumber(\\\"LiftEncoderPos\\\", Lifter.getSelectedSensorPosition());\\n //SmartDashboard.putNumber(\\\"LiftVoltageOut\\\", Lifter.getMotorOutputVoltage());\\n //SmartDashboard.putNumber(\\\"LiftCurrentOut\\\", Lifter.getOutputCurrent());\\n //SmartDashboard.putString(\\\"ControlMode\\\", Lifter.getControlMode().toString());\\n //SmartDashboard.putNumber(\\\"ClosedLoopError\\\", Lifter.getClosedLoopError());\\n //SmartDashboard.putNumber(\\\"LiftRampOutput\\\", liftRamp.getOutput());\\n\\n /*Diagnostics.writeDouble(\\\"DrivePosLeft\\\", MainLeft.getEncoder().getPosition());\\n Diagnostics.writeDouble(\\\"DrivePosRight\\\", MainRight.getEncoder().getPosition());\\n Diagnostics.writeDouble(\\\"DrivePosLeftAlt\\\", AltLeft.getEncoder().getPosition());\\n Diagnostics.writeDouble(\\\"DrivePosRightAlt\\\", AltRight.getEncoder().getPosition());\\n Diagnostics.writeDouble(\\\"LiftVoltageOut\\\", Lifter.getMotorOutputVoltage());\\n Diagnostics.writeDouble(\\\"LiftCurrentOut\\\", Lifter.getOutputCurrent());\\n Diagnostics.writeInteger(\\\"LiftEncoderPos\\\", Lifter.getSelectedSensorPosition());\\n Diagnostics.writeInteger(\\\"LiftSetpoint\\\", LiftSetpoint);\\n Diagnostics.writeInteger(\\\"LiftRampOutput\\\", liftRamp.getOutput());\\n \\n Diagnostics.timestamp();*/\\n }\",\n \"@Override\\n public void loop() {\\n double left;\\n double right;\\n\\n // // Run wheels in tank mode (note: The joystick goes negative when pushed forwards, so negate it)\\n left = -gamepad1.left_stick_y;\\n right = -gamepad1.right_stick_y;\\n \\n // double Target = 0;\\n // robot.rightBack.setTargetPosition((int)Target);\\n // robot.rightBack.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\n\\n rightFront.setPower(left);\\n rightBack.setPower(right);\\n // robot.rightDrive.setPower(right);\\n\\n // // Use gamepad left & right Bumpers to open and close the claw\\n // if (gamepad1.right_bumper)\\n // clawOffset += CLAW_SPEED;\\n // else if (gamepad1.left_bumper)\\n // clawOffset -= CLAW_SPEED;\\n\\n // // Move both servos to new position. Assume servos are mirror image of each other.\\n // clawOffset = Range.clip(clawOffset, -0.5, 0.5);\\n // robot.leftClaw.setPosition(robot.MID_SERVO + clawOffset);\\n // robot.rightClaw.setPosition(robot.MID_SERVO - clawOffset);\\n\\n // Use gamepad buttons to move the arm up (Y) and down (A)\\n // if (gamepad1.y)\\n // armPosition += ARM_SPEED;\\n \\n // if (gamepad1.a)\\n // armPosition -= ARM_SPEED;\\n \\n // armPosition = Range.clip(armPosition, robot.ARM_MIN_RANGE, robot.ARM_MAX_RANGE); \\n \\n\\n // // Send telemetry message to signify robot running;\\n // telemetry.addData(\\\"arm\\\", \\\"%.2f\\\", armPosition);\\n // telemetry.addData(\\\"left\\\", \\\"%.2f\\\", left);\\n // telemetry.addData(\\\"right\\\", \\\"%.2f\\\", right);\\n }\",\n \"@Override\\n public void robotPeriodic() {\\n double high = m_filter.calculate(m_photoHigh.getValue());// * kValueToInches;\\n double low = m_filter.calculate(m_photoLow.getValue()); //* kValueToInches;\\n if (low<=6){\\n BallPresent = true;\\n //stop motor if ultrasonic sensor median falls below 6 inches indicating a ball is blocking the sensor\\n m_RightMotor.set(ControlMode.PercentOutput, 0);\\n } else {\\n BallPresent = false;\\n //stop motor if ultrasonic sensor median falls below 6 inches indicating a ball is blocking the sensor\\n m_RightMotor.set(ControlMode.PercentOutput, 0.5);\\n }\\n /*Shuffleboard.getTab(\\\"Shooter\\\").add(\\\"Ball Present\\\", BallPresent)\\n .withWidget(BuiltInWidgets.kBooleanBox)\\n .withPosition(0, 0)\\n .withSize(1, 1)\\n .withProperties(Map.of(\\\"colorWhenTrue\\\",\\\"green\\\",\\\"colorWhenFalse\\\",\\\"black\\\"));*/\\n SmartDashboard.putNumber(\\\"High\\\", high);\\n SmartDashboard.putNumber(\\\"Low\\\", low); \\n /*Shuffleboard.getTab(\\\"Shooter\\\").add(\\\"Ultrasonic 1\\\", currentDistance)\\n .withWidget(BuiltInWidgets.kGraph)\\n .withPosition(0, 2)\\n .withSize(4, 4);*/\\n // convert distance error to a motor speed\\n //double currentSpeed = (kHoldDistance - currentDistance) * kP;\\n\\n // drive robot\\n //m_robotDrive.arcadeDrive(currentSpeed, 0);\\n }\",\n \"@Override\\r\\n public void setServoValue(int servo, float value){\\r\\n checkServoCommandThread();\\r\\n // the message consists of\\r\\n // msg header: the command code (1 byte)\\r\\n // servo to control, 1 byte\\r\\n // servo PWM PCA capture-compare register value, 2 bytes, this encodes the LOW time of the PWM output\\r\\n // \\t\\t\\t\\tthis is send MSB, then LSB (big endian)\\r\\n ServoCommand cmd=new ServoCommand();\\r\\n cmd.bytes=new byte[4];\\r\\n cmd.bytes[0]=CMD_SET_SERVO;\\r\\n cmd.bytes[1]=(byte)getServo(servo);\\r\\n byte[] b=pwmValue(value);\\r\\n cmd.bytes[2]=b[0];\\r\\n cmd.bytes[3]=b[1];\\r\\n submitCommand(cmd);\\r\\n lastServoValues[getServo(servo)]=value;\\r\\n }\"\n]","isConversational":false},"negative_scores":{"kind":"list like","value":["0.743026","0.73775274","0.708388","0.6975977","0.6942941","0.6879603","0.6764882","0.67510366","0.6736705","0.671679","0.6714396","0.66752166","0.66585267","0.6608525","0.6603873","0.65940636","0.6579222","0.6524517","0.6517894","0.65100765","0.65047956","0.649411","0.6492814","0.6483173","0.64462626","0.6445458","0.6417836","0.64152694","0.63924813","0.63853395","0.6362473","0.63576233","0.635733","0.63483465","0.63477504","0.6347674","0.63420373","0.63391757","0.63375545","0.6336388","0.63254786","0.6305319","0.63029546","0.63019377","0.6295856","0.62842345","0.6282001","0.62737983","0.6272264","0.6272264","0.6272264","0.6272264","0.6272264","0.6272264","0.6269943","0.62621206","0.6258812","0.6256712","0.6249379","0.62321836","0.62318885","0.6230909","0.6218396","0.6204345","0.61939144","0.6189837","0.6186474","0.6184245","0.6170492","0.6168606","0.61682105","0.61600816","0.61505955","0.6149707","0.61398643","0.61376196","0.61362755","0.61235046","0.61190265","0.61171806","0.6116186","0.61112165","0.6105964","0.610275","0.60914725","0.6087559","0.6078256","0.6076663","0.6076477","0.60738385","0.60569704","0.6055786","0.6050356","0.6045667","0.6045667","0.6034317","0.60238355","0.6014022","0.6009503","0.6002661","0.5993535"],"string":"[\n \"0.743026\",\n \"0.73775274\",\n \"0.708388\",\n \"0.6975977\",\n \"0.6942941\",\n \"0.6879603\",\n \"0.6764882\",\n \"0.67510366\",\n \"0.6736705\",\n \"0.671679\",\n \"0.6714396\",\n \"0.66752166\",\n \"0.66585267\",\n \"0.6608525\",\n \"0.6603873\",\n \"0.65940636\",\n \"0.6579222\",\n \"0.6524517\",\n \"0.6517894\",\n \"0.65100765\",\n \"0.65047956\",\n \"0.649411\",\n \"0.6492814\",\n \"0.6483173\",\n \"0.64462626\",\n \"0.6445458\",\n \"0.6417836\",\n \"0.64152694\",\n \"0.63924813\",\n \"0.63853395\",\n \"0.6362473\",\n \"0.63576233\",\n \"0.635733\",\n \"0.63483465\",\n \"0.63477504\",\n \"0.6347674\",\n \"0.63420373\",\n \"0.63391757\",\n \"0.63375545\",\n \"0.6336388\",\n \"0.63254786\",\n \"0.6305319\",\n \"0.63029546\",\n \"0.63019377\",\n \"0.6295856\",\n \"0.62842345\",\n \"0.6282001\",\n \"0.62737983\",\n \"0.6272264\",\n \"0.6272264\",\n \"0.6272264\",\n \"0.6272264\",\n \"0.6272264\",\n \"0.6272264\",\n \"0.6269943\",\n \"0.62621206\",\n \"0.6258812\",\n \"0.6256712\",\n \"0.6249379\",\n \"0.62321836\",\n \"0.62318885\",\n \"0.6230909\",\n \"0.6218396\",\n \"0.6204345\",\n \"0.61939144\",\n \"0.6189837\",\n \"0.6186474\",\n \"0.6184245\",\n \"0.6170492\",\n \"0.6168606\",\n \"0.61682105\",\n \"0.61600816\",\n \"0.61505955\",\n \"0.6149707\",\n \"0.61398643\",\n \"0.61376196\",\n \"0.61362755\",\n \"0.61235046\",\n \"0.61190265\",\n \"0.61171806\",\n \"0.6116186\",\n \"0.61112165\",\n \"0.6105964\",\n \"0.610275\",\n \"0.60914725\",\n \"0.6087559\",\n \"0.6078256\",\n \"0.6076663\",\n \"0.6076477\",\n \"0.60738385\",\n \"0.60569704\",\n \"0.6055786\",\n \"0.6050356\",\n \"0.6045667\",\n \"0.6045667\",\n \"0.6034317\",\n \"0.60238355\",\n \"0.6014022\",\n \"0.6009503\",\n \"0.6002661\",\n \"0.5993535\"\n]","isConversational":false},"document_score":{"kind":"string","value":"0.0"},"document_rank":{"kind":"string","value":"-1"}}},{"rowIdx":120992,"cells":{"query":{"kind":"string","value":"use the joysticks on the xbox controller to nudge the setpoints up or down from their official servo settings. Use the nudgeThrottle parm to keep \"nudges\" from being too drastic."},"document":{"kind":"string","value":"private static synchronized void nudgeServo(ArmLiftMotorInfo mtrInfo, double encoderAdjustmentRatio) {\r\n\t\t\tsynchronized(armStage1.motorLock) {\r\n//\t\t\t\tsynchronized(armStage2.motorLock) { //CONFIG ME\r\n\t\t\t\t\tint nudgeAmt = 0;\r\n\t\t\t\t\t\r\n\t\t\t\t\t//use squaring to make the joysticks easier to use\r\n\t\t\t\t\tdouble jsReadingRaw = mtrInfo.jsNamedControl.getEnt().getAnalog();\r\n\t\t\t\t\tdouble jsReading = Math.copySign(jsReadingRaw*jsReadingRaw, jsReadingRaw);\r\n//\t\t\t\t\t//could square again if necessary....\r\n//\t\t\t\t\t//don't need copySign for cubing....\r\n//\t\t\t\t\tdouble jsReading = (jsReadingRaw*jsReadingRaw*jsReadingRaw); //cube for even easier joystick control\r\n\r\n\t\t\t\t\tif(mtrInfo.nudgeThrottle--==0) {\r\n\t\t\t\t\t\tnudgeAmt = -(int)(jsReading * encoderAdjustmentRatio);// / 25);\r\n\t\t\t\t\t\tif(nudgeAmt != 0) {\r\n\t\t\t\t\t\t\tP.println(PrtYn.Y, \"Arm SERVO nudgeAmt=\" + nudgeAmt + \" for JSrdg % 5.1f\");\r\n\t\t\t\t\t\t}\r\n\t\t\t\t\t\tmtrInfo.nudgeThrottle = ArmLiftMotorInfo.DEFAULT_NUDGE_THROTTLE;\r\n\t\t\t\t\t}\r\n\t\t\t\t\t\r\n\t\t\t\t\tif( mtrInfo.operatingMode.equals(OperatingModesE.SERVO)) {\r\n\t\t\t\t\t\tmtrInfo.nudgeServoSetpoint(nudgeAmt);\r\n\t\t\t\t\t}\r\n//\t\t\t\t}\r\n\t\t\t}\r\n\t\t}"},"metadata":{"kind":"string","value":"{\n \"objective\": {\n \"self\": [],\n \"paired\": [],\n \"triplet\": [\n [\n \"query\",\n \"document\",\n \"negatives\"\n ]\n ]\n }\n}"},"negatives":{"kind":"list like","value":["@Override\n public void loop() {\n float left = -gamepad1.left_stick_y;\n float right = -gamepad1.right_stick_y;\n // clip the right/left values so that the values never exceed +/- 1\n right = Range.clip(right, -1, 1);\n left = Range.clip(left, -1, 1);\n\n // scale the joystick value to make it easier to control\n // the robot more precisely at slower speeds.\n right = (float)scaleInput(right);\n left = (float)scaleInput(left);\n\n // write the values to the motors\n if (motor1!=null) {\n motor1.setPower(right);\n }\n if (motor2!=null) {\n motor2.setPower(left);\n }\n if (motor3!=null) {\n motor3.setPower(right);\n }\n if (motor4!=null) {\n motor4.setPower(left);\n }\n\n if (gamepad1.right_bumper && motor5Timer + 150 < timer) {\n motor5Forward = !motor5Forward;\n motor5Backward = false;\n motor5Timer = timer;\n } else if (gamepad1.left_bumper && motor5Timer + 150 < timer) {\n motor5Forward = false;\n motor5Backward = !motor5Backward;\n motor5Timer = timer;\n }\n if (motor5!=null) {\n if (gamepad1.dpad_left)\n {\n motor5Forward = false;\n motor5.setPower(1);\n }\n else if (gamepad1.dpad_right)\n {\n motor5Backward = false;\n motor5.setPower(-1);\n }\n else if (motor5Forward)\n {\n motor5.setPower(1);\n }\n else if (motor5Backward)\n {\n motor5.setPower(-1);\n }\n else\n {\n motor5.setPower(0);\n }\n }\n if (motor6!=null) {\n if (gamepad1.dpad_up)\n {\n motor6.setPower(1);\n }\n else if (gamepad1.dpad_down)\n {\n motor6.setPower(-1);\n }\n else\n {\n motor6.setPower(0);\n }\n\n\n }\n if (motor7!=null) {\n if (gamepad1.dpad_left)\n {\n motor7.setPower(1);\n }\n else if (gamepad1.dpad_right)\n {\n motor7.setPower(-1);\n }\n else\n {\n motor7.setPower(0);\n }\n }\n if (motor8!=null) {\n if (gamepad1.dpad_up)\n {\n motor8.setPower(1);\n }\n if (gamepad1.dpad_down)\n {\n motor8.setPower(-1);\n }\n else\n {\n motor8.setPower(0);\n }\n }\n if (timer == 0) {\n servo1pos=0.5;\n servo2pos=0.5;\n servo3pos=0.5;\n servo4pos=0.5;\n servo5pos=0.5;\n servo6pos=0.5;\n }\n timer++;\n\n if (servo1!=null){\n if (gamepad1.right_bumper) {\n servo1pos += 0.01;\n }\n if (gamepad1.left_bumper) {\n servo1pos -= 0.01;\n }\n servo1pos = Range.clip(servo1pos, 0.00, 1.0);\n\n servo1.setPosition(servo1pos);\n }\n if (servo2!=null){\n if (gamepad1.x) {\n servo2pos += 0.01;\n }\n if (gamepad1.y) {\n servo2pos -= 0.01;\n }\n servo2pos = Range.clip(servo2pos, 0.00, 1.0);\n\n servo2.setPosition(servo2pos);\n }\n if (servo3!=null){\n if (gamepad1.a) {\n servo3pos += 0.01;\n }\n if (gamepad1.b) {\n servo3pos -= 0.01;\n }\n servo3pos = Range.clip(servo3pos, 0.00, 1.0);\n\n servo3.setPosition(servo3pos);\n }\n if (servo4!=null){\n if (gamepad1.right_bumper) {\n servo4pos -= 0.01;\n }\n if (gamepad1.left_bumper) {\n servo4pos += 0.01;\n }\n servo4pos = Range.clip(servo4pos, 0.00, 1.0);\n\n servo4.setPosition(servo4pos);\n }\n if (servo5!=null){\n if (gamepad1.x) {\n servo5pos -= 0.01;\n }\n if (gamepad1.y) {\n servo5pos += 0.01;\n }\n servo5pos = Range.clip(servo5pos, 0.00, 1.0);\n\n servo5.setPosition(servo5pos);\n }\n if (servo6!=null){\n if (gamepad1.a) {\n servo6pos -= 0.01;\n }\n if (gamepad1.b) {\n servo6pos += 0.01;\n }\n servo6pos = Range.clip(servo6pos, 0.00, 1.0);\n\n servo6.setPosition(servo6pos);\n }\n if (servo1!=null){\n telemetry.addData(\"servoBumpers\", servo1.getPosition());}\n if (servo2!=null){\n telemetry.addData(\"servoX/Y\", servo2.getPosition());}\n if (servo3!=null){\n telemetry.addData(\"servoA/B\", servo3.getPosition());}\n if (servo4!=null){\n telemetry.addData(\"servoBumpers-\", servo4.getPosition());}\n if (servo5!=null){\n telemetry.addData(\"servoX/Y-\", servo5.getPosition());}\n if (servo6!=null){\n telemetry.addData(\"servoA/B-\", servo6.getPosition());}\n if (motor1 != null) {\n telemetry.addData(\"Motor1\", motor1.getCurrentPosition());\n }\n }","@Override\n public void loop() { \n\n double forward = gamepad1.left_stick_y;\n double turn = gamepad1.right_stick_x;\n double collect = gamepad2.left_trigger - gamepad2.right_trigger;\n double wristPower = gamepad1.left_trigger - gamepad1.right_trigger;\n\n if (forward > 0)\n forward = Math.pow(forward, 2);\n else if (forward < 0)\n forward = -Math.pow(forward, 2);\n\n if (turn > 0)\n turn = Math.pow(turn, 2);\n else if (turn < 0)\n turn = -Math.pow(turn, 2);\n//\n// else if(turn < 0)\n// turn = -Math.pow(turn, 2);\n telemetry.addData(\"Forward Power\", forward);\n telemetry.addData(\"Turn Power\", turn);\n left.setPower(Range.clip(forward - turn, -1, 1));\n right.setPower(Range.clip(forward + turn, -1, 1));\n collection.setPower(0.8 * (Range.clip(collect, -1.0, 1.0)));\n wrist.setPower((Range.clip(wristPower, -1, 1)));\n\n //regular servo code\n// if(gamepad1.x && !wristUp) //wrist up\n// {\n// wrist.setPosition(.9);\n// wristUp = true;\n// }\n// else if(gamepad1.x && wristUp) //wrist down\n// { wrist.setPosition(-.9);\n// wristUp = false;\n// }\n// else if(gamepad1.left_trigger > 0 && wrist.getPosition() <= .95)\n// {\n// wrist.setPosition(wrist.getPosition() + 0.005);\n// }\n// else if(gamepad1.right_trigger > 0 && wrist.getPosition() >= -.95)\n// {\n// wrist.setPosition(wrist.getPosition() - 0.005);\n// }\n\n if (lift.getCurrentPosition() >= 0 || lift.getCurrentPosition() <= 3200 || liftOverride){\n if (gamepad2.left_stick_y > 0.2)\n lift.setPower(-1);\n else if (gamepad2.left_stick_y < -0.2)\n lift.setPower(1);\n else\n lift.setPower(0);\n }\n if(gamepad2.right_bumper && gamepad2.y)\n {\n liftOverride = true;\n }\n else if(liftOverride == true)\n {\n lift.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);\n lift.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\n liftOverride = false;\n }\n telemetry.addData(\"bucket posiition\", bucket.getPosition());\n telemetry.update();\n\n if (gamepad2.a) //bucket dump\n {\n bucket.setPosition(0.75);\n } else if (gamepad2.b) //bucket down\n {\n bucket.setPosition(0);\n } else if (gamepad2.x) //endgame\n bucket.setPosition(0.4);\n if (gamepad2.dpad_up && bucket.getPosition() <= 0.9975)\n bucket.setPosition(bucket.getPosition() + .0025);\n else if (gamepad2.dpad_down && bucket.getPosition() >= -0.9975)\n bucket.setPosition(bucket.getPosition() - .0025);\n\n\n //Press to keep bucket up for endgame\n //NOTE: D-Pad will not work unless gamepad2 B is pressed to end the override\n// if(gamepad2.a && bucketOverride == false) {\n// bucket.setPower(-.4);\n// bucketOverride = true;\n// }\n// else if (gamepad2.a && bucketOverride == true)\n// {\n// bucket.setPower(0);\n// bucketOverride = false;\n// }\n\n if (gamepad1.right_bumper) {\n extension.setPower(1);\n } else if (gamepad1.left_bumper) {\n extension.setPower(-1);\n } else extension.setPower(0);\n\n telemetry.update();\n }","private void visionDrive(double throttle) {\n if(limelight.isValidTarget()) {\n// DriverStation.reportWarning(\"\"+SmartDashboard.getNumber(\"Vision P\", Constants.visionDriveP),false);\n// visionDrive.setP(SmartDashboard.getNumber(\"Vision P\", Constants.visionDriveP));\n// visionDrive.setI(SmartDashboard.getNumber(\"Vision I\", Constants.visionDriveI));\n// visionDrive.setD(SmartDashboard.getNumber(\"Vision D\", Constants.visionDriveD));\n// visionDrive.setMaxIOutput(.225);\n double error = limelight.getCenter().x;\n double output = Constants.outsideP * -error;\n if(Math.abs(error) < 4) {\n// SmartDashboard.putString(\"In PID?\", \"PID\");\n output = visionDrive.getOutput(error);\n left.set(ControlMode.PercentOutput, throttle - output);\n right.set(ControlMode.PercentOutput, throttle + output);\n// SmartDashboard.putNumber(\"PID Output\", output);\n }\n else if(Math.abs(error) < 7 && Math.abs(error) > 2){\n double val = .2;\n if (error < 0){\n// SmartDashboard.putString(\"In PID?\", \"1\");\n left.set(ControlMode.PercentOutput, -val);\n right.set(ControlMode.PercentOutput, val);\n }\n else if (error > 0){\n// SmartDashboard.putString(\"In PID?\", \"2\");\n left.set(ControlMode.PercentOutput, val);\n right.set(ControlMode.PercentOutput, -val);\n }\n }\n else if (error < 0){\n// SmartDashboard.putString(\"In PID?\", \"3\");\n left.set(ControlMode.PercentOutput, -.25);\n right.set(ControlMode.PercentOutput, .25);\n }\n else if (error > 0){\n// SmartDashboard.putString(\"In PID?\", \"4\");\n left.set(ControlMode.PercentOutput, .25);\n right.set(ControlMode.PercentOutput, -.25);\n }\n\n SmartDashboard.putNumber(\"Error\", error);\n } else {\n visionDrive.reset();\n setOutput(0, 0);\n }\n }","void driveStick(float x, float y) {\n speed = (Math.abs(x) > Math.abs(y) ? Math.abs(x) : Math.abs(y)) / 1.5;\n\n telemetry.addData(\"y\", y);\n telemetry.addData(\"x\", x);\n\n //One program to combine 8 directions of motion on one joystick using ranges of x and y values\n if (y > .10) {\n drive(\"left\");\n } else if (y < -.10) {\n drive(\"right\");\n } else if (x > .10) {\n drive(\"down\");\n } else if (x < -.10) {\n drive(\"up\");\n } else {\n drive(\"stop\");\n }\n\n\n }","public void activateUncontrolledMoves() {\n new Thread(new Runnable() {\n @Override\n public void run() {\n actualPoint = new Point();\n actualPoint.x = 0;\n actualPoint.y = 0;\n final int maxX = wheel.getBounds().width(); //This represent the max X possible coord on the wheel\n final int maxY = wheel.getBounds().height();\n int timeBtwnMvmnts = 5000; //Time between each new movement\n while (true) {\n\n try {\n Thread.sleep(timeBtwnMvmnts);//Waiting for the next movement\n } catch (InterruptedException e) {\n\n }\n if (isUncontrolledActivated) { //If is activated continue\n double userCurrentSnap = USER_CURRENT_BREATH_RATE; //Snapshot to the current BR\n\n //Getting the percent of excess according to the max ideal breathing rate and the max posible rate (20)\n //Consider 6-8, MAX_IDEAL_BREATH_RATE (8) will be the max\n double referenceDistance = MAX_BREATH_RATE - MAX_IDEAL_BREATH_RATE;\n double myRateExcess = userCurrentSnap - MAX_IDEAL_BREATH_RATE;\n double relationPreferedActual = myRateExcess / referenceDistance;\n double percentOfExcess = relationPreferedActual * 100;\n\n Random r = new Random();\n\n //Probability of appearance of each special move\n if (percentOfExcess <= 40 && percentOfExcess > 10) { //A little error margin to make it easier. Nets to be 10% excess\n //Boost, stop, roll , inverted. probabilities (70,16,10,4)\n int diceRolled = r.nextInt(100); //This works as the \"probability\"\n if (diceRolled < 4) {// 4% inverted\n /*Enable inverted controlling. Determine how much time is this going to last.\n Not more than the time between each movement.*/\n final int duration = new Random().nextInt(timeBtwnMvmnts - 1000) + 1000;\n invertControls(duration);\n } else if (diceRolled >= 4 && diceRolled < 14) { // 10% roll\n uncRoll(maxX, maxY);\n } else if (diceRolled >= 14 && diceRolled < 30) { // 16% stop\n uncStop();\n } else if (diceRolled >= 30 && diceRolled < 100) { // 70% boost\n int whichBoost = new Random().nextInt(1);\n if (whichBoost == 0)\n uncBackwardBoost(actualPoint.x, actualPoint.y, maxX, maxY);\n else\n uncForwardBoost(actualPoint.x, actualPoint.y, maxX, maxY);\n }\n timeBtwnMvmnts = 8000;\n } else if (percentOfExcess <= 60 && percentOfExcess > 10) {\n //Boost, stop, roll , inverted. probabilities (45,30,15,10)\n int diceRolled = r.nextInt(100);\n if (diceRolled < 10) {// 10% inverted\n final int duration = new Random().nextInt(timeBtwnMvmnts - 1000) + 1000;\n invertControls(duration);\n } else if (diceRolled >= 10 && diceRolled < 25) { // 15% roll\n uncRoll(maxX, maxY);\n } else if (diceRolled >= 25 && diceRolled < 55) { // 30% stop\n uncStop();\n } else if (diceRolled >= 55 && diceRolled < 100) { // 45% boost\n int whichBoost = new Random().nextInt(1);\n if (whichBoost == 0)\n uncBackwardBoost(actualPoint.x, actualPoint.y, maxX, maxY);\n else\n uncForwardBoost(actualPoint.x, actualPoint.y, maxX, maxY);\n }\n timeBtwnMvmnts = 6700;\n } else if (percentOfExcess > 10) {//Percent > 60\n //Boost, stop, roll , inverted. probabilities (5,10,25,60)\n int diceRolled = r.nextInt(100);\n if (diceRolled < 60) {// 60% inverted\n final int duration = new Random().nextInt(timeBtwnMvmnts - 1000) + 1000;\n invertControls(duration);\n } else if (diceRolled >= 60 && diceRolled < 85) { // 25% roll\n uncRoll(maxX, maxY);\n } else if (diceRolled >= 85 && diceRolled < 95) { // 10% stop\n uncStop();\n } else if (diceRolled >= 95 && diceRolled < 100) { // 5% boost\n int whichBoost = new Random().nextInt(1);\n if (whichBoost == 0)\n uncBackwardBoost(actualPoint.x, actualPoint.y, maxX, maxY);\n else\n uncForwardBoost(actualPoint.x, actualPoint.y, maxX, maxY);\n }\n timeBtwnMvmnts = 5000;\n }\n\n } else {\n break;\n }\n }\n }\n }).start();\n }","public void uncForwardBoost(final int x, final int y, final int maxX, final int maxY) {\n /* First, determine in which quadrant is the puck.\n Remember, here with the driver there is no negative values to the drive coords\n */\n new Thread(new Runnable() {\n @Override\n public void run() {\n int count = 0;\n int centerX = maxX / 2;\n int centerY = maxY / 2;\n int finalX = 0, finalY = 0;\n int time = 1;\n if (ACTUAL_DIFICULTY == EASY)\n time = 1;\n if (ACTUAL_DIFICULTY == MEDIUM)\n time = 2;\n if (ACTUAL_DIFICULTY == HARD)\n time = 3;\n\n if (x >= centerX && y < centerY) {//Quadrant 1. x btw 130 and 300. y btw 0 and 130\n finalX = maxX;\n finalY = 0;\n } else if (x < centerX && y < centerY) { //Quadrant 2.\n finalX = 0;\n finalY = 0;\n } else if (x < centerX && y >= centerY) { //Quadrant 3.\n finalX = 0;\n finalY = maxY;\n } else if (x >= centerX && y >= centerY) { //Quadrant 4.\n finalX = maxX;\n finalY = maxY;\n }\n while (count < time) {//Time of boost\n\n drive_control.stopDriving();\n drive_control.setSpeedScale(MAX_SCALED_SPEED);\n drive_control.startDriving(getContext(), DriveControl.JOY_STICK);\n drive_control.driveJoyStick(finalX, finalY);\n try {\n Thread.sleep(100);\n } catch (InterruptedException e) {\n }\n count++;\n }\n restoreValues();\n }\n }).start();\n }","@Override\n public void teleopPeriodic() {\n double pi4 = (double)Math.PI/4;\n/*\n double deadzoneX = 0.1;\n double multiplierX = 1/deadzoneX;\n double deadzoneY = 0.1;\n double multiplierY = 1/deadzoneY;\n\n double maxSpeed = stick.getThrottle() * 1f;\nstick.getX()/Math.abs(stick.getX())\n double stickX;\n if (Math.abs(stick.getX())< deadzoneX){\n stickX = 0;\n }\n\n else {\n stickX = ((stick.getMagnitude() * Math.sin(stick.getDirectionRadians())) - deadzoneX)*multiplierX;\n }\n\n \n double stickY;\n if (Math.abs(stick.getY())< deadzoneY){\n stickY = 0;\n }\n\n else {\n stickY = (stick.getMagnitude() * Math.cos(stick.getDirectionRadians()) - deadzoneY)*multiplierY;\n }\n \n\n double stickTwist = stick.getTwist();\n\n double leftFrontForwardsPower = -stickY;\n double rightFrontForwardsPower = stickY;\n double leftBackForwardsPower = -stickY;\n double rightBackForwardsPower = stickY;\n\n double leftFrontSidePower = -stickX;\n double rightFrontSidePower = -stickX;\n double leftBackSidePower = +stickX;\n double rightBackSidePower = stickX;\n\n double leftFrontRotatePower = -stickTwist;\n double rightFrontRotatePower = -stickTwist;\n double leftBackRotatePower = -stickTwist;\n double rightBackRotatePower = -stickTwist;\n\n */\n\n /* get gyro from robot\n set gyro tto original gyro\n void()\n\n get X for joystick\n get Y for Joystick\n\n get gyro for robot\n\n if X = 0\n then Joystick angle pi/2\n else\n then Joystick angle = arctan(Y/X)\n\n newGyro = original gyro - gyro\n\n xfinal = cos(newGyro+joystickangle) * absolute(sqrt(x^2+y^2))\n yfinal = sin(newGyro+joystickangle) * absolute(sqrt(x^2+y^2))\n*/\n\n//Xbox COntroller\n \n double maxSpeed = stick.getThrottle() * 0.2f;\n double maxRot = 1f;\n\n double controllerX = -controller.getX(Hand.kRight);\n double controllerY = controller.getY(Hand.kRight);\n double joyAngle;\n boolean gyroRestart = controller.getAButtonPressed();\n\n if (gyroRestart){\n gyro.reset();\n origGyro = Math.toRadians(gyro.getAngle());\n }\n\n double mainGyro = Math.toRadians(gyro.getAngle());\n/*\n if (controllerX == 0 && controllerY > 0){\n joyAngle = (3*Math.PI)/2;\n }\n\n \n if (controllerX == 0 && controllerY < 0){\n joyAngle = Math.PI/2;\n }\n\n else{\n joyAngle = Math.atan(controllerY/controllerX);\n }\n\n if (controllerX > 0 && controllerY < 0){\n joyAngle = Math.abs(joyAngle + Math.toRadians(180));\n }\n if (controllerX > 0 && controllerY > 0){\n joyAngle -= Math.toRadians(180);\n }\n / * if (controllerX < 0 && controllerY > 0){\n joyAngle -= Math.toRadians(270);\n }* /\n*/\n joyAngle = Math.atan2(controllerY, controllerX);\n\n double newGyro = origGyro - mainGyro;\n //double newGyro = 0;\n\n double controllerTurn = -controller.getX(Hand.kLeft)*maxRot;\n\n double magnitude = Math.abs(Math.sqrt(Math.pow(controllerX,2) + Math.pow(controllerY, 2)));\n\n double xFinal = Math.cos(newGyro + joyAngle) * magnitude;\n double yFinal = Math.sin(newGyro + joyAngle) * magnitude;\n\n\n /* \n double leftFrontForwardsPower = -controllerY;\n double rightFrontForwardsPower = controllerY;\n double leftBackForwardsPower = -controllerY;\n double rightBackForwardsPower = controllerY;\n\n double leftFrontSidePower = -controllerX;\n double rightFrontSidePower = -controllerX;\n double leftBackSidePower = controllerX;\n double rightBackSidePower = controllerX;\n*/\n \n double leftFrontForwardsPower = -yFinal;\n double rightFrontForwardsPower = yFinal;\n double leftBackForwardsPower = -yFinal;\n double rightBackForwardsPower = yFinal;\n\n double leftFrontSidePower = -xFinal;\n double rightFrontSidePower = -xFinal;\n double leftBackSidePower = xFinal;\n double rightBackSidePower = xFinal;\n \n double leftFrontRotatePower = -controllerTurn;\n double rightFrontRotatePower = -controllerTurn;\n double leftBackRotatePower = -controllerTurn;\n double rightBackRotatePower = -controllerTurn;\n\n double forwardsWeight = 1;\n double sideWeight = 1;\n double rotateWeight = 1;\n\n double leftFrontPower = leftFrontForwardsPower * forwardsWeight + leftFrontSidePower * sideWeight + leftFrontRotatePower * rotateWeight;\n double rightFrontPower = rightFrontForwardsPower * forwardsWeight + rightFrontSidePower * sideWeight + rightFrontRotatePower * rotateWeight;\n double leftBackPower = leftBackForwardsPower * forwardsWeight + leftBackSidePower * sideWeight + leftBackRotatePower * rotateWeight;\n double rightBackPower = rightBackForwardsPower * forwardsWeight + rightBackSidePower * sideWeight + rightBackRotatePower * rotateWeight;\n\n leftFrontPower *= maxSpeed;\n rightFrontPower *= maxSpeed;\n leftBackPower *= maxSpeed;\n rightBackPower *= maxSpeed;\n\n\n double largest = Math.max( \n Math.max( Math.abs( leftFrontPower),\n Math.abs(rightFrontPower)),\n Math.max( Math.abs( leftBackPower), \n Math.abs( rightBackPower)));\n\n if (largest > 1) {\n leftFrontPower /= largest;\n rightFrontPower /= largest;\n leftBackPower /= largest;\n rightBackPower /= largest;\n }\n \n \n leftFrontMotor.set(leftFrontPower);\n rightFrontMotor.set(rightFrontPower); \n leftBackMotor.set(leftBackPower);\n rightBackMotor.set(rightBackPower);\n\n SmartDashboard.putNumber(\"Main Gyro\", mainGyro);\n SmartDashboard.putNumber(\"Original Gyro\", origGyro);\n SmartDashboard.putNumber(\"New Gyro\", newGyro);\n SmartDashboard.putNumber(\"Controller X\", controllerX);\n SmartDashboard.putNumber(\"Controller Y\", controllerY);\n SmartDashboard.putNumber(\"Magnitude \", magnitude);\n SmartDashboard.putNumber(\"Largest\", largest);\n SmartDashboard.putNumber(\"Joystick Angle\", Math.toDegrees(joyAngle));\n SmartDashboard.putNumber(\"X final\", xFinal);\n SmartDashboard.putNumber(\"Y final\", yFinal);\n SmartDashboard.putNumber(\"Left Front Power\", leftFrontPower);\n SmartDashboard.putNumber(\"Right Front Power\", rightFrontPower);\n SmartDashboard.putNumber(\"Left Back Power\", leftBackPower);\n SmartDashboard.putNumber(\"Right Back Power\", rightBackPower);\n }","@Override\n public void teleopPeriodic() {\n double y = -xbox.getRawAxis(0) * 0.7D * (1.0D + Math.max(0, xbox.getRawAxis(4)) * 1.4285714D);\n double rawSpeed = xbox.getRawAxis(2) - xbox.getRawAxis(3);\n\n if (SAFETY_MODE) {\n y *= 0.75D;\n\n if (xbox.getBumper(Hand.kLeft) && joystick.getRawButton(7)) {\n if (safetyCount > 0) {\n safetyCount--;\n SmartDashboard.putNumber(\"Safety Count\", safetyCount);\n\n if (safetyCount == 0) {\n safetyTripped = false;\n clearAllButtonStates();\n SmartDashboard.putBoolean(\"Safety Tripped\", safetyTripped);\n }\n } else {\n safetyTripped = false;\n }\n } else {\n safetyTripped = true;\n safetyCount = MAX_SAFETY_COUNT;\n SmartDashboard.putNumber(\"Safety Count\", safetyCount);\n SmartDashboard.putBoolean(\"Safety Tripped\", safetyTripped);\n }\n } else {\n safetyTripped = false;\n }\n\n // Climb Speed\n if (xbox.getRawButton(6)) {\n rawSpeed = -0.3D;\n }\n\n // Super slow mode\n if (xbox.getAButton() || SAFETY_MODE) {\n SpeedRamp.Setpoint = rawSpeed * 0.45D;\n } else {\n SpeedRamp.Setpoint = rawSpeed * 0.8D * (1.0D + Math.max(0, xbox.getRawAxis(4)) * 0.25);\n }\n\n SpeedRamp.update();\n\n boolean seesTape = TapeDetectedEntry.getBoolean(false);\n \n if (seesTape && !safetyTripped) {\n final double ADJUST_CONST = 0.13281734;\n //double tapePitch = TapePitchEntry.getNumber(0).doubleValue();\n double tapeYaw = TapeYawEntry.getNumber(0).doubleValue();\n final double TARGET_YAW = 0;//PitchYawAdjuster.GetYawFromPitch(tapePitch);\n\n //SmartDashboard.putNumber(\"tapePitch\", tapePitch);\n //SmartDashboard.putNumber(\"tapeYaw\", tapeYaw);\n \n double diff = tapeYaw - ADJUST_CONST;\n \n String s = \"\";\n\n if (diff > 0) {\n s = \"<-- (\" + diff + \")\";\n } else if (diff < 0) {\n s = \"--> (\" + diff + \")\";\n }\n\n if (/*xbox.getRawButton(5) This is now taken for the safety button*/false) {\n final double MAX_AFFECT = 0.4;\n if (diff > MAX_AFFECT) {\n diff = MAX_AFFECT;\n } else if (diff < -MAX_AFFECT) {\n diff = -MAX_AFFECT;\n }\n\n y -= diff;\n }\n\n SmartDashboard.putString(\"TapeDir\", s);\n } else {\n SmartDashboard.putString(\"TapeDir\", \"X\");\n }\n\n if (xbox.getRawButtonPressed(7)) {\n Lifter.setSelectedSensorPosition(0);\n LiftSetpoint = 0;\n LiftRamp.Setpoint = 0;\n LiftRamp.setOutput(0);\n }\n\n //Scheduler.getInstance().run();\n // Cargo ship is(n't anymore) -13120\n\n // The fine adjustment has nothing to do with hammers.\n // Don't try to use a hammer on the roboRIO. Ever.\n final int FINE_ADJUSTMENT_AMOUNT = -500;\n\n if (!safetyTripped) {\n if (joystick.getPOV() == 0) {\n if (!joyPOV0PressedLast) {\n joyPOV0PressedLast = true;\n if (LiftSetpoint - FINE_ADJUSTMENT_AMOUNT <= 0)\n LiftSetpoint -= FINE_ADJUSTMENT_AMOUNT;\n }\n } else {\n joyPOV0PressedLast = false;\n\n if (joystick.getPOV() == 180) {\n if (!joyPOV180PressedLast) {\n joyPOV180PressedLast = true;\n LiftSetpoint += FINE_ADJUSTMENT_AMOUNT;\n }\n } else {\n joyPOV180PressedLast = false;\n }\n }\n\n Drive.arcadeDrive(SpeedRamp.getOutput(), y);\n\n if (joystick.getRawButtonPressed(11)) {\n LiftSetpoint = HATCH_BOTTOM;\n } else if (joystick.getRawButtonPressed(9)) {\n LiftSetpoint = HATCH_MIDDLE;\n //} else if (joystick.getRawButtonPressed(7)) {\n // This button is now used for safety mode LiftSetpoint = HATCH_TOP;\n // and also for grab-hatch-on-impact mode\n } else if (joystick.getRawButtonPressed(12)) {\n LiftSetpoint = CARGO_BOTTOM;\n } else if (joystick.getRawButtonPressed(10)) {\n LiftSetpoint = CARGO_MIDDLE;\n //} else if (joystick.getRawButtonPressed(8)) {\n //LiftSetpoint = CARGO_TOP;\n } else if (joystick.getRawButtonPressed(1)) {\n LiftSetpoint = CARGO_FLOOR;\n }\n\n double liftY = -joystick.getRawAxis(1);\n final double deadband = 0.15;\n\n if (Math.abs(liftY) > deadband) {\n double change = (liftY < 0 ? liftY + 0.15 : liftY - 0.15) * 200;//(int)liftEntry.getDouble(0);//\n \n if (change > 100) {\n change = 100;\n } else if (change < -100) {\n change = -100;\n }\n\n LiftRamp.setOutput(LiftRamp.getOutput() + change);\n LiftRamp.Setpoint += change;\n LiftSetpoint = (int)LiftRamp.Setpoint;\n }\n\n if (LiftSetpoint < LIMIT_UP) {\n LiftSetpoint = LIMIT_UP;\n }\n } else {\n Drive.arcadeDrive(0, 0);\n }\n \n LiftRamp.Setpoint = LiftSetpoint;\n SmartDashboard.putNumber(\"LiftSetpoint\", LiftRamp.Setpoint);\n //SmartDashboard.putNumber(\"LiftEncoderPos\", Lifter.getSelectedSensorPosition());\n SmartDashboard.putNumber(\"LiftOutput\", LiftRamp.getOutput());\n LiftRamp.update();\n\n Lifter.set(ControlMode.Position, LiftRamp.getOutput());\n //Lifter.set(ControlMode.PercentOutput, -joystick.getRawAxis(1));\n\n if (!safetyTripped) {\n if (joystick.getRawButtonPressed(4)) {\n ArmsClosed = !ArmsClosed;\n } else if (!SAFETY_MODE) {\n // This is the same as the joystick safety button, so it only works outside\n // safety mode, and why would it be needed in safety mode anyway?\n // It should be disabled in safety mode anyway to make sure we don't\n // accidently attack someone's fingers at a Demo.\n\n // Holding joystick button 7 makes the limit switches on the hatch mechanism\n // active, so when the hatch contacts the switches, the mechanism automatically\n // grabs the hatch.\n // HatchSwitch0 does not have to be inverted. It's complicated.\n if (joystick.getRawButton(7) && (HatchSwitch0.get() || !HatchSwitch1.get())) {\n ArmsClosed = false;\n }\n }\n\n if (joystick.getRawButtonPressed(3)) {\n ArmsExtended = !ArmsExtended;\n }\n }\n\n ArmExtender.set(ArmsExtended);\n ArmOpener.set(ArmsClosed);\n\n //Diagnostics.writeDouble(\"DriveX\", x);\n //Diagnostics.writeDouble(\"DriveY\", y);\n\n // X = out, Y = in\n\n final double GRAB_SPEED;\n\n if (SAFETY_MODE) {\n GRAB_SPEED = 0.8D;\n } else {\n GRAB_SPEED = 1D; // TODO at one point we had this 0.8, is that what it's supposed to be?\n }\n \n if (!safetyTripped) {\n ArmGrippers.set(/*xbox.getXButton() || */joystick.getRawButton(6) ? -GRAB_SPEED : /*xbox.getYButton() ||*/ joystick.getRawButton(5) ? GRAB_SPEED : 0);\n } else {\n ArmGrippers.set(0);\n }\n\n\n // === Climbing stuff ===\n\n boolean climbSafety = /*joystick.getRawButton(2) &&*/ !safetyTripped;\n \n // Have to check all of these every update to make sure it was pressed\n // between now and the last update\n boolean retractFront = xbox.getYButton/*Pressed*/();\n boolean retractBack = xbox.getXButton/*Pressed*/();\n boolean climbBoth = xbox.getRawButton/*Pressed*/(8);\n\n final double CLIMB_SPEED = 1;\n final double RETRACT_SPEED = 0.75;\n final double HOLD_SPEED = 0.3;\n // If you multiply the hold by this, you get the climb value.\n // Avoids having to thing + or minus so many times.\n final double HOLD_CLIMB_MULTIPLIER = CLIMB_SPEED / HOLD_SPEED;\n\n // Left is negative, right is positive\n double xOff = Math.round((Accel.getX() - ZeroX) * 10) / 10D;\n // Forward is negative, backwards is positive\n double zOff = Math.round((Accel.getZ() - ZeroZ) * 10) / 10D;\n\n\n SmartDashboard.putNumber(\"X\", xOff);\n SmartDashboard.putNumber(\"Z\", zOff);\n\n\n if (climbSafety || IsHoldingBack || IsHoldingFront) {\n if (climbBoth) {\n IsHoldingBack = true;\n IsHoldingFront = true;\n\n \n double SpeedFR = CLIMB_SPEED;\n double SpeedFL = -CLIMB_SPEED;\n double SpeedBR = -CLIMB_SPEED;\n double SpeedBL = CLIMB_SPEED;\n\n final double SLOW_MULT = 0.3;\n\n if (xOff < 0 || zOff < 0) {\n SpeedBR *= SLOW_MULT;\n }\n\n if (xOff < 0 || zOff > 0) {\n SpeedFR *= SLOW_MULT;\n }\n\n if (xOff > 0 || zOff < 0) {\n SpeedBL *= SLOW_MULT;\n }\n\n if (xOff > 0 || zOff > 0) {\n SpeedFL *= SLOW_MULT;\n }\n \n LegFrontR.set(SpeedFR);\n LegFrontL.set(ControlMode.PercentOutput, SpeedFL);\n LegBackR.set(ControlMode.PercentOutput, SpeedBR);\n LegBackL.set(ControlMode.PercentOutput, SpeedBL);\n\n } else {\n if (retractBack) {\n IsHoldingBack = false;\n LegBackR.set(ControlMode.PercentOutput, RETRACT_SPEED);\n LegBackL.set(ControlMode.PercentOutput, -RETRACT_SPEED);\n } else if (IsHoldingBack) {\n double rightSpeed = -HOLD_SPEED;\n double leftSpeed = HOLD_SPEED;\n int pov = xbox.getPOV();\n\n // Front right leg\n if (pov >= 0 && pov <= 90) {\n\n }\n\n LegBackR.set(ControlMode.PercentOutput, -HOLD_SPEED);\n LegBackL.set(ControlMode.PercentOutput, HOLD_SPEED);\n } else {\n LegBackR.set(ControlMode.PercentOutput, 0);\n LegBackL.set(ControlMode.PercentOutput, 0);\n }\n\n if (retractFront) {\n IsHoldingFront = false;\n LegFrontR.set(-RETRACT_SPEED);\n LegFrontL.set(ControlMode.PercentOutput, RETRACT_SPEED);\n } else if (IsHoldingFront) {\n double rightSpeed = HOLD_SPEED;\n double leftSpeed = -HOLD_SPEED;\n int pov = xbox.getPOV();\n\n // Front right leg\n if (pov >= 0 && pov <= 90) {\n rightSpeed *= HOLD_CLIMB_MULTIPLIER;\n }\n\n LegFrontR.set(rightSpeed);\n LegFrontL.set(ControlMode.PercentOutput, leftSpeed);\n } else {\n LegFrontR.set(0);\n LegFrontL.set(ControlMode.PercentOutput, 0);\n }\n }\n } else {\n LegBackR.set(ControlMode.PercentOutput, 0);\n LegBackL.set(ControlMode.PercentOutput, 0);\n LegFrontR.set(0);\n LegFrontL.set(ControlMode.PercentOutput, 0);\n }\n \n double footSpeed = Math.max(-1.0, Math.min(rawSpeed * 3, 1.0F));\n\n if (IsHoldingBack) {\n // Drive back feet\n BackFootMover.set(footSpeed);\n } else {\n BackFootMover.set(0);\n }\n\n if (IsHoldingFront) {\n // Drive front feet\n FrontFootMover.set(footSpeed);\n } else {\n FrontFootMover.set(0);\n }\n\n // Publish values to dashboard for LEDs\n LedArmsClosed.setBoolean(ArmsClosed);\n }","@Override\n public void loop() {\n double left;\n double right;\n\n // Run wheels in tank mode (note: The joystick goes negative when pushed forwards, so negate it)\n if(!reverseMode)\n {\n left = -gamepad1.left_stick_y;\n right = -gamepad1.right_stick_y;\n }\n else\n {\n left = gamepad1.right_stick_y;\n right = gamepad1.left_stick_y;\n }\n\n targetSpeedLeft = left * driveSpeed;\n targetSpeedRight = right * driveSpeed;\n\n currentLiftSpeed = 0.0;\n if(gamepad1.left_trigger >= 0.1) {\n currentLiftSpeed = -LIFT_MAX_DOWN_SPEED;\n }\n if(gamepad1.right_trigger >= 0.1) {\n currentLiftSpeed = LIFT_MAX_DOWN_SPEED;\n }\n //if(gamepad2.left_trigger) {\n // currentLiftSpeed = -gamepad2.left_bumper * LIFT_MAX_DOWN_SPEED;\n //}\n //if(gamepad2.right_trigger) {\n // currentLiftSpeed = gamepad2.right_bumper * LIFT_MAX_UP_SPEED;\n //}\n/*\n currentSpeedArm = 0.0;\n if(gamepad1.left_trigger) {\n currentSpeedArm = -gamepad1.left_bumper * ARM_MAX_DOWN_SPEED;\n }\n if(gamepad1.right_trigger) {\n currentSpeedArm = gamepad1.right_bumper * ARM_MAX_UP_SPEED;\n }\n\n /*\n // limit acceleration by only allowing MAX_ACCEL power change per UPDATE_TIME\n if(runtime.seconds() > UPDATE_TIME)\n {\n runtime.reset();\n \n if( ((currentSpeedLeft >= 0.0) && (targetSpeedLeft >= 0.0)) ||\n ((currentSpeedLeft <= 0.0) && (targetSpeedLeft <= 0.0)))\n {\n if(Math.abs(currentSpeedLeft) > Math.abs(targetSpeedLeft)) \n {\n currentSpeedLeft = targetSpeedLeft;\n }\n else \n {\n if (currentSpeedLeft != targetSpeedLeft) {\n if (Math.abs(targetSpeedLeft - currentSpeedLeft) <= MAX_ACCEL)\n currentSpeedLeft = targetSpeedLeft;\n else {\n if (currentSpeedLeft < targetSpeedLeft)\n currentSpeedLeft += MAX_ACCEL;\n else\n currentSpeedLeft -= MAX_ACCEL;\n }\n }\n }\n\n }\n else \n {\n currentSpeedLeft = 0.0;\n }\n\n if( ((currentSpeedRight >= 0.0) && (targetSpeedRight >= 0.0)) ||\n ((currentSpeedRight <= 0.0) && (targetSpeedRight <= 0.0)))\n {\n if(Math.abs(currentSpeedRight) > Math.abs(targetSpeedRight))\n {\n currentSpeedRight = targetSpeedRight;\n }\n else\n {\n if (currentSpeedRight != targetSpeedRight) {\n if (Math.abs(targetSpeedRight - currentSpeedRight) <= MAX_ACCEL)\n currentSpeedRight = targetSpeedRight;\n else {\n if (currentSpeedRight < targetSpeedRight)\n currentSpeedRight += MAX_ACCEL;\n else\n currentSpeedRight -= MAX_ACCEL;\n }\n }\n }\n\n }\n else\n {\n currentSpeedRight = 0.0;\n }\n\n }\n */\n\n // replace acceleration limit because no longer needed\n currentSpeedLeft = targetSpeedLeft;\n currentSpeedRight = targetSpeedRight;\n\n robot.leftDriveMotor.setPower(currentSpeedLeft);\n robot.rightDriveMotor.setPower(currentSpeedRight);\n // robot.armMotor.setPower(currentSpeedArm);\n robot.liftMotor.setPower(currentLiftSpeed);\n\n\n if(gamepad1.a)\n {\n if (!aButtonHeld)\n {\n aButtonHeld = true;\n if (servoOpen) {\n servoOpen = false;\n robot.leftGrabServo.setPosition(LEFT_SERVO_CLOSED);\n robot.rightGrabServo.setPosition(RIGHT_SERVO_CLOSED);\n }\n else {\n servoOpen = true;\n robot.leftGrabServo.setPosition(LEFT_SERVO_OPEN);\n robot.rightGrabServo.setPosition(RIGHT_SERVO_OPEN);\n }\n }\n }\n else {\n aButtonHeld = false;\n }\n/*\n if(gamepad1.b)\n {\n if (!bButtonHeld)\n {\n bButtonHeld = true;\n reverseMode = !reverseMode;\n }\n }\n else\n {\n bButtonHeld = false;\n }\n\n*/\n if(gamepad1.y)\n {\n if (!yButtonHeld)\n {\n yButtonHeld = true;\n\n if(driveSpeed == MAX_SPEED) {\n driveSpeed = 0.3 * MAX_SPEED;\n slowMode = true;\n }\n else\n {\n driveSpeed = MAX_SPEED;\n slowMode = false;\n }\n }\n }\n else\n {\n yButtonHeld = false;\n }\n\n\n if(gamepad1.x)\n {\n if(!xButtonHeld)\n {\n xButtonHeld = true;\n\n if(servoUp){\n servoUp=false;\n robot.leftDragServo.setPosition(LEFT_DOWN);\n }\n else\n {\n servoUp=true;\n robot.leftDragServo.setPosition(LEFT_UP);\n }\n }\n }\n else\n {\n xButtonHeld = false;\n }\n\n telemetry.addData(\"reverse\", reverseMode);\n\n // telemetry.addData(\"currentLeft\", currentSpeedLeft);\n // telemetry.addData(\"currentRight\", currentSpeedRight);\n // telemetry.addData(\"currentArm\", currentSpeedArm);\n // telemetry.addData(\"currentLift\", currentLiftSpeed);\n telemetry.addData(\"encoderLeft\", robot.leftDriveMotor.getCurrentPosition());\n telemetry.addData(\"encoderRight\", robot.rightDriveMotor.getCurrentPosition());\n // telemetry.addData(\"reverseMode\", reverseMode);\n telemetry.addData(\"slowMode\", slowMode);\n telemetry.addData(\"Drag Servo\", robot.leftDragServo.getPosition());\n telemetry.addData(\"Touch Sensor\", robot.rearTouch.getState());\n }","@Override\n public void loop() {\n\n double drive = gamepad1.left_stick_y;\n double strafe = gamepad1.left_stick_x;\n double rotate = -gamepad1.right_stick_x;\n\n findRobotPosition(); // Call Vuforia routines, get robot position\n\n // Intake Operator Actions\n if (gamepad1.a || gamepad1.b || gamepad1.x){ // Operator wants to control the intake\n if (gamepad1.a){ // A turns the intake on for bringing in rings\n intakeMotor.setPower(1);\n }\n else if (gamepad1.b) { // B reverses the intake\n intakeMotor.setPower(-1);\n\n } else if (gamepad1.x){ // X stops the intake\n intakeMotor.setPower(0);\n }\n }\n\n // Ring Shooter Operator Actions\n /*if (gamepad1.dpad_up || gamepad1.dpad_down){\n if (gamepad1.dpad_up) {\n if (ringVel <= 170000) {\n ringVel = ringVel + 10000;\n }\n } else if (gamepad1.dpad_down){\n if (ringVel >= 10000){\n ringVel = ringVel - 10000;\n } else{\n ringVel = 0;\n }\n }\n }\n */\n\n if (gamepad1.right_bumper){\n fireServo.setPosition(FIRE_SERVO);\n } else{\n fireServo.setPosition(STANDBY_SERVO);\n }\n if (gamepad1.left_trigger > 0.5){\n ringShooterMotor.setVelocity(ringVel);\n }else {\n ringShooterMotor.setPower(0);\n }\n\n // Wobble Goal acions here\n if (gamepad1.dpad_left || gamepad1.dpad_right || gamepad1.left_bumper){\n if(gamepad1.dpad_left){\n wobbleMotor.setTargetPosition(WOBBLE_GRAB);\n wobbleMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\n wobbleMotor.setPower(.4);\n } else if (gamepad1.dpad_right){\n wobbleMotor.setTargetPosition(WOBBLE_CARRY);\n wobbleMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\n wobbleMotor.setPower(.4);\n } else if (gamepad1.left_bumper) {\n wobbleMotor.setTargetPosition(WOBBLE_OVER_WALL);\n wobbleMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\n wobbleMotor.setPower(.4);\n }\n }\n // Insert operator driving actions here\n if ((targetVisible) && (gamepad1.y)) {\n // Allow the operator to position the robot to shoot a ring if a target is visible\n alignRobotToShoot();\n }\n else {\n moveBot(drive, rotate, strafe, power); //Basic Robot-centric Frame Driving\n }\n\n // Telemetry Section\n //telemetry.addData(\"Ring Velocity\", ringVel);\n //telemetry.addData(\"Actual Velocity\", ringShooterMotor.getVelocity());\n telemetry.addData(\"Ring Motor Encoder\", ringShooterMotor.getCurrentPosition());\n telemetry.addData(\"Wobble Goal Encoder\", wobbleMotor.getCurrentPosition());\n telemetry.update();\n }","public static void main(String[] args){\n Robot robot = new DifferentialWheels();\n\n // Get the time step of the current world.\n int timeStep = (int) Math.round(robot.getBasicTimeStep());\n\n // Get references to, and enable, all required devices on the robot.\n Lidar lidar = robot.getLidar(\"lms291\");\n lidar.enable(timeStep);\n lidar.enablePointCloud();\n\n GPS gps = robot.getGPS(\"gps\");\n gps.enable(timeStep);\n\n Emitter emitter = robot.getEmitter(\"emitter\");\n emitter.setChannel(0);\n\n Compass compass = robot.getCompass(\"compass\");\n compass.enable(timeStep);\n\n Motor frontLeft = robot.getMotor(\"front_left_wheel\");\n frontLeft.setPosition(Double.POSITIVE_INFINITY);\n Motor frontRight = robot.getMotor(\"front_right_wheel\");\n frontRight.setPosition(Double.POSITIVE_INFINITY);\n Motor backLeft = robot.getMotor(\"back_left_wheel\");\n backLeft.setPosition(Double.POSITIVE_INFINITY);\n Motor backRight = robot.getMotor(\"back_right_wheel\");\n backRight.setPosition(Double.POSITIVE_INFINITY);\n\n TestTurnPB turnPBController = new TestTurnPB(gps, compass, emitter, frontLeft, frontRight, backLeft, backRight);\n System.out.println(\"current param : \" + turnPBController.toString());\n\n //Initialise Start and Goal Coordinates\n robot.step(timeStep);\n turnPBController.updateObstacleReadings(lidar.getPointCloud());\n turnPBController.isRunning = true;\n turnPBController.initMetrics();\n turnPBController.initPositions();\n //potBugController.initAlgorithm();\n turnPBController.runInit();\n\n //Iteration Count\n int itCount = 0;\n\n while (robot.step(timeStep*100) != -1) {\n //Check max iteration\n //while (itCount<DEFAULT_MAX_ITERATION_COUNT){\n //Update Turn Angles\n turnPBController.updateAngles();\n\n //Update Sensor Information\n turnPBController.updateObstacleReadings(lidar.getPointCloud());\n\n //Check if goal is reached and terminate as appropriate\n if (turnPBController.isGoalReached()){\n turnPBController.isRunning = false;\n turnPBController.setRobotSpeed(0,0);\n turnPBController.terminatePotBug();\n System.out.println(\"Goal Reached Successfully!\");\n }\n\n if(!turnPBController.isGoalReached() && turnPBController.isRunning){\n //Check for goal direction on forwards semi-circle\n if (!turnPBController.isObstruction()){\n\n turnPBController.setDriveMode(DEFAULT_DRIVE_MODE_TOWARDS_GOAL);\n //Move 'freely' to the next sample point, towards goal\n turnPBController.updateMetrics();\n\n } else {\n\n if (turnPBController.isClearToLeave()){\n\n if (turnPBController.isProgressAttained() &&\n turnPBController.isClearToLeave()){\n\n turnPBController.setDriveMode(DEFAULT_DRIVE_MODE_TOWARDS_GOAL);\n turnPBController.updateMetrics();\n\n }\n } else {\n\n if (turnPBController.hitPoint == null){\n\n turnPBController.setHitPoint();\n turnPBController.setDriveMode(DEFAULT_DRIVE_MODE_TOWARDS_CONTOUR);\n turnPBController.updateMetrics();\n\n } else {\n\n // engaged mode\n turnPBController.setDriveMode(DEFAULT_DRIVE_MODE_ALONG_CONTOUR);\n turnPBController.updateMetrics();\n\n }\n }\n }\n }\n //}\n }\n }","@Override\n public void testPeriodic() {\n go_speed=-xbox_controller.getRawAxis(1);\n turn_speed=xbox_controller.getRawAxis(4);\n right_motor_2.set(-go_speed+turn_speed);\n left_motor_1.set(go_speed+turn_speed);\n\n while(xbox_controller.getRawButton(2)){\n double x = tx.getDouble(0.0);\n double a = ta.getDouble(0.0);\n if(a >= 1 && a <= 1.7){\n servo.set(0.26);\n if (x > -6 && x < 6){\n right_motor_2.set(0);\n left_motor_1.set(0);\n if_correted=true;\n break;\n } \n else if ( x >= 6 ){\n right_motor_2.set(0.15);\n left_motor_1.set(0.15);\n }\n else if ( x <= -6 ){\n right_motor_2.set(-0.15);\n left_motor_1.set(-0.15);\n }\n }\n else if(a>=0.8 && a<1){\n servo.set(0.35);\n if (x > -2.3 && x < 2.3){\n right_motor_2.set(0);\n left_motor_1.set(0);\n if_correted=true;\n break;\n } \n else if ( x >= 2.3 ){\n right_motor_2.set(0.11);\n left_motor_1.set(0.11);\n }\n else if ( x <= -2.3 ){\n right_motor_2.set(-0.11);\n left_motor_1.set(-0.11);\n }\n }\n else if(a>=0.5 && a<0.8){\n servo.set(0.5);\n if (x > -1.7 && x < 1.7){\n right_motor_2.set(0);\n left_motor_1.set(0);\n if_correted=true;\n break;\n } \n else if ( x >= 1.7 ){\n right_motor_2.set(0.08);\n left_motor_1.set(0.08);\n }\n else if ( x <= -1.7 ){\n right_motor_2.set(-0.08);\n left_motor_1.set(-0.08);\n }\n }\n else if(a>=0.3 && a<0.5){\n servo.set(0.32);\n if (x > -1.2 && x < 1.2){\n right_motor_2.set(0);\n left_motor_1.set(0);\n if_correted=true;\n break;\n } \n else if ( x >= 1.2 ){\n right_motor_2.set(0.05);\n left_motor_1.set(0.05);\n }\n else if ( x <= -1.2 ){\n right_motor_2.set(-0.05);\n left_motor_1.set(-0.05);\n }\n }\n else{}\n }\n\n if(xbox_controller.getRawAxis(2)!=0){\n ball_collection_motor.set(1);\n }\n else{\n ball_collection_motor.set(0);\n }\n\n while(joystick.getRawButton(5)){\n double a=ta.getDouble(0.0);\n if(a>=1&&a<=1.7){\n servo.set(0.26);\n }\n else if(a>=0.8 && a<1){\n servo.set(0.35);\n }\n else if(a>=0.5 && a<0.8){\n servo.set(0.5);\n }\n else if(a>=0.3 && a<0.5){\n servo.set(0.32);\n }\n else{}\n }\n\n while (joystick.getRawButton(6)) {\n double x = tx.getDouble(0.0);\n if ( x>-1 && x<1 ){\n right_motor_2.set(0);\n left_motor_1.set(0);\n if_correted=true;\n break;\n } \n else if ( x >= 1 ){\n right_motor_2.set(0.05);\n left_motor_1.set(0.05);\n }\n else if ( x <= -1 ){\n right_motor_2.set(-0.05);\n left_motor_1.set(-0.05);\n }\n else{}\n }\n\n if(xbox_controller.getRawButton(3)){\n System.out.println(currentServoAngle);\n servo.set(currentServoAngle + factor);\n currentServoAngle += factor;\n pushed = true;\n if(currentServoAngle >= 1 || (currentServoAngle <= 0 && pushed == true)){\n factor *= -1;\n } \n }\n \n \n //ball_collection_motor.set(xbox_controller.getRawAxis(2));//xbox rt\n if(xbox_controller.getRawAxis(3)!=0){\n while(xbox_controller.getRawAxis(3)){\n left_low_eject.set(ControlMode.PercentOutput, 1);\n right_low_eject.set(ControlMode.PercentOutput,-1);\n TimeUnit.SECONDS.sleep(0.5);\n left_belt.set(ControlMode.PercentOutput,-0.5);\n right_belt.set(ControlMode.PercentOutput,0.5);\n }\n }\n else{\n left_low_eject.set(ControlMode.PercentOutput,0);\n right_low_eject.set(ControlMode.PercentOutput,0);\n left_belt.set(ControlMode.PercentOutput,0);\n right_belt.set(ControlMode.PercentOutput,0);\n }\n if(xbox_controller.getRawButton(1)){\n double_solenoid_1.set(DoubleSolenoid.Value.kForward);\n }\n else if(xbox_controller.getRawButton(4)){\n double_solenoid_1.set(DoubleSolenoid.Value.kReverse);\n }\n if(xbox_controller.getRawButton(5)){\n right_motor_2.set(-0.1);\n left_motor_1.set(-0.1);\n }\n else if(xbox_controller.getRawButton(6)){\n right_motor_2.set(0.1);\n left_motor_1.set(0.1);\n }\n if(xbox_controller.getRawButton(8)){\n /*\n for(double speed=0;speed<=0.85;speed+=0.000002){\n left_high_eject.set(speed+0.2*(joystick.getRawAxis(3)-control_speed_init));\n } \n */\n if(high_eject_run==false){\n high_eject_run=true;\n eject_speed=0;\n }\n\n }\n\n if(xbox_controller.getRawButton(7)){\n left_high_eject.set(0);\n high_eject_run=false;\n eject_speed=0;\n }\n if(high_eject_run){\n if(eject_speed<=0.85){\n //System.out.println(123);\n eject_speed+=0.001;\n //System.out.println(eject_speed);\n left_high_eject.set(-eject_speed);\n }\n }\n\n \n }","private void testServo(){\n\n if (gamepad1.y) {\n servoLeft.setDirection(Servo.Direction.REVERSE);\n servoLeft.setPosition(0.5);\n servoRight.setDirection(Servo.Direction.REVERSE);\n servoRight.setPosition(0.5);\n\n }\n if (gamepad1.x) {\n servoLeft.setDirection(Servo.Direction.FORWARD);\n servoLeft.setPosition(0.1);\n servoRight.setDirection(Servo.Direction.FORWARD);\n servoRight.setPosition(0.1);\n }\n //Should theoretically move the servo back and forth\n\n }","@Override\n public void loop(){\n speedBT.ifPress(gamepad1.x);\n speedMode = speedBT.getMode() ? 0.8 : 0.5;\n speedBT.update(gamepad1.x);\n\n // Gets the speed, strafe, and turn of the robot and accounts for stick drifting\n double speed = gamepad1.left_stick_y;\n double strafe = -gamepad1.left_stick_x;\n double turn = gamepad1.right_stick_x;\n if (Math.abs(turn) < 0.2) {\n turn = 0;\n }\n if (Math.abs(strafe) < 0.2) {\n strafe = 0;\n }\n if (Math.abs(speed) < 0.2) {\n speed = 0;\n }\n\n // Drives in the inputted direction.\n MecanumDrive.Motor.Vector2D vector = new MecanumDrive.Motor.Vector2D(strafe, speed);\n drive.move(speedMode, vector, turn);\n\n // If not driving, check for turning in place or pure strafing\n if (turn == 0 && strafe == 0 && speed == 0) {\n if (gamepad1.left_bumper) {\n drive.strafeLeftWithPower(speedMode);\n } else if (gamepad1.right_bumper) {\n drive.strafeRightWithPower(speedMode);\n } else if (gamepad1.left_trigger > 0.2f) {\n drive.turnInPlace(gamepad1.left_trigger, false);\n } else if (gamepad1.right_trigger > 0.2f) {\n drive.turnInPlace(gamepad1.right_trigger, true);\n }\n }\n\n // Activate and deactivate pivot flywheels (toggles)\n flywheelBT.ifRelease(gamepad1.y);\n flywheelBT.update(gamepad1.y);\n\n // Determines if the flywheels spin, spin in reverse, or freeze\n if (flywheelBT.getMode()) {\n intake.spin();\n } else if (gamepad1.b) {\n intake.spinReverse();\n } else {\n intake.stopSpinning();\n }\n\n // Gets the elevator's movement inputs and accounts for stick drifting\n double elevatorHeight = -gamepad2.left_stick_y;\n double clawDistance = gamepad2.right_stick_y;\n if (Math.abs(elevatorHeight) < 0.2) {\n elevatorHeight = 0;\n }\n if (Math.abs(clawDistance) < 0.2) {\n clawDistance = 0;\n }\n\n // Moves the elevators and controls the claw and tray pullers\n elevatorOuttake.moveElevators(elevatorHeight, clawDistance);\n try {\n if (gamepad2.dpad_up) {\n elevatorOuttake2.grab();\n telemetry.addData(\"gamepad 2-up Pressed \", true);\n //elevatorOuttake.grabClamp();\n } else if (gamepad2.dpad_down) {\n elevatorOuttake2.release();\n telemetry.addData(\"gamepad2-down Pressed\", true);\n Thread.sleep(250);\n elevatorOuttake2.stop();\n }\n }\n catch (InterruptedException e){\n throw new RuntimeException(e);\n }\n\n // Raise or lower the tray pullers\n if(gamepad1.dpad_down){\n trayPuller.down();\n }\n if(gamepad1.dpad_up){\n trayPuller.up();\n }\n\n // Telemetry data\n telemetry.addData(\"Speed Mode\", speedBT.getMode() ? \"Fast\" : \"Slow\");\n telemetry.addData(\"Speed\", speed);\n telemetry.addData(\"Strafe\", strafe);\n telemetry.addData(\"Turn\", turn);\n telemetry.addData(\"Elevator Height\", elevatorHeight);\n telemetry.addData(\"Claw Distance\", clawDistance);\n telemetry.addData(\"Vertical Elevator Encoder\", elevatorOuttake.getVerticalEncoder());\n telemetry.addData(\"Horizontal Elevator Encoder\", elevatorOuttake.getHorizontalEncoder());\n }","public void loop() {\n\n double driveMult = gamepad1.left_bumper ? 0.5 : (gamepad1.right_bumper ? 0.2 : 1.0);\n\n double x = gamepad1.left_stick_x;\n double y = gamepad1.left_stick_y;\n\n switch (state) {\n case DRIVE:\n left.setPower(driveMult * (y - x));\n right.setPower(driveMult * (y + x));\n break;\n case REVERSE:\n left.setPower(driveMult * -(y + x));\n right.setPower(driveMult * -(y - x));\n break;\n case TANK:\n left.setPower(driveMult * gamepad1.left_stick_y);\n right.setPower(driveMult * gamepad1.right_stick_y);\n break;\n }\n\n if (gamepad1.dpad_up) {\n state = State.DRIVE;\n } else if (gamepad1.dpad_down) {\n state = State.REVERSE;\n } else if (gamepad1.dpad_left) {\n state = State.TANK;\n }\n\n // AUX CONTROLS\n\n double auxMult = gamepad2.left_bumper ? 0.5 : (gamepad2.right_bumper ? 0.2 : 1.0);\n\n rack.setPower(auxMult * ((gamepad2.dpad_up ? 1 : 0) + (gamepad2.dpad_down ? -1 : 0)));\n\n // extend.setPower(auxMult * gamepad2.left_stick_y);\n slurp.setPower(auxMult * gamepad2.right_stick_y);\n\n\n// if (gamepad2.a) {\n// rack.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);\n// rack.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);\n// }\n\n // TELEMETRY\n\n telemetry.addData(\"Drive Mode: \", state);\n telemetry.addData(\"Rack Encoder: \", rack.getCurrentPosition());\n telemetry.addData(\"G2 RS Y: \", gamepad2.right_stick_y);\n }","public void updateController() {\n\t\tjoystickLXAxis = controller.getRawAxis(portJoystickLXAxis);\t\t//returns a value [-1,1]\n\t\tjoystickLYAxis = controller.getRawAxis(portJoystickLYAxis);\t\t//returns a value [-1,1]\n\t\tjoystickLPress = controller.getRawButton(portJoystickLPress);\t//returns a value {0,1}\n\t\t\n\t\t//right joystick update\n\t\tjoystickRXAxis = controller.getRawAxis(portJoystickRXAxis);\t\t//returns a value [-1,1]\n\t\tjoystickRYAxis = controller.getRawAxis(portJoystickRYAxis);\t\t//returns a value [-1,1]\n\t\tjoystickRPress = controller.getRawButton(portJoystickRPress);\t//returns a value {0,1}\n\t\t\n\t\t//trigger updates\n\t\ttriggerL = controller.getRawAxis(portTriggerL);\t\t//returns a value [0,1]\n\t\ttriggerR = controller.getRawAxis(portTriggerR);\t\t//returns a value [0,1]\n\t\t\n\t\t//bumper updates\n\t\tbumperL = controller.getRawButton(portBumperL);\t\t//returns a value {0,1}\n\t\tbumperR = controller.getRawButton(portBumperR);\t\t//returns a value {0,1}\n\t\t\n\t\t//button updates\n\t\tbuttonX = controller.getRawButton(portButtonX);\t\t//returns a value {0,1}\n\t\tbuttonY = controller.getRawButton(portButtonY);\t\t//returns a value {0,1}\n\t\tbuttonA = controller.getRawButton(portButtonA);\t\t//returns a value {0,1}\n\t\tbuttonB = controller.getRawButton(portButtonB);\t\t//returns a value {0,1}\n\t\t\n\t\tbuttonBack = controller.getRawButton(portButtonBack);\t//returns a value {0,1}\n\t\tbuttonStart = controller.getRawButton(portButtonStart);\t//returns a value {0,1}\n\t\t\n\t\t//toggle checks\n\t\ttankDriveBool = checkButton(buttonX, tankDriveBool, portButtonX);\t\t//toggles boolean if button is pressed\n\t\tfastBool = checkButton(buttonB, fastBool, portButtonB);\t\t\t\t\t//toggles boolean if button is pressed\n\t\t\n\t\t\n\t\t//d-pad/POV updates\n\t\tdPad = controller.getPOV(portDPad);\t\t//returns a value {-1,0,45,90,135,180,225,270,315}\n\n\t\t//d-pad/POV turns\n\t\tif (dPad != -1) {\n\t\t\tdPad = 360 - dPad; //Converts the clockwise dPad rotation into a Gyro-readable counterclockwise rotation.\n\t\t\trotateTo(dPad);\n\t\t}\n\t\t\n\t\tjoystickDeadZone();\n\t}","@Override\n public void loop() {\n// double left;\n robot.colorDrop.setPosition(0.45);\n\n double Righty, Lefty, sideRight, sideLeft;\n double phaseUp;\n double phaseDown;\n boolean straffeL,straffeR,straffeL2,straffeR2;\n double turnR,turnL;\n double Righty2, Lefty2, sideRight2, sideLeft2;\n double phaseUp2;\n double phaseDown2;\n\n // Run wheels in tank mode (note: The joystick goes negative when pushed forwards, so negate it)\n Lefty = gamepad1.right_stick_y;\n Righty = gamepad1.left_stick_y;\n sideRight= gamepad1.left_stick_x;\n sideLeft=gamepad1.right_stick_x;\n phaseUp = gamepad2.right_trigger;\n phaseDown = gamepad2.left_trigger;\n straffeL = gamepad1.right_bumper;\n straffeR = gamepad1.left_bumper;\n straffeL2 = gamepad2.right_bumper;\n straffeR2 = gamepad2.left_bumper;\n //turnL = gamepad1.left_trigger;\n //turnR= gamepad1.left_trigger;\n\n Lefty2 = gamepad1.right_stick_y;\n Righty2 = gamepad1.left_stick_y;\n sideRight2= gamepad1.left_stick_x;\n sideLeft2=gamepad1.right_stick_x;\n //phaseUp2 = gamepad1.right_trigger;\n //phaseDown2 = gamepad1.left_trigger;\n\n\n\n\n if(sideRight!=0&&sideLeft<0) {\n robot.leftFrontDrive.setPower(sideLeft);\n robot.rightFrontDrive.setPower(sideLeft);\n robot.leftRearDrive.setPower(sideLeft * -1);\n robot.rightRearDrive.setPower(sideLeft);\n }\n else if(sideRight!=0&&sideLeft>0)\n {\n robot.leftFrontDrive.setPower(sideLeft);\n robot.rightFrontDrive.setPower(sideLeft*-1);\n robot.leftRearDrive.setPower(sideLeft);\n robot.rightRearDrive.setPower(sideLeft);\n }\n else if(sideLeft!=0)\n {\n robot.leftFrontDrive.setPower(sideLeft);\n robot.rightFrontDrive.setPower(sideLeft*-1);\n robot.leftRearDrive.setPower(sideLeft*-1);\n robot.rightRearDrive.setPower(sideLeft);\n\n }\n else if(Righty<0&&sideRight<0)\n {\n robot.leftFrontDrive.setPower(-.5);\n robot.rightFrontDrive.setPower(-.9);\n robot.leftRearDrive.setPower(-.5);\n robot.rightRearDrive.setPower(-.9);\n }\n else if(Righty<0&&sideRight>0) {\n robot.leftFrontDrive.setPower(-.9);\n robot.rightFrontDrive.setPower(-.5);\n robot.leftRearDrive.setPower(-.9);\n robot.rightRearDrive.setPower(-.5);\n }\n else if(Righty==0&&sideRight!=0)\n {\n robot.leftFrontDrive.setPower(sideRight*-.7);\n robot.rightFrontDrive.setPower(sideRight*.7);\n robot.leftRearDrive.setPower(sideRight*-.7);\n robot.rightRearDrive.setPower(sideRight*.7);\n }\n else if(Righty<0&&sideRight==0)\n {\n robot.leftFrontDrive.setPower(Righty);\n robot.rightFrontDrive.setPower(Righty);\n robot.leftRearDrive.setPower(Righty);\n robot.rightRearDrive.setPower(Righty);\n\n }\n else if(Righty>0)\n {\n robot.leftFrontDrive.setPower(Righty);\n robot.rightFrontDrive.setPower(Righty);\n robot.leftRearDrive.setPower(Righty);\n robot.rightRearDrive.setPower(Righty);\n\n }\n else if(Lefty!=0&&sideLeft==0)\n {\n robot.leftFrontDrive.setPower(Lefty);\n robot.rightFrontDrive.setPower(Lefty);\n robot.leftRearDrive.setPower(Lefty);\n robot.rightRearDrive.setPower(Lefty);\n }\n else if(straffeL==true||straffeL2==true)\n {\n robot.leftFrontDrive.setPower(.2);\n robot.rightFrontDrive.setPower(-.2);\n robot.leftRearDrive.setPower(-.2);\n robot.rightRearDrive.setPower(.2);\n }\n\n else if(straffeR==true||straffeR2==true)\n {\n robot.leftFrontDrive.setPower(-.2);\n robot.rightFrontDrive.setPower(.2);\n robot.leftRearDrive.setPower(.2);\n robot.rightRearDrive.setPower(-.2);\n }\n else\n {\n robot.leftFrontDrive.setPower(0);\n robot.rightFrontDrive.setPower(0);\n robot.leftRearDrive.setPower(0);\n robot.rightRearDrive.setPower(0);\n\n }\n\n\n ///player 1\n if ((phaseDown >0)) {\n robot.leftStageOne.setPower(1);\n robot.rightStageOne.setPower(1);\n }\n\n else if ((phaseUp >0)) {\n robot.leftStageOne.setPower(-1);\n robot.rightStageOne.setPower(-1);\n }\n\n else {\n robot.rightStageOne.setPower(0);\n robot.leftStageOne.setPower(0);\n }\n\n/*\n if (gamepad1.y){\n robot.leftStageTwo.setPosition(1);\n robot.rightStageTwo.setPosition(0.1);\n }\n if(gamepad1.x)\n {\n robot.leftStageTwo.setPosition(.4);\n robot.rightStageTwo.setPosition(.7);\n }\n if (gamepad1.a){\n robot.leftStageTwo.setPosition(0.12);\n robot.rightStageTwo.setPosition(.98);\n }\n */\n if(gamepad1.a) {\n robot.align.setPosition(.57);\n }\n if(gamepad1.x)\n {\n robot.align.setPosition(0.95);\n }\n if (gamepad1.b){\n robot.colorDrop.setPosition(.35);\n }\n\n\n\n\n if (gamepad2.a){\n // robot.leftStageTwo.setPosition(1);\n // robot.rightStageTwo.setPosition(0.1);\n }\n if(gamepad2.x)\n {\n // robot.leftStageTwo.setPosition(.4);\n // robot.rightStageTwo.setPosition(.7);\n }\n if (gamepad2.y){//lift up\n // robot.leftStageTwo.setPosition(0.12);\n //robot.rightStageTwo.setPosition(.98);\n }\n if (gamepad2.b){\n robot.colorDrop.setPosition(.35);\n }\n\n\n\n\n\n\n /*\n if (gamepad1.right_bumper == true){\n // robot.leftBumper.setPosition(robot.leftBumper.getPosition()+.05);\n sleep(2000);\n }\n else if (gamepad1.left_bumper == true){\n /// robot.leftBumper.setPosition(robot.leftBumper.getPosition()-.05);\n\n }\n else{\n ///robot.leftBumper.setPosition(robot.leftBumper.getPosition());\n }\n */\n /*\n\n */\n // if (gamepad2.dpad_down){\n // robot.relicServo.setPosition(robot.relicServo.getPosition()+.025);\n // }\n //else if(gamepad2.dpad_up){\n // robot.relicServo.setPosition(robot.relicServo.getPosition()-.025);\n // }\n // else{\n // robot.relicServo.setPosition(robot.relicServo.getPosition());\n //}\n\n// if (gamepad2.dpad_left){\n // robot.relicDropperServo.setPosition(robot.relicDropperServo.getPosition()+.025);\n // }\n // else if (gamepad2.dpad_right){\n // robot.relicDropperServo.setPosition(robot.relicDropperServo.getPosition()-.025);\n // }\n // else {\n // robot.relicDropperServo.setPosition(robot.relicDropperServo.getPosition());\n //}\n // if (gamepad2.left_trigger>5){\n // robot.relicMotor.setPower(.5);\n // }\n //else if (gamepad2.left_bumper){\n // robot.relicMotor.setPower(-.5);\n //}\n //else{\n // robot.relicMotor.setPower(0);\n // }\n\n // Send telemetry message to signify robot running;\n // telemetry.addData(\"claw\", \"Offset = %.2f\", clawOffset);\n // telemetry.addData(\"sideright\", \"%.2f\", sideRight);\n // telemetry.addData(\"right\", \"%.2f\", Left);\n // telemetry.addData(\"sideright\", \"%.2f\", sideRight);\n // telemetry.addData(\"left\", \"%.2f\", sideLeft);\n/*\n //distance = robot.sensorDistance.getDistance(DistanceUnit.CM);\n // send the info back to driver station using telemetry function.\n telemetry.addData(\"Distance (cm)\",\n String.format(Locale.US, \"%.02f\", robot.sensorDistance.getDistance(DistanceUnit.CM)));\n telemetry.addData(\"Alpha\", robot.sensorColor.alpha());\n telemetry.addData(\"Red \", robot.sensorColor.red());\n telemetry.addData(\"Green\", robot.sensorColor.green());\n telemetry.addData(\"Blue \", robot.sensorColor.blue());\n */\n telemetry.addData(\"phaseUp \", phaseUp);\n telemetry.addData(\"sideRight \", sideRight);\n // telemetry.addData(\"right bumper: \", robot.rightBumper.getPosition());\n // telemetry.addData(\"left bumper: \", robot.leftBumper.getPosition());\n telemetry.update();\n }","public AutoBounce(DriveTrain driveTrain) {\n // Add your commands in the addCommands() call, e.g.\n // addCommands(new FooCommand(), new BarCommand());\n addCommands(\n new BounceP1(driveTrain),\n new BounceP2(driveTrain),\n new BounceP3(driveTrain).withTimeout(0.9),\n new BounceP4(driveTrain),\n new BounceP5(driveTrain).withTimeout(0.8),\n new BounceP6(driveTrain).withTimeout(1.25),\n new BounceP7(driveTrain),\n new BounceP8(driveTrain).withTimeout(0.95),\n new BounceP9(driveTrain)\n );\n }","@Override\n public void loop() {\n // Setup a variable for each drive wheel to save power level for telemetry\n double leftDrivePower;\n double rightDrivePower;\n double driveMultiplier;\n double slowMultiplier;\n double fastMultiplier;\n double BASE_DRIVE_SPEED = 0.6;\n double elevPower;\n double armPower;\n boolean lowerLimitPressed;\n boolean upperLimitPressed;\n\n\n\n\n // Tank Mode uses one stick to control each wheel.\n // - This requires no math, but it is hard to drive forward slowly and keep straight.\n armPower = -gamepad2.right_stick_x * 0.3;\n\n lowerLimitPressed = !lowerLimit.getState();\n upperLimitPressed = !upperLimit.getState();\n\n if((lowerLimitPressed && -gamepad2.left_stick_y < 0) || (upperLimitPressed && -gamepad2.left_stick_y > 0)){\n elevPower = 0;\n }\n else {\n elevPower = -gamepad2.left_stick_y * 1;\n }\n\n if (gamepad2.left_bumper){\n hookPosDeg = HOOK_UP;\n }\n else if (gamepad2.left_trigger > 0){\n hookPosDeg = HOOK_DOWN;\n }\n\n if (gamepad2.right_bumper){\n clawPosDeg = CLAW_OPEN;\n }\n else if (gamepad2.right_trigger > 0){\n clawPosDeg = CLAW_CLOSED;\n }\n\n if (gamepad1.left_trigger > 0){\n slowMultiplier = 0.10;\n }\n else\n slowMultiplier = 0;\n\n if (gamepad1.right_trigger > 0){\n fastMultiplier = 0.30;\n }\n else\n fastMultiplier = 0;\n\n driveMultiplier = BASE_DRIVE_SPEED + slowMultiplier + fastMultiplier;\n leftDrivePower = -gamepad1.left_stick_y * driveMultiplier;\n rightDrivePower = -gamepad1.right_stick_y * driveMultiplier;\n\n // Send power to actuators\n leftDrive.setPower(leftDrivePower);\n rightDrive.setPower(rightDrivePower);\n elev.setPower(elevPower);\n// arm.setTargetPosition(armTarget);\n// arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);\n arm.setPower(armPower);\n hookPos = map(hookPosDeg, HOOK_MIN_POS_DEG, HOOK_MAX_POS_DEG, HOOK_MIN_POS, HOOK_MAX_POS);\n clawPos = map(clawPosDeg, CLAW_MIN_POS_DEG, CLAW_MAX_POS_DEG, CLAW_MIN_POS, CLAW_MAX_POS);\n hook.setPosition(hookPos);\n claw.setPosition(clawPos);\n\n // Show the elapsed game time and wheel power.\n telemetry.addData(\"Status\", \"Run Time: \" + runtime.toString());\n telemetry.addData(\"Drive\", \"left (%.2f), right (%.2f)\", leftDrivePower, rightDrivePower);\n telemetry.addData( \"Elev\", \"power (%.2f)\", elevPower);\n telemetry.addData(\"Limit\", \"lower (%b), upper (%b)\", lowerLimitPressed, upperLimitPressed);\n telemetry.addData(\"Arm Enc\", arm.getCurrentPosition());\n\n }","public void liftArm(){armLifty.set(-drivePad.getThrottle());}","public void strafe(double speed, boolean angle, double inches, double timeout){\n int newLeftTarget;\n int newRightTarget;\n int newLeftBottomTarget;\n int newRightBottomTarget;\n if (opModeIsActive()) {\n if (angle) {\n //strafe right\n // Determine new target position, and pass to motor controller\n newLeftTarget = robot.leftFrontMotor.getCurrentPosition() + (int)(Math.abs(inches) * COUNTS_PER_INCH);\n newLeftBottomTarget = robot.leftBackMotor.getCurrentPosition() + (int)(-Math.abs(inches) * COUNTS_PER_INCH);\n newRightTarget = robot.rightFrontMotor.getCurrentPosition() + (int)(-Math.abs(inches) * COUNTS_PER_INCH);\n newRightBottomTarget = robot.rightBackMotor.getCurrentPosition() + (int)(Math.abs(inches) * COUNTS_PER_INCH);\n robot.leftFrontMotor.setTargetPosition(newLeftTarget);\n robot.leftBackMotor.setTargetPosition(newLeftBottomTarget);\n robot.rightFrontMotor.setTargetPosition(newRightTarget);\n robot.rightBackMotor.setTargetPosition(newRightBottomTarget);\n\n // Turn On RUN_TO_POSITION\n robot.leftFrontMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\n robot.leftBackMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\n robot.rightFrontMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\n robot.rightBackMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\n\n // reset the timeout time and start motion.\n runtime.reset();\n robot.leftFrontMotor.setPower(Math.abs(speed));\n robot.rightFrontMotor.setPower(Math.abs(speed));\n robot.leftBackMotor.setPower(Math.abs(speed));\n robot.rightBackMotor.setPower(Math.abs(speed));\n\n // keep looping while we are still active, and there is time left, and both motors are running.\n // Note: We use (isBusy() && isBusy()) in the loop test, which means that when EITHER motor hits\n // its target position, the motion will stop. This is \"safer\" in the event that the robot will\n // always end the motion as soon as possible.\n // However, if you require that BOTH motors have finished their moves before the robot continues\n // onto the next step, use (isBusy() || isBusy()) in the loop test.\n\n while (opModeIsActive() &&\n (runtime.seconds() < timeout) &&\n (robot.leftFrontMotor.isBusy() && robot.rightFrontMotor.isBusy())) {\n\n // Display it for the driver.\n telemetry.addData(\"Path1\", \"Running to %7d :%7d\", newLeftTarget, newRightTarget);\n telemetry.addData(\"Path2\", \"Running at %7d :%7d\",\n robot.leftFrontMotor.getCurrentPosition(),\n robot.rightFrontMotor.getCurrentPosition(), robot.leftBackMotor.getCurrentPosition(), robot.rightBackMotor.getCurrentPosition());\n telemetry.update();\n }\n // Stop all motion;\n robot.rightFrontMotor.setPower(0);\n robot.rightBackMotor.setPower(0);\n robot.leftFrontMotor.setPower(0);\n robot.leftBackMotor.setPower(0);\n\n // Turn off RUN_TO_POSITION\n robot.rightFrontMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\n robot.rightBackMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\n robot.leftFrontMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\n robot.leftBackMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\n\n } else if (!angle) {\n //strafe left\n // Determine new target position, and pass to motor controller\n newLeftTarget = robot.leftFrontMotor.getCurrentPosition() + (int)(-Math.abs(inches) * COUNTS_PER_INCH);\n newLeftBottomTarget = robot.leftBackMotor.getCurrentPosition() + (int)(Math.abs(inches) * COUNTS_PER_INCH);\n newRightTarget = robot.rightFrontMotor.getCurrentPosition() + (int)(Math.abs(inches) * COUNTS_PER_INCH);\n newRightBottomTarget = robot.rightBackMotor.getCurrentPosition() + (int)(-Math.abs(inches) * COUNTS_PER_INCH);\n robot.leftFrontMotor.setTargetPosition(newLeftTarget);\n robot.leftBackMotor.setTargetPosition(newLeftBottomTarget);\n robot.rightFrontMotor.setTargetPosition(newRightTarget);\n robot.rightBackMotor.setTargetPosition(newRightBottomTarget);\n\n // Turn On RUN_TO_POSITION\n robot.leftFrontMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\n robot.leftBackMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\n robot.rightFrontMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\n robot.rightBackMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\n\n // reset the timeout time and start motion.\n runtime.reset();\n robot.leftFrontMotor.setPower(Math.abs(speed));\n robot.rightFrontMotor.setPower(Math.abs(speed));\n robot.leftBackMotor.setPower(Math.abs(speed));\n robot.rightBackMotor.setPower(Math.abs(speed));\n\n // keep looping while we are still active, and there is time left, and both motors are running.\n // Note: We use (isBusy() && isBusy()) in the loop test, which means that when EITHER motor hits\n // its target position, the motion will stop. This is \"safer\" in the event that the robot will\n // always end the motion as soon as possible.\n // However, if you require that BOTH motors have finished their moves before the robot continues\n // onto the next step, use (isBusy() || isBusy()) in the loop test.\n\n while (opModeIsActive() &&\n (runtime.seconds() < timeout) &&\n (robot.leftFrontMotor.isBusy() && robot.rightFrontMotor.isBusy())) {\n\n // Display it for the driver.\n telemetry.addData(\"Path1\", \"Running to %7d :%7d\", newLeftTarget, newRightTarget);\n telemetry.addData(\"Path2\", \"Running at %7d :%7d\",\n robot.leftFrontMotor.getCurrentPosition(),\n robot.rightFrontMotor.getCurrentPosition(), robot.leftBackMotor.getCurrentPosition(), robot.rightBackMotor.getCurrentPosition());\n telemetry.update();\n }\n // Stop all motion;\n robot.rightFrontMotor.setPower(0);\n robot.rightBackMotor.setPower(0);\n robot.leftFrontMotor.setPower(0);\n robot.leftBackMotor.setPower(0);\n\n // Turn off RUN_TO_POSITION\n robot.rightFrontMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\n robot.rightBackMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\n robot.leftFrontMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\n robot.leftBackMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\n }\n }\n }","public void move(Joystick joystick)\n {\n double joystickY = joystick.getRawAxis(OIConstants.ELEVATOR_JOYSTICK_Y);\n\n if (Math.abs(joystickY) > OIConstants.ELEVATOR_JOYSTICK_DEADZONE)\n {\n Robot.elevator.setTarget((int)(Robot.elevator.getTarget() + joystickY * Constants.ELEVATOR_SPEED_NORMAL));\n }\n else\n {\n Robot.elevator.setTarget(Robot.elevator.getTarget());\n }\n\n // if the limit switch for level 1 is hit then rumble the controller\n if (!Robot.elevator.isLevel1LimitClosed())\n {\n Robot.oi.mechJoystick.setRumble(RumbleType.kLeftRumble, 0.5);\n Robot.oi.mechJoystick.setRumble(RumbleType.kRightRumble, 0.5);\n }\n else\n {\n Robot.oi.mechJoystick.setRumble(RumbleType.kLeftRumble, 0);\n Robot.oi.mechJoystick.setRumble(RumbleType.kRightRumble, 0);\n }\n }","public void testPeriodic() { \n joystick1X = leftStick.getAxis(Joystick.AxisType.kX);\n joystick1Y = leftStick.getAxis(Joystick.AxisType.kY);\n joystick2X = rightStick.getAxis(Joystick.AxisType.kX);\n joystick2Y = rightStick.getAxis(Joystick.AxisType.kY);\n \n mapped1Y = joystick1Y/2 + 0.5;\n mapped1X = joystick1X/2 + 0.5;\n mapped2X = joystick2X/2 + 0.5;\n mapped2Y = joystick2Y/2 + 0.5;\n \n X1testServo.set(mapped1X);\n Y1testServo.set(mapped1Y);\n X2testServo.set(mapped2X);\n Y2testServo.set(mapped2Y);\n \n \n //System.out.println(\"X Servo Value = \" + XtestServo.get());\n //System.out.println(\"Left Joystick X Value = \" + leftStick.getX());\n //System.out.println(\"Y Servo Value = \" + YtestServo.get());\n //System.out.println(\"Left Joystick Y Value = \" + leftStick.getY());\n \n \n }","public void up() {\n double speed = RobotContainer.m_BlackBox.getPotValueScaled(Constants.OIConstants.kControlBoxPotY, 0.0, 1.0);\n m_hook.set(speed);\n SmartDashboard.putNumber(\"forward speed\", speed);\n }","public void autonomous() {\n robot.drive(0.5); //Drives in a square\n Timer.delay(0.5);\n robot.tankDrive(0.5, -0.5);\n Timer.delay(0.25);\n robot.drive(0.5);\n Timer.delay(0.5);\n robot.tankDrive(0.5, -0.5);\n Timer.delay(0.25);\n robot.drive(0.5);\n Timer.delay(0.5);\n robot.tankDrive(0.5, -0.5);\n Timer.delay(0.25);\n robot.drive(0.5);\n Timer.delay(0.5);\n robot.tankDrive(0.5, -0.5);\n Timer.delay(0.25);\n }","@Override\r\n public void loop() {\r\n double G1rightStickY = Math.pow(gamepad1.right_stick_y, 3);\r\n double G1leftStickY = Math.pow(gamepad1.left_stick_y, 3);\r\n boolean G1rightBumper = gamepad1.right_bumper; //strafe right\r\n boolean G1leftBumper = gamepad1.left_bumper; //strafe left\r\n //Methods methods = new Methods();\r\n double G2rightStickY=-gamepad2.right_stick_y;\r\n double G2leftStickY=-gamepad2.left_stick_y;\r\n boolean G2rightBumper=gamepad2.right_bumper;\r\n boolean G2leftBumper=gamepad2.left_bumper;\r\n\r\n\r\n\r\n\r\n\r\n\r\n //Right Strafe\r\n if (G1leftBumper)\r\n {\r\n robot.leftFrontMotor.setPower(-1);\r\n robot.rightFrontMotor.setPower(-1);\r\n robot.leftBackMotor.setPower(1);\r\n robot.rightBackMotor.setPower(1);\r\n }\r\n //Left Strafe\r\n else if (G1rightBumper)\r\n {\r\n robot.leftFrontMotor.setPower(1);\r\n robot.rightFrontMotor.setPower(1);\r\n robot.leftBackMotor.setPower(-1);\r\n robot.rightBackMotor.setPower(-1);\r\n }\r\n\r\n //Forward and Backward\r\n else\r\n {\r\n robot.leftFrontMotor.setPower(-G1leftStickY);\r\n robot.leftBackMotor.setPower(-G1leftStickY);\r\n robot.rightFrontMotor.setPower(G1rightStickY);\r\n robot.rightBackMotor.setPower(G1rightStickY);\r\n }\r\n\r\n if(gamepad2.a){\r\n robot.lift.setPower(1);\r\n\r\n } else if(gamepad2.y){\r\n robot.lift.setPower(-1);\r\n\r\n }else {\r\n robot.lift.setPower(0);\r\n }\r\n\r\n\r\n if (gamepad2.left_bumper){\r\n robot.claw.setPosition(1);\r\n\r\n\r\n }\r\n\r\n if (gamepad2.right_bumper){\r\n robot.claw.setPosition(0);\r\n\r\n }\r\n\r\n\r\n\r\n\r\n\r\n // Use gamepad buttons to move the arm up (Y) and down (A)\r\n //if (gamepad2.y)\r\n // robot.lift.setPower(robot.ARM_UP_POWER);\r\n //else if (gamepad2.a)\r\n // robot.lift.setPower(robot.ARM_DOWN_POWER);\r\n //else\r\n // robot.lift.setPower(0.0);\r\n\r\n // Send telemetry message to signify robot running;\r\n //telemetry.addData(\"claw\", \"Offset = %.2f\", clawOffset);\r\n //telemetry.addData(\"left\", \"%.2f\", left);\r\n //telemetry.addData(\"right\", \"%.2f\", right);\r\n }","@Override\n public void robotPeriodic() {\n /*count++;\n\n if (count < 0) {\n count = 0;\n }\n\n int scriptIdx = count / SCRIPT_LENGTH;\n\n String[] script = LED_SCRIPTS[scriptIdx % (LED_SCRIPTS.length)];\n\n LedScript.setString(script[0]);\n \n if (script.length > 1) {\n LedScriptArgument.setString(script[1]);\n }*/\n\n // Hatch 0 has to be inverted because it is normally closed\n //SmartDashboard.putBoolean(\"HatchSwitch0\", !HatchSwitch0.get());\n //SmartDashboard.putBoolean(\"HatchSwitch1\", HatchSwitch1.get());\n\n //for (int i = 0; i < limits.length; i++) {\n // SmartDashboard.putBoolean(\"Switch\" + (i + 2), limits[i].get());\n //}\n\n\n final int MAX_TEMP = 100;\n if (MainLeft.getMotorTemperature() >= MAX_TEMP || AltLeft.getMotorTemperature() >= MAX_TEMP) {\n xbox.setRumble(RumbleType.kLeftRumble, 0.5);\n } else {\n xbox.setRumble(RumbleType.kLeftRumble, 0);\n }\n \n if (MainRight.getMotorTemperature() >= MAX_TEMP || AltRight.getMotorTemperature() >= MAX_TEMP) {\n xbox.setRumble(RumbleType.kRightRumble, 0.5);\n } else {\n xbox.setRumble(RumbleType.kRightRumble, 0);\n }\n\n //SmartDashboard.putNumber(\"DaTa\", NetworkTableInstance.getDefault().getTable(\"VisionTable\").getEntry(\"THIS IS A RANDOM NUMBER\").getNumber(-1).doubleValue());\n //SmartDashboard.putNumber(\"LiftSetpoint\", LiftSetpoint);\n //SmartDashboard.putNumber(\"LiftEncoderPos\", Lifter.getSelectedSensorPosition());\n //SmartDashboard.putNumber(\"LiftVoltageOut\", Lifter.getMotorOutputVoltage());\n //SmartDashboard.putNumber(\"LiftCurrentOut\", Lifter.getOutputCurrent());\n //SmartDashboard.putString(\"ControlMode\", Lifter.getControlMode().toString());\n //SmartDashboard.putNumber(\"ClosedLoopError\", Lifter.getClosedLoopError());\n //SmartDashboard.putNumber(\"LiftRampOutput\", liftRamp.getOutput());\n\n /*Diagnostics.writeDouble(\"DrivePosLeft\", MainLeft.getEncoder().getPosition());\n Diagnostics.writeDouble(\"DrivePosRight\", MainRight.getEncoder().getPosition());\n Diagnostics.writeDouble(\"DrivePosLeftAlt\", AltLeft.getEncoder().getPosition());\n Diagnostics.writeDouble(\"DrivePosRightAlt\", AltRight.getEncoder().getPosition());\n Diagnostics.writeDouble(\"LiftVoltageOut\", Lifter.getMotorOutputVoltage());\n Diagnostics.writeDouble(\"LiftCurrentOut\", Lifter.getOutputCurrent());\n Diagnostics.writeInteger(\"LiftEncoderPos\", Lifter.getSelectedSensorPosition());\n Diagnostics.writeInteger(\"LiftSetpoint\", LiftSetpoint);\n Diagnostics.writeInteger(\"LiftRampOutput\", liftRamp.getOutput());\n \n Diagnostics.timestamp();*/\n }","@Override\n public void loop() {\n telemetry.addData(\"Status\", \"Running\"); //inform the driver\n\n //Calculate the power to set to each motor\n\n //left side you subtract right_stick_x\n double FrontLeftVal = (gamepad1.left_stick_y - gamepad1.left_stick_x - gamepad1.right_stick_x) * Power; //front subtract left_stick_x\n double BackLeftVal = (gamepad1.left_stick_y + gamepad1.left_stick_x - gamepad1.right_stick_x) * Power; //back subtract left_stick_x\n\n //right side you add right_stick_x\n double FrontRightVal = (gamepad1.left_stick_y + gamepad1.left_stick_x + gamepad1.right_stick_x) * Power; //front add left_stick_x\n double BackRightVal = (gamepad1.left_stick_y - gamepad1.left_stick_x + gamepad1.right_stick_x) * Power; //back subtract left_stick_x\n\n FLM.setPower(FrontLeftVal); //set the power to the motor\n FRM.setPower(FrontRightVal);\n BLM.setPower(BackLeftVal);\n BRM.setPower(BackRightVal);\n\n if (gamepad1.y) {\n if (!YPressed1) {\n YPressed1 = true;\n if (DragArm.getPosition() < DragArmDownPosition) {\n DragArm.setPosition(DragArmDownPosition);\n } else {\n DragArm.setPosition(DragArmRestPosition);\n }\n }\n } else if (YPressed1) YPressed1 = false;\n\n if (gamepad2.a) {\n SetLiftPosition(Position1Inches);\n } else if (gamepad2.b) {\n SetLiftPosition(Position2Inches);\n } else if (gamepad2.y) {\n SetLiftPosition(Position3Inches);\n } else if (gamepad2.left_bumper) {\n if (UpLift.getCurrentPosition() >= Position1Inches * UpInchesToTicks) {\n SetLiftPosition(UpLift.getCurrentPosition() - 756);\n } else {\n SetLiftPosition(Position0Inches);\n }\n } else {\n UpLift.setPower(0);\n }\n\n if (gamepad2.left_trigger == 1) {\n if (!LeftTrigger2) {\n LeftTrigger2= true;\n if (LiftGrab.getPosition() != LiftGrabGrabPosition)\n LiftGrab.setPosition(LiftGrabGrabPosition);\n else LiftGrab.setPosition(LiftGrabRestPosition);\n }\n } else if (LeftTrigger2) LeftTrigger2= false;\n\n if (gamepad2.right_trigger == 1) {\n if (!RightTrigger2) {\n RightTrigger2 = true;\n if (UpLift.getCurrentPosition() > Position2Inches) {\n if (LiftSwivel.getPosition() != LiftSwivelRestPosition)\n LiftSwivel.setPosition(LiftSwivelRestPosition);\n else LiftSwivel.setPosition(LiftSwivelOutPosition);\n }\n }\n } else if (RightTrigger2) RightTrigger2 = false;\n\n if (gamepad1.b) {\n if (!BPressed1) {\n BPressed1 = true;\n if (BigSuck.getPower() == BigSuckPower) {\n SmallSuck.setPower(0);\n BigSuck.setPower(0);\n\n DragArm.setPosition(DragArmRestPosition);\n } else {\n BigSuck.setPower(BigSuckPower);\n SmallSuck.setPower(SmallSuckPower);\n DragArm.setPosition(DragArmUpPosition);\n }\n }\n } else if (BPressed1) BPressed1 = false;\n\n if (gamepad1.x) {\n if (!XPressed1) {\n XPressed1 = true;\n if (BigSuck.getPower() == -BigSuckPower) {\n BigSuck.setPower(0);\n SmallSuck.setPower(0);\n } else {\n BigSuck.setPower(-BigSuckPower);\n SmallSuck.setPower(-SmallSuckPower);\n }\n }\n } else if (XPressed1) XPressed1 = false;\n\n if (gamepad1.a) {\n if (!A1) {\n A1 = true;\n if (Push.getPosition() == PushRestPosition) {\n Push.setPosition(PushPushPosition);\n } else {\n Push.setPosition(PushRestPosition);\n }\n }\n } else if (A1) A1 = false;\n\n telemetry.addData(\"Up Position\", UpLift.getCurrentPosition());\n telemetry.update(); //update the telemetry\n }","@Override\n public void loop() {\n // Controller 1\n double leftStick;\n double rightStick;\n double leftTrigger;\n double rightTrigger;\n boolean g1xSlowSwitch = false;\n\n // Controller 2\n double leftStick2;\n\n // CONTROLLER 1: Assign variables to stick and trigger\n\n // leftstick, rightstick, lefttrigger, righttrigger without numbers is for controller one\n if(!g1xSlowSwitch) {\n leftStick = gamepad1.left_stick_y * .25;\n rightStick = gamepad1.right_stick_y * .25;\n leftTrigger = gamepad1.left_trigger * .25;\n rightTrigger = gamepad1.right_trigger * .25;\n } else {\n leftStick = gamepad1.left_stick_y * .15;\n rightStick = gamepad1.right_stick_y * .15;\n leftTrigger = gamepad1.left_trigger * .15;\n rightTrigger = gamepad1.right_trigger * .15;\n }\n\n // SLOW-DOWN TOGGLE with 'x'\n if(gamepad1.x) {\n g1xSlowSwitch = !g1xSlowSwitch;\n }\n\n // CONTROLLER 2: Assign variables to stick, triggers, and button\n leftStick2 = gamepad2.left_stick_y;\n\n // display statements\n telemetry.addData(\"LEFT STICK VALUE: \",leftStick);\n telemetry.addData(\"RIGHT STICK VALUE: \",rightStick);\n telemetry.addData(\"LEFT TRIGGER POWER: \",leftTrigger);\n telemetry.addData(\"RIGHT TRIGGER POWER: \",rightTrigger);\n\n telemetry.addData(\"LEFT STICK 2 VALUE: \",leftStick2);\n telemetry.addData(\"GRIPPER BUTTON STATUS: \", gamepad2.a);\n\n // If the triggers are being pushed\n if(leftTrigger > 0 || rightTrigger > 0) {\n if (leftTrigger > 0) {\n robot.frontLeft.setPower(leftTrigger);\n robot.backLeft.setPower(-leftTrigger);\n robot.frontRight.setPower(-leftTrigger);\n robot.backRight.setPower(leftTrigger);\n } else if (rightTrigger > 0) {\n robot.frontLeft.setPower(-rightTrigger);\n robot.backLeft.setPower(rightTrigger);\n robot.frontRight.setPower(rightTrigger);\n robot.backRight.setPower(-rightTrigger);\n }\n } else {\n // movement with sticks\n robot.frontLeft.setPower(leftStick);\n robot.backLeft.setPower(leftStick);\n robot.backRight.setPower(rightStick);\n robot.frontRight.setPower(rightStick);\n }\n\n //Controller 2 Code:\n //If left stick is being moved\n if (leftStick2 != 0 ){\n robot.lift.setPower(leftStick2*.25);\n // If left stick is not being moved\n } else if(leftStick2 == 0) {\n robot.lift.setPower(0);\n\n // Claw toggle logic\n // BUTTON A\n if (gamepad2.a == true) {\n robot.clawLeft.setPosition(1);\n robot.clawRight.setPosition(1);\n } else if (gamepad2.b == true) {\n robot.clawLeft.setPosition(0);\n robot.clawRight.setPosition(0);\n } else if (gamepad2.a == false && gamepad2.b == false) {\n robot.clawLeft.setPosition(0.5);\n robot.clawRight.setPosition(0.5);\n }\n }\n }","@Override\n public void loop() { //Starts this loop after you press the START Button\n /**\n * Functional control of up down lift with no limit switches Meet 0 ready\n */\n double liftposition = robot.liftUpDown.getCurrentPosition();\n double liftrotposition = robot.liftRotate.getCurrentPosition();\n telemetry.addData(\"Lift Position\",\"%5.2f\",liftposition);\n telemetry.addData(\"LiftRot Position\", \"%5.2f\", liftrotposition);\n // telemetry.addData(\"Block Stack\", BlockStack);\n telemetry.update();\n\n/**Main drive controls\n * Driver 1\n */\n\n/**\n * Drag servos\n */\n if (gamepad1.a){ //release\n robot.drag1.setPosition(0);\n robot.drag2.setPosition(1);\n } else if (gamepad1.b){//grab\n robot.drag1.setPosition(1);\n robot.drag2.setPosition(0);\n }\n\n/**Mast and Lift controls\n *\n *\n * Driver Two\n *\n *\n*/\n\n/**\n * Need controls to\n * Maybe predetermined locations based on number of pushes of a button.\n */\n\n /**\n * Functional arm rotation with limit switches and encoder limits. Meet 2 ready\n */\n\n //Twists lift up after verifying that rotate up limit switch is not engaged and that step count is less than 5400\n if ( gamepad2.dpad_up && robot.rotateup.getState() == true){\n robot.liftRotate.setPower(1.0);\n }\n else if (gamepad2.dpad_down && robot.rotatedown.getState() == true){ //Twists lift down\n robot.liftRotate.setPower(-1.0);\n }\n //required or lift rotate motor continues to run in last direction (breaks the motor shaft)\n else robot.liftRotate.setPower(0);\n\n /**\n * claw controls a= open b= close\n * FUNCTIONAL Meet 2 ready\n */\n if (gamepad2.a){\n robot.claw1.setPosition(0);\n robot.claw2.setPosition(1);\n } else if (gamepad2.b){\n robot.claw1.setPosition(1);\n robot.claw2.setPosition(0);\n }\n\n /**\n * Lift controls with limit switches and encoder position Meet 2 ready\n * right_trigger = lift\n * left_trigger = down\n */\n\n if ( gamepad2.right_trigger>= 0.2 && robot.liftup.getState()) {\n triggerpress=true;\n robot.liftUpDown.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\n robot.liftUpDown.setPower(.9);\n robot.liftRotate.setPower(.15);\n }\n if (gamepad2.left_trigger>=0.2){\n triggerpress=true;\n robot.liftUpDown.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\n robot.liftUpDown.setPower(-0.9);\n robot.liftRotate.setPower(-0.15);\n }\n if (gamepad2.left_trigger<.2 && gamepad2.right_trigger<.2 && triggerpress ){\n robot.liftUpDown.setPower(0);\n robot.liftRotate.setPower(0);\n triggerpress=false;\n }\n\n int x;\n int y;\n double motorDelayTime;\n //Necessary Debounce to keep bumper from being seen as multiple touches\n/* motorDelayTime=.1;\n if (robot.liftUpDown.getCurrentPosition()<50){\n BlockStack =0;\n }\n //skips servos unless runtime is greater than 20 ms.\n if( runtime.time() > motorDelayTime ) {\n //Need to move 5.5 inches on position 2, subsequent blocks will only need to move up 4 inches.\n x = robot.liftUpDown.getCurrentPosition();\n y= robot.liftRotate.getCurrentPosition();\n if (gamepad2.right_bumper ) {\n\n BlockStack= BlockStack + 1;\n robot.liftUpDown.setMode(DcMotor.RunMode.RUN_TO_POSITION);\n robot.liftUpDown.setTargetPosition(x + robot.floorheight);\n robot.liftUpDown.setPower(.9);\n robot.liftRotate.setTargetPosition(y + robot.floorheightrotate);\n robot.liftRotate.setPower(.1);\n bumperpress=true;\n\n //don't want to drive the cable too far loose checks that we can move a full block down\n } else if (gamepad2.left_bumper && x >= robot.floorheight ) {\n BlockStack= BlockStack - 1;\n robot.liftUpDown.setMode(DcMotor.RunMode.RUN_TO_POSITION);\n robot.liftUpDown.setTargetPosition(x - robot.floorheight);\n robot.liftUpDown.setPower(-.5);\n}\n\n runtime.reset();\n robot.liftUpDown.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\n }*/\n\n /**\n * Limit switch tests that reset the encoders Meet 1 ready\n * * liftdown also allows the X button to work\n * * rotatedown also allows the Y button to work\n */\n\n if (robot.rotatedown.getState() == false) {\n robot.liftRotate.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);\n robot.liftRotate.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\n }\n }","public void operatorControl() {\n \tdouble ctrlThresh = .2; \n \tdouble minPower = .05; \n \tdouble maxPower = .75; \n \tdouble recip = (1 - ctrlThresh); \n \tdouble mult = (maxPower - minPower); \n \tdouble right; \n \tdouble strafe; \n \tdouble rotate; \n \tdouble rightAxis; \n \tdouble strafeAxis; \n \tdouble rotateAxis; \n \t// \tboolean leftLeft; \n \t// \tboolean leftRight; \n \tdouble rightDir; \n \tdouble strafeDir; \n \tdouble rotateDir; \n \tdouble rightPower; \n \tdouble rotatePower; \n \tdouble strafePower; \n \t\n \tint winchCount;\n \tboolean winchDirection;\n \n \t// \tdouble frontLeftPower; \n \t// \tdouble frontRightPower; \n \t// \tdouble backLeftPower; \n \t// \tdouble backRightPower; \n \n \t//myRobot.setSafetyEnabled(true); \n \t\n \tAccelerometer test = new BuiltInAccelerometer();\n \t\n \twhile (isOperatorControl() && isEnabled()) { \n \t\t// ACCEL TEST CODE\n// \t\tSystem.out.println(test.getX() + \", \" + test.getY() + \", \" + test.getZ());\n \t\t// END ACCEL TEST CODE\n \n \t\t// ********** BEGIN DRIVING CODE ********** \n \t\t// Code for driving using omniwheels and two wheels for strafing \n \t\t// Diagram for the wheels of the robot below. \n \n \t\t// L S R \n \t\t// /--------------------------\\ \n \t\t//\t ||------------------------|| \n \t\t// || [][] || \n \t\t// || [] [] || \n \t\t// || [] [] || \n \t\t// || || \n \t\t// || || \n \t\t// || || \n \t\t// || || \n \t\t// || || \n \t\t// || [] [] || \n \t\t// || [] [] || \n \t\t// || [][] || \n \t\t// ||------------------------|| \n \t\t// \\--------------------------/ \n \t\t// \n \t\t// ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ \n \n \t\tctrlThresh = .2; // the point at which we want to sense joystick action \n \t\trecip = 1-ctrlThresh; \t\t // = 0.8 \n \n \t\trightAxis = rightStick.getRawAxis(1);\t\t\t\t// right joystick, y (up/down) axis\n \t\t\n \t\t//System.out.println(\"\"+rightAxis);\n \t\tstrafeAxis = rightStick.getRawAxis(0);\t\t\t\t// right joystick, x (left/right) axis; this is \n \t\t\t\t\t\t\t\t\t\t\t\t\t\t\t/// arbitrary and could have been the left stick\n \t\trotateAxis = rightStick.getRawAxis(4);\t\t\t\t\t// left joystick, y axis\n \n \t\trightDir = rightAxis/Math.abs(rightAxis);\t\t\t// forward or backward (+1 or -1)\n \t\tstrafeDir = strafeAxis/Math.abs(strafeAxis); \t// \t\t\t'' \n \t\trotateDir = rotateAxis/Math.abs(rotateAxis); // \t\t\t'' \n \n \t\tright = 0; // right input formatted for range of detected values [0.2,1] \n \t\trotate = 0; // left input formatted \n \t\tstrafe = 0; // strafe input formatted \n \n \t\tif(Math.abs(rightAxis) > ctrlThresh) \t// user moved stick beyond threshold \n \t\t{right = (rightAxis-ctrlThresh*rightDir)/recip;} // format right: scale back, set direction, proportion it \n \t\tif(Math.abs(strafeAxis) > ctrlThresh) \n \t\t{strafe = (strafeAxis-ctrlThresh*strafeDir)/recip;} // format left... \n \t\tif(Math.abs(rotateAxis) > ctrlThresh) \n \t\t{rotate = (rotateAxis-ctrlThresh*rotateDir)/recip;}\t\t// format strafe... \n \n \n \t\trightDir = right/Math.abs(right); \n \t\trightPower = (Math.abs(right*mult) + minPower) * rightDir; \t\t// re-proportion for power's range, strip direction,\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t/// and then add back threshold and direction. \n \t\trotateDir = rotate/Math.abs(rotate); \n \t\trotatePower = (Math.abs(rotate*mult) + minPower) * rotateDir;\t\t\t// \t\t'' \n \n \t\tstrafeDir = strafe/Math.abs(strafe); \n \t\tstrafePower = (Math.abs(strafe*mult) + minPower) * strafeDir;\t// \t\t'' \n \n \t\tif(Math.abs(rightPower)>0.2){\n \t\t\tfrontRight.set(rightPower);\t\t\t\t\t\t// set all the motors with the powers we \n \t\t\tbackRight.set(rightPower);\t\t\t\t\t\t/// calculated above : drive! \n \t\t\tfrontLeft.set(-1*rightPower); \n \t\t\tbackLeft.set(-1*rightPower);\n \t\t}\n \t\telse{\n \t\t\tfrontRight.set(rotatePower);\n \t\t\tbackRight.set(rotatePower);\n \t\t\tfrontLeft.set(rotatePower);\n \t\t\tbackLeft.set(rotatePower);\n \t\t}\n \t\t\n// \t\tfrontStrafe.set(strafePower); \n// \t\tbackStrafe.set(-1*strafePower); \n \n// \t\tmyRobot.tankDrive(leftStick, rightStick); \n \t\t \n \t\t// ********** END OF DRIVING CODE ********** \n \t\t//======================================================================= \n \t\t// ************ BEGIN WINCH CODE *********** \n \t\t// We need to code the winch to help raise and lower the elevator \n \t\t// This is just one option between the winch and the lead screw. \n \t\t \n \t\t\n \t\t//second winch test\n \t\t/*\n \t\twinchCount = winchEncoder.get();\t\t\t\t// get the pulse count from the encoder\n \t \tSystem.out.println(\"Count: \"+ winchCount);\t\t// print the pulse count \n \t \tif(winchCount<240){\n \t \t\t\n \t \t\twinchCim1.set(.1);\n \t \t\twinchCim2.set(.1);\n \t \t}\n \t \telse{\n \t \t\twinchCim1.set(0);\n \t \t\twinchCim2.set(0);\n \t \t\t\n \t \t}\n \t if(rightStick.getRawButton(5)) \n { \n\t\t\t winchEncoder.reset();// reset the pulse count\n\t\t\t winchCount = 0;\n\t\t\t winchCim1.set(0);\n\t\t\t winchCim2.set(0);\n\t\t\t \n } */ //end of second winch test \n \t \t\n \t\t\n \t\t if(rightStick.getRawButton(5)) \n { \n \t\t\t //winchEncoder.reset();// reset the pulse count\n \tSystem.out.println(\"A\");\n \t winchCim1.set(.5); \t// set winchCim1 to 0.5 power (upwards) \n \t winchCim2.set(.5); \t\t\t\t\t\t\t// set winchCim2 to 0.5 power\n \t\t\t \n } \n \t\telse if(rightStick.getRawButton(4))\n \t\t{\n \t\t\tSystem.out.println(\"B\");\n \t\t\t//winchEncoder.reset();\t\t\t\t\t\t\t// reset the pulse count\n \t \twinchCim1.set(-.3); // set winchCim1 to -0.5 power (downwards) \n \t \twinchCim2.set(-.3);\t \t\t\t\t\t\t\t// set winchCim2 to -0.5 power\n \t\t}\n \n \t \telse// if(rightStick.getRawButton(2)) \n { \n \t winchCim1.set(0); \t\t\t\t\t\t\t// set winchCim1 to 0 power (off/stop) \n \t winchCim2.set(0);\t\t\t\t\t\t\t\t// set winchCim2 to 0 pwoer (off/stop)\n// \t winchCount = winchEncoder.get();\t\t\t\t// get the pulse count from the encoder\n// \t System.out.println(\"Count: \"+ winchCount);\t\t// print the pulse count \n } \n \n \t\t// ********** END OF WINCH CODE ********** \n \t\t//======================================================================= \n \t\t \n \t\t \n \t\tTimer.delay(0.005);\t\t// wait for a motor update time \n } \n }","@Override\n public void loop() {\n\n if (gamepad1.a && pow >= .01){\n pow -= .01;\n }\n\n if (gamepad1.b && pow <= .99){\n pow += .01;\n }\n robot.shooter.setPower(pow);\n\n telemetry.addData(\"Current Shooter Speed: \", pow);\n telemetry.update();\n\n //The following code should be for a normal drivetrain.\n\n robot.drive360(gamepad1.left_stick_x, -gamepad1.left_stick_y, gamepad1.right_stick_x);\n\n if (gamepad1.dpad_down && pow2 >= .01){\n pow2 -= .01;\n }\n\n if (gamepad1.dpad_up && pow2 <= .99){\n pow2 += .01;\n }\n\n //End normal drivetrain, the rest of this code is for varying the intake speed.\n\n if (gamepad1.right_bumper){\n robot.intake.setPower(pow2);\n }\n else if (gamepad1.left_bumper) {\n robot.intake.setPower(pow2 * -1);\n }\n else {\n robot.intake.setPower(0);\n }\n\n telemetry.addData(\"Current Intake Speed: \", pow2);\n telemetry.update();\n\n }","public void uncBackwardBoost(final int x, final int y, final int maxX, final int maxY) {\n new Thread(new Runnable() {\n @Override\n public void run() {\n int count = 0;\n int centerX = maxX / 2;\n int centerY = maxY / 2;\n int finalX = 0, finalY = 0;\n int time = 3;\n if (ACTUAL_DIFICULTY == EASY)\n time = 3;\n if (ACTUAL_DIFICULTY == MEDIUM)\n time = 4;\n if (ACTUAL_DIFICULTY == HARD)\n time = 6;\n\n if (x >= centerX && y < centerY) {//Quadrant 1. x btw 155 and 310. y btw 0 and 155\n //Go to 3\n finalX = 0;\n finalY = maxY;\n } else if (x < centerX && y < centerY) { //Quadrant 2.\n //Go to 4\n finalX = maxX;\n finalY = maxY;\n } else if (x < centerX && y >= centerY) { //Quadrant 3.\n //Go to 1\n finalX = maxX;\n finalY = 0;\n } else if (x >= centerX && y >= centerY) { //Quadrant 4.\n //Go to 2\n finalX = 0;\n finalY = 0;\n }\n while (count < time) {\n\n drive_control.stopDriving();\n drive_control.setSpeedScale(MAX_SCALED_SPEED);\n drive_control.startDriving(getContext(), DriveControl.JOY_STICK);\n drive_control.driveJoyStick(finalX, finalY);\n try {\n Thread.sleep(100);\n } catch (InterruptedException e) {\n }\n count++;\n }\n restoreValues();\n }\n }).start();\n }","@Override\n public void loop() {\n double left;\n double right;\n\n // // Run wheels in tank mode (note: The joystick goes negative when pushed forwards, so negate it)\n left = -gamepad1.left_stick_y;\n right = -gamepad1.right_stick_y;\n \n // double Target = 0;\n // robot.rightBack.setTargetPosition((int)Target);\n // robot.rightBack.setMode(DcMotor.RunMode.RUN_TO_POSITION);\n\n rightFront.setPower(left);\n rightBack.setPower(right);\n // robot.rightDrive.setPower(right);\n\n // // Use gamepad left & right Bumpers to open and close the claw\n // if (gamepad1.right_bumper)\n // clawOffset += CLAW_SPEED;\n // else if (gamepad1.left_bumper)\n // clawOffset -= CLAW_SPEED;\n\n // // Move both servos to new position. Assume servos are mirror image of each other.\n // clawOffset = Range.clip(clawOffset, -0.5, 0.5);\n // robot.leftClaw.setPosition(robot.MID_SERVO + clawOffset);\n // robot.rightClaw.setPosition(robot.MID_SERVO - clawOffset);\n\n // Use gamepad buttons to move the arm up (Y) and down (A)\n // if (gamepad1.y)\n // armPosition += ARM_SPEED;\n \n // if (gamepad1.a)\n // armPosition -= ARM_SPEED;\n \n // armPosition = Range.clip(armPosition, robot.ARM_MIN_RANGE, robot.ARM_MAX_RANGE); \n \n\n // // Send telemetry message to signify robot running;\n // telemetry.addData(\"arm\", \"%.2f\", armPosition);\n // telemetry.addData(\"left\", \"%.2f\", left);\n // telemetry.addData(\"right\", \"%.2f\", right);\n }","@Override\n public void execute() {\n //How does one pass the joystick value here? There has to be a better way.\n driveTrainSubsystem.drive(1.0);\n\n\n //control pneumatics\n DoubleSolenoid doubleSolenoid = new DoubleSolenoid(1, 2);\n\n for(int i =0; i < 30000; i++) {\n doubleSolenoid.set(Value.kForward);\n System.out.println(\"Solenoid forward\");\n }\n\n for(int i =0; i < 30000; i++) {\n doubleSolenoid.set(Value.kReverse);\n System.out.println(\"Solenoid backward\");\n }\n\n\n System.out.println(\"Solenoid off\");\n doubleSolenoid.set(Value.kReverse);\n\n }","private void configVelocityControl() {\n //config remote sensors\n //sets the sensor to be a quad encoder, sets our feedback device to be that sensor\n m_masterMotor.configSelectedFeedbackSensor(TalonSRXFeedbackDevice.CTRE_MagEncoder_Relative, RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\n\n //zero the encoders on every init\n zeroEncoder();\n\n //sets whether our motor is inverted\n //this is currently false but can be switched based on testing\n m_masterMotor.setInverted(RobotMap.LAUNCHER_MASTER_INVERTED);\n m_masterMotor.setSensorPhase(RobotMap.LAUNCHER_MASTER_INVERTED);\n\n //this sets how often we pull data from our sensor\n m_masterMotor.setStatusFramePeriod(StatusFrame.Status_2_Feedback0, RobotMap.LAUNCHER_FEEDBACK_PERIOD_MS, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\n\n //this configs the deadband for the PID output. Any output with an absolute value less than this will be treated as zero\n m_masterMotor.configNeutralDeadband(0, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\n\n //this sets the peak output for our motor controller.\n m_masterMotor.configPeakOutputForward(RobotMap.LAUNCHER_PID_PEAK_OUTPUT, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\n //this does the same thing but for the reverse direction\n m_masterMotor.configPeakOutputReverse(0, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\n \n //sets the period of the velocity sample\n //effectively this defines the amount of time used to calculate the velocity\n m_masterMotor.configVelocityMeasurementPeriod(RobotMap.VELOCITY_MEASUREMENT_PERIOD, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\n\n //Sets the number of samples used in the rolling average for calculating velocity\n m_masterMotor.configVelocityMeasurementWindow(RobotMap.LAUNCHER_VELOCITY_MEASUREMENT_WINDOW, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\n \n //set p, i, d, f values\n //the zero is the PID slot, in this case it is zero for the primary PID\n //the launcher has no auxillary or turning PID control\n m_masterMotor.config_kP(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_P);\n m_masterMotor.config_kI(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_I);\n m_masterMotor.config_kD(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_D);\n m_masterMotor.config_kF(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_F);\n\n //this sets the acceptable amount of Integral error, where if the absolute accumulated error exceeds this ammount, it resets to zero\n //this is designed to prevent the PID from going crazy if we move too far from our target\n m_masterMotor.config_IntegralZone(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_I_ZONE, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\n\n //sets the max output of the motor specifically within closed loop control\n m_masterMotor.configClosedLoopPeakOutput(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_PID_PEAK_OUTPUT, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\n\n //this configures an allowable error in closed loop control\n //any error less than this is treated as zero.\n m_masterMotor.configAllowableClosedloopError(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_ACCEPTABLE_ERROR, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\n\n //configures the period for closed loop calculations in MS \n //should be increased if the can bus is haveing issues\n m_masterMotor.configClosedLoopPeriod(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_CLOSED_LOOP_PERIOD_MS, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\n\n //configures ramp speed\n m_masterMotor.configOpenloopRamp(RobotMap.LAUNCHER_OPEN_LOOP_RAMP_TIME_S);\n m_masterMotor.configClosedloopRamp(0);\n\n //sets our closed loop control to use our primary PID slot\n m_masterMotor.selectProfileSlot(RobotMap.PID_PRIMARY_SLOT, 0);\n }","private static synchronized void runLiftStageFromJoystick(ArmLiftMotorInfo mtrInfo) { //double stage1JoystickReading, double stage2JoystickReading) {\r\n\t\t\tdouble percentOut;\r\n\t\t\tsynchronized(armStage1.motorLock) {\r\n//\t\t\t\tsynchronized(armStage2.motorLock) {\t\t\t\t\t\r\n\t\t\t\t\t//joysticks give negative readings when pushed away from you, but we want that action to run\r\n\t\t\t\t\t//the motors in their forward direction (postive Percent Output values)\r\n\t\t\t\t\tdouble jsRdg = mtrInfo.jsNamedControl.getEnt().getAnalog();\r\n\t\t\t\t\tmtrInfo.lastJoystickReading = jsRdg;\r\n\t\t\t\t\t//squaring makes joysticks easier to use\r\n\t\t\t\t\tpercentOut = -Math.copySign(jsRdg*jsRdg, jsRdg);\r\n\t\t\t\t\tif(mtrInfo.operatingMode.equals(OperatingModesE.IDLE)) {mtrInfo.operatingMode = OperatingModesE.JOYSTICK;}\r\n\t\t\t\t\t\r\n\t\t\t\t\t//check limit switches, encoders, 'useEncoder' flag, etc. and allow/forbid motion accordingly\r\n\t\t\t\t\tmtrInfo.handleJoystickPercentOut(percentOut);\r\n\t\t\t\t\t\r\n//\t\t\t\t}\r\n\t\t\t}\r\n\t\t}","@Override\n public void teleopPeriodic() {\n\t\t/* xbox processing */\n\t\tdouble leftYstick = xbox.getY(Hand.kLeft);\n\t\tboolean buttonA = xbox.getAButton();\n boolean buttonB = xbox.getBButton();\n boolean buttonX = xbox.getXButton();\n boolean buttonY = xbox.getYButton();\n\n\t\t/* Get Talon/Victor's current output percentage */\n\t\tdouble motorOutput = elevator.getMotorOutputPercent();\n\n\t\t/* Deadband gamepad */\n\t\tif (Math.abs(leftYstick) < 0.10) {\n\t\t\t/* Within 10% of zero */\n\t\t\tleftYstick = 0;\n }\n\n\t\t/* Prepare line to print */\n\t\t_sb.append(\"\\tout:\"); _sb.append((int) (motorOutput * 100)); _sb.append(\"%\"); // Percent\n\t\t_sb.append(\"\\tpos:\"); _sb.append(elevator.getSelectedSensorPosition(0)); _sb.append(\"u\"); // Native units\n\n\t\t/**\n\t\t * When button 1 is pressed, perform Position Closed Loop to selected position,\n\t\t * indicated by Joystick position x10, [-10, 10] rotations\n\t\t */\n\t\t//if (!_lastButton1 && buttonA) {\n if (buttonB) {\n\t\t\t/* Position Closed Loop */\n\t\t\t/* 10 Rotations * 4096 u/rev in either direction */\n\t\t\ttargetPositionRotations = 5000; // 2* 4096; //leftYstick * 10.0 * 4096;\n\t\t\televator.set(ControlMode.Position, targetPositionRotations);\n\t\t}\n if (buttonX) {\n\t\t\t/* Position Closed Loop */\n\t\t\t/* 10 Rotations * 4096 u/rev in either direction */\n\t\t\ttargetPositionRotations = 3000; //2* 4096; //leftYstick * 10.0 * 4096;\n\t\t\televator.set(ControlMode.Position, -targetPositionRotations);\n\t\t}\n\n\t\t/* When button 2 is held, just straight drive */\n\t\tif (buttonA) {\n /* Percent Output */\n\t\t elevator.set(ControlMode.PercentOutput, leftYstick);\n }\n \n if (buttonY) {\n elevator.setSelectedSensorPosition(0); // reset to zero\n elevator.getSensorCollection().setQuadraturePosition(0, 10);\n elevator.set(ControlMode.PercentOutput, 0);\n }\n// else{\n //}\n\n\t\t/* If Talon is in position closed-loop, print some more info */\n\t\tif (elevator.getControlMode() == ControlMode.Position) {\n /* Append more signals to print when in speed mode. */\n\t\t\t_sb.append(\"\\terr:\"); _sb.append(elevator.getClosedLoopError(0)); _sb.append(\"u\");\t// Native Units\n\t\t\t_sb.append(\"\\ttrg:\"); _sb.append(targetPositionRotations); _sb.append(\"u\");\t// Native Units\n\t\t}\n\n\t\t/**\n\t\t * Print every ten loops, printing too much too fast is generally bad\n\t\t * for performance.\n\t\t */\n\t\tif (++_loops >= 10) {\n\t\t\t_loops = 0;\n\t\t\tSystem.out.println(_sb.toString());\n\t\t}\n\n\t\t/* Reset built string for next loop */\n\t\t_sb.setLength(0);\n\t\t\n\t\t/* Save button state for on press detect */\n\t\t//_lastButton1 = buttonA;\n }","public void teleopPeriodic() {\n joystick1X = leftStick.getAxis(Joystick.AxisType.kX);\n joystick1Y = leftStick.getAxis(Joystick.AxisType.kY);\n joystick2X = rightStick.getAxis(Joystick.AxisType.kX);\n joystick2Y = rightStick.getAxis(Joystick.AxisType.kY);\n \n mapped1Y = joystick1Y/2 + 0.5;\n mapped1X = joystick1X/2 + 0.5;\n mapped2X = joystick2X/2 + 0.5;\n mapped2Y = joystick2Y/2 + 0.5;\n \n X1testServo.set(mapped1X);\n Y1testServo.set(mapped1Y);\n X2testServo.set(mapped2X);\n Y2testServo.set(mapped2Y);\n }","public void snakeUp(){\r\n\t\tspeedUp();\r\n\t\tpoints += 100;\r\n\t}","public static void main(String[] args) throws InterruptedException {\n // Create a gamepad\n JInputJoystick gamepad = new JInputJoystick(Controller.Type.STICK, Controller.Type.GAMEPAD);\n\n // Check if a gamepad was found.\n if (!gamepad.isControllerConnected()){\n Logger.info(\"No gamepad controller found!\");\n System.exit(1);\n }\n\n // Instantiate hardware\n// Servo.Trim trim = new Servo.Trim(1.5f, 1.5f, 1.3f, 1.7f); // For slow parallax 360 rotation servos\n Servo.Trim trim = new Servo.Trim(1.5f, 1.5f, 1.28f, 1.72f);\n try (Servo leftWheelServo = new Servo(leftWheelPin, trim.getMaxPulseWidthMs(), 50, trim);\n Servo rightWheelServo = new Servo(rightWheelPin, trim.getMinPulseWidthMs(), 50, trim)) {\n leftWheelServo.setInverted(true);\n\n // Set up communication with servo feedback encoders\n DigisparkFeedbackEncoder digisparkFeedbackEncoder = new DigisparkFeedbackEncoder();\n ParallaxHallEffectFeedbackSensor leftWheelFeedbackSensor = \n new ParallaxHallEffectFeedbackSensor(digisparkFeedbackEncoder, ParallaxHallEffectFeedbackSensor.WheelSide.LEFT);\n ParallaxHallEffectFeedbackSensor rightWheelFeedbackSensor = \n new ParallaxHallEffectFeedbackSensor(digisparkFeedbackEncoder, ParallaxHallEffectFeedbackSensor.WheelSide.RIGHT);\n\n // Set up the operator interface so we can get joystick feedback\n OperatorInterface operatorInterface = new OperatorInterface(gamepad);\n\n // Start the command scheduler\n SchedulerTask schedulerTask = new SchedulerTask(Scheduler.getInstance());\n schedulerTask.start();\n Logger.info(\"Robot command scheduler started.\");\n\n // Instantiate subsystems\n DriveTrain driveTrain = new DriveTrain(\n trim, \n leftWheelServo, \n rightWheelServo, \n digisparkFeedbackEncoder,\n leftWheelFeedbackSensor, \n rightWheelFeedbackSensor, \n operatorInterface);\n\n while (true) {\n Thread.sleep(100);\n }\n }\n }","@Override\n\tpublic void testPeriodic(){\n\t\t//Testing xbox buttons, joysticks and triggers\n\t\tOI.refreshAll();\n//\t\t//System.out.println(\"Left Y = \" + xbox.LeftStick.Y);\n//\t\t//System.out.println(\"Right Y = \" + xbox.RightStick.Y);\n//\t\t\n//\t\t\n//\t\tfinal double cpr = 360.0;\n//\t\tfinal double encoder_angular_distance_per_pulse = 2.0*Math.PI / cpr;\n//\t\tfinal double wheel_radius = 2.5; // .564 in (18T 5mm pitch)\n//\t\tfinal double encLinearDistancePerPulse = wheel_radius * encoder_angular_distance_per_pulse; //2.0 * Math.PI / cpr;\n//\t\t\n//\t\tSystem.out.println(enc.getRaw()*encLinearDistancePerPulse);\n//\t\t\n\t\t\n\t\t//System.out.println(gyro.getAngle(MPU6050.Axis.X));\n\n\t //PNEUMATICS\n\t //c.setClosedLoopControl(true);\n\t //c.setClosedLoopControl(false);\n\t}","@Override\n public void loop() {\n rightArm.setTargetPosition((int)(.125* TICKS_PER_WHEEL_ROTATION*8));\n leftArm.setTargetPosition((int)(.125* TICKS_PER_WHEEL_ROTATION*8));\nrightArm.setPower(.6);\nleftArm.setPower(.6);\nif(runtime.seconds()>4&& stage==-1){\n stage++;\n}\n// telemetry.addData(\"IsAligned\" , detector.getAligned()); // Is the bot aligned with the gold mineral?\n// telemetry.addData(\"X Pos\" , detector.getXPosition()); // Gold X position.\n\n //Point screenpos = detector.getScreenPosition();\n if(stage==0) {\n Rect bestRect = detector.getFoundRect();\n\n double xPos = bestRect.x + (bestRect.width / 2);\n\n if (xPos < alignXMax && xPos > alignXMin) {\n aligned = true;\n } else {\n aligned = false;\n }\n telemetry.addData(\"aligned \", aligned);\n\n telemetry.addData(\"xpos \", xPos);\n telemetry.addData(\"amax \", alignXMax);\n telemetry.addData(\"amin \", alignXMin);\n if(!(xPos>0)){\n rightWheel.setPower(0);\n leftWheel.setPower(0);\n telemetry.addLine(\"not detected\");\n }\n else if (xPos > alignXMax) {\n double power = ((xPos - alignXMax) / scale) * .3 + .4;\n rightWheel.setPower(power);\n leftWheel.setPower(-power);\n telemetry.addData(\"powL: \", power);\n telemetry.addLine(\"turning left\");\n runtime.reset();\n } else if (xPos < alignXMin) {\n double power = ((alignXMin - xPos) / scale) * .3 + .4;\n rightWheel.setPower(-power);\n leftWheel.setPower(power);\n telemetry.addData(\"powR: \", power);\n telemetry.addLine(\"turning right\");\n runtime.reset();\n } else {\n rightWheel.setPower(0);\n leftWheel.setPower(0);\n telemetry.addLine(\"found\");\n telemetry.addData(\"secks: \", runtime.seconds());\n if(runtime.seconds()>.1){\n runtime.reset();\n stage++;\n resetDriveEncoders();\n }\n }\n\n\n }\n else if (stage==1){\n rightWheel.setTargetPosition(-3*TICKS_PER_WHEEL_ROTATION);\n leftWheel.setTargetPosition(-3*TICKS_PER_WHEEL_ROTATION);\n leftWheel.setPower(.5);\n rightWheel.setPower(.5);\n if(runtime.seconds()>5){\n rightWheel.setPower(0);\n leftWheel.setPower(0);\n }\n\n }\n\n\n telemetry.addData(\"stage: \", stage);\n telemetry.update();\n }","private void setZeroPowerBrakes() {\n //Initialize Mecanum Wheel DC Motor Behavior\n robot2.DriveRightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);\n robot2.DriveRightRear.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);\n robot2.DriveLeftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);\n robot2.DriveLeftRear.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);\n }","@Override\n\tpublic void testPeriodic() {\n\t\tif (testJoystick.getRawButton(3)) {\n\t\t\tsparkMotor1.set(1.0);\n\t\t\tsparkMotor0.set(1.0);\n\t\t\ttestTalon.set(1.0);\n\t\t\t\n\t\t\ttalonMotor10.set(ControlMode.PercentOutput, 1.0);\n\t\t\ttalonMotor11.set(ControlMode.PercentOutput, 1.0);\n\t\t\ttalonMotor12.set(ControlMode.PercentOutput, 1.0);\n\t\t\ttalonMotor13.set(ControlMode.PercentOutput, 1.0);\n\t\t\ttalonMotor14.set(ControlMode.PercentOutput, 1.0);\n\t\t\ttalonMotor15.set(ControlMode.PercentOutput, 1.0);\n\t\t}\n\t\telse if (testJoystick.getRawButton(2)) {\n\t\t\tsparkMotor0.set(-1.0);\n\t\t\tsparkMotor1.set(-1.0);\n\t\t\ttestTalon.set(-1.0);\n\t\t\t\n\t\t\ttalonMotor10.set(ControlMode.PercentOutput, -1.0);\n\t\t\ttalonMotor11.set(ControlMode.PercentOutput, -1.0);\n\t\t\ttalonMotor12.set(ControlMode.PercentOutput, -1.0);\n\t\t\ttalonMotor13.set(ControlMode.PercentOutput, -1.0);\n\t\t\ttalonMotor14.set(ControlMode.PercentOutput, -1.0);\n\t\t\ttalonMotor15.set(ControlMode.PercentOutput, -1.0);\n\t\t}\n\t\telse {\n//\t\t\tsparkMotor0.set(0);\n\t\t\tsparkMotor1.set(0);\n\t\t\ttestTalon.set(0);\n\t\t\t\n\t\t\ttalonMotor10.set(ControlMode.PercentOutput, 0);\n\t\t\ttalonMotor11.set(ControlMode.PercentOutput, 0);\n\t\t\ttalonMotor12.set(ControlMode.PercentOutput, 0);\n\t\t\ttalonMotor13.set(ControlMode.PercentOutput, 0);\n\t\t\ttalonMotor14.set(ControlMode.PercentOutput, 0);\n\t\t\ttalonMotor15.set(ControlMode.PercentOutput, 0);\n\t\t\t\n\t\t\ttestSel.set(Value.kForward);\n\t\t}\n\t\t\n\t\tif (testJoystick.getRawButton(7)) {\n\t\t\ttestSel.set(Value.kForward);\n\t\t\tSystem.out.println(compressor.getCompressorCurrent());\n\t\t}\n\t}","public void moveBot(double drive, double rotate, double strafe, double scaleFactor)\n {\n double wheelSpeeds[] = new double[4];\n\n wheelSpeeds[0] = drive - rotate - strafe; // Right Read\n wheelSpeeds[1] = drive - rotate + strafe; // Right Front\n wheelSpeeds[2] = drive + rotate + strafe; // Left Rear\n wheelSpeeds[3] = drive + rotate - strafe; // Left Front\n // Find the magnitude of the first element in the array\n double maxMagnitude = Math.abs(wheelSpeeds[0]);\n // If any of the other wheel speeds are bigger, save that value in maxMagnitude\n for (int i = 1; i < wheelSpeeds.length; i++)\n {\n double magnitude = Math.abs(wheelSpeeds[i]);\n if (magnitude > maxMagnitude)\n {\n maxMagnitude = magnitude;\n }\n }\n // Normalize all of the magnitudes to below 1\n if (maxMagnitude > 1.0)\n {\n for (int i = 0; i < wheelSpeeds.length; i++)\n {\n wheelSpeeds[i] /= maxMagnitude;\n }\n }\n\n // Compare last wheel speeds to commanded wheel speeds and ramp as necessary\n for (int i = 0; i < lastwheelSpeeds.length; i++){\n // If the commanded speed value is more than SPEED_INCREMENT away from the last known wheel speed\n if (Math.abs(wheelSpeeds[i] - lastwheelSpeeds[i]) > SPEED_INCREMENT){\n // Set the current wheel speed to the last wheel speed plus speed increment in the signed directin of the difference\n wheelSpeeds[i] = lastwheelSpeeds[i] + Math.copySign(SPEED_INCREMENT,wheelSpeeds[i] - lastwheelSpeeds[i]);\n }\n }\n\n // Send the normalized values to the wheels, further scaled by the user\n rightRearDrive.setPower(wheelSpeeds[0] * scaleFactor);\n rightFrontDrive.setPower(wheelSpeeds[1] * scaleFactor);\n leftRearDrive.setPower(wheelSpeeds[2] * scaleFactor);\n leftFrontDrive.setPower(wheelSpeeds[3] * scaleFactor);\n\n // Save the last wheel speeds to assist in ramping\n for (int i = 0; i < lastwheelSpeeds.length; i++){\n lastwheelSpeeds[i] = wheelSpeeds[i];\n }\n }","public void driveJoystick(double x, double y) {\n\t\ty = -y;\n\t\t\n\t\tdouble leftPower;\n\t\tdouble rightPower;\n\t\t\n\t\t// Calculate Power (Drive Train)\n\t\tleftPower = Range.clip(y + x, -1.0, 1.0) ;\n\t\trightPower = Range.clip(y - x, -1.0, 1.0) ;\n\t\t\n\t\tdrive(leftPower, rightPower);\n\t\t\n\t\t/* \n\t\t// Calculate Power (Drive Train)\n\t\tdouble drive = -gamepad1.left_stick_y;\n\t\tdouble turn = gamepad1.right_stick_x;\n\t\tleftPower\t = Range.clip(drive + turn, -1.0, 1.0) ;\n\t\trightPower = Range.clip(drive - turn, -1.0, 1.0) ;\n\t\t*/\n\t}","@Override\r\n public void loop() {\r\n\r\n // throttle: left_stick_y ranges from -1 to 1, where -1 is full up, and\r\n // 1 is full down\r\n // direction: left_stick_x ranges from -1 to 1, where -1 is full left\r\n // and 1 is full right\r\n\r\n double y1 = -gamepad1.left_stick_y;\r\n double x1 = gamepad1.left_stick_x;\r\n double y2 = -gamepad1.right_stick_y;\r\n double x2 = gamepad1.right_stick_x; //This one is for turning\r\n\r\n double treadStickValueR = 0;\r\n double treadStickValueL = 0;\r\n\r\n boolean leftBumper = gamepad2.left_bumper;\r\n boolean rightBumper = gamepad2.right_bumper;\r\n\r\n boolean aButton = gamepad1.a;\r\n boolean bButton = gamepad1.b;\r\n\r\n /**\r\n if (gamepad2.right_bumper) rightBumper = true;\r\n else {\r\n rightBumper = false;\r\n }\r\n\r\n if (gamepad2.left_bumper) leftBumper = true;\r\n else {\r\n leftBumper = false;\r\n }\r\n */\r\n\r\n double armStickValue = -gamepad2.right_stick_y; //input for raising/lowering arm\r\n\r\n if (gamepad2.left_trigger != 0) {\r\n treadStickValueR = -gamepad2.left_trigger; //input for changing tread speed\r\n treadStickValueL = -gamepad2.left_trigger; //input for changing tread speed\r\n } else {\r\n treadStickValueR = gamepad2.right_trigger; //input for changing tread speed\r\n treadStickValueL = gamepad2.right_trigger; //input for changing tread speed\r\n }\r\n\r\n /**\r\n boolean dpadUP = gamepad1.dpad_up;\r\n boolean dpadDOWN = gamepad1.dpad_down;\r\n boolean dpadLEFT = gamepad1.dpad_left;\r\n boolean dpadRIGHT = gamepad1.dpad_right;\r\n */\r\n\r\n //On a scale of 1, -1, if it's less than 0.05, then it may be 0 in reality. 12.75 in 255 land\r\n if (Math.abs(x1) <= 0.1 * MAX)\r\n x1 = 0;\r\n if (Math.abs(y1) <= 0.1 * MAX)\r\n y1 = 0;\r\n if (Math.abs(x2) <= 0.1 * MAX)\r\n x2 = 0;\r\n if (Math.abs(y2) <= 0.1 * MAX)\r\n y2 = 0;\r\n\r\n if (Math.abs(armStickValue) <= 0.05 * MAX)\r\n armStickValue = 0;\r\n\r\n if (Math.abs(treadStickValueR) <= 0.05 * MAX)\r\n treadStickValueR = 0;\r\n if (Math.abs(treadStickValueL) <= 0.05 * MAX)\r\n treadStickValueL = 0;\r\n\r\n boolean LeftBumpVal = leftBumper;\r\n boolean RightBumpVal = rightBumper;\r\n //Decides direction by splitting circle into four quadrants, and assumes that the stick is pushed to the edge of the circle for precision between quadrants\r\n //See unit circle to explain why x must be less than or greater than Rt(2)/2\r\n\r\n if (y1 > 0) //Joystick forwards\r\n if (x1 < -(Math.sqrt(2) / 2)) //Moving straight left\r\n {\r\n FLval = -Math.round(Math.abs(x1 * 10)) / 10.0;\r\n FRval = Math.round(Math.abs(x1 * 10)) / 10.0;\r\n BLval = Math.round(Math.abs(x1 * 10)) / 10.0;\r\n BRval = -Math.round(Math.abs(x1 * 10)) / 10.0;\r\n\r\n FLval = FLval*SPEED_MODIFIER;\r\n FRval = FRval*SPEED_MODIFIER;\r\n BLval = BLval*SPEED_MODIFIER;\r\n BRval = BRval*SPEED_MODIFIER;\r\n\r\n } else if (x1 > (Math.sqrt(2) / 2)) //Moving right\r\n {\r\n FLval = Math.round(Math.abs(x1 * 10)) / 10.0;\r\n FRval = -Math.round(Math.abs(x1 * 10)) / 10.0;\r\n BLval = -Math.round(Math.abs(x1 * 10)) / 10.0;\r\n BRval = Math.round(Math.abs(x1 * 10)) / 10.0;\r\n FLval = FLval*SPEED_MODIFIER;\r\n FRval = FRval*SPEED_MODIFIER;\r\n BLval = BLval*SPEED_MODIFIER;\r\n BRval = BRval*SPEED_MODIFIER;\r\n } else //Forwards\r\n {\r\n FLval = Math.round(Math.abs(y1 * 10)) / 10.0;\r\n FRval = Math.round(Math.abs(y1 * 10)) / 10.0;\r\n BLval = Math.round(Math.abs(y1 * 10)) / 10.0;\r\n BRval = Math.round(Math.abs(y1 * 10)) / 10.0;\r\n }\r\n else if (y1 < 0) //Stick backwards\r\n if (x1 < -(Math.sqrt(2) / 2)) //Straight left\r\n {\r\n FLval = -Math.round(Math.abs(x1 * 10)) / 10.0;\r\n FRval = Math.round(Math.abs(x1 * 10)) / 10.0;\r\n BLval = Math.round(Math.abs(x1 * 10)) / 10.0;\r\n BRval = -Math.round(Math.abs(x1 * 10)) / 10.0;\r\n FLval = FLval*SPEED_MODIFIER;\r\n FRval = FRval*SPEED_MODIFIER;\r\n BLval = BLval*SPEED_MODIFIER;\r\n BRval = BRval*SPEED_MODIFIER;\r\n } else if (x1 > (Math.sqrt(2) / 2)) //Right\r\n {\r\n FLval = Math.round(Math.abs(x1 * 10)) / 10.0;\r\n FRval = -Math.round(Math.abs(x1 * 10)) / 10.0;\r\n BLval = -Math.round(Math.abs(x1 * 10)) / 10.0;\r\n BRval = Math.round(Math.abs(x1 * 10)) / 10.0;\r\n FLval = FLval*SPEED_MODIFIER;\r\n FRval = FRval*SPEED_MODIFIER;\r\n BLval = BLval*SPEED_MODIFIER;\r\n BRval = BRval*SPEED_MODIFIER;\r\n } else //Backwards\r\n {\r\n FLval = -Math.round(Math.abs(y1 * 10)) / 10.0;\r\n FRval = -Math.round(Math.abs(y1 * 10)) / 10.0;\r\n BLval = -Math.round(Math.abs(y1 * 10)) / 10.0;\r\n BRval = -Math.round(Math.abs(y1 * 10)) / 10.0;\r\n }\r\n else //stick not moved vertically\r\n if (x1 > 0) { //Right\r\n\r\n FLval = Math.round(Math.abs(x1 * 10)) / 10.0;\r\n FRval = -Math.round(Math.abs(x1 * 10)) / 10.0;\r\n BLval = -Math.round(Math.abs(x1 * 10)) / 10.0;\r\n BRval = Math.round(Math.abs(x1 * 10)) / 10.0;\r\n FLval = FLval*SPEED_MODIFIER;\r\n FRval = FRval*SPEED_MODIFIER;\r\n BLval = BLval*SPEED_MODIFIER;\r\n BRval = BRval*SPEED_MODIFIER;\r\n } else if (x1 < 0) { //Left\r\n FLval = -Math.round(Math.abs(x1 * 10)) / 10.0;\r\n FRval = Math.round(Math.abs(x1 * 10)) / 10.0;\r\n BLval = Math.round(Math.abs(x1 * 10)) / 10.0;\r\n BRval = -Math.round(Math.abs(x1 * 10)) / 10.0;\r\n FLval = FLval*SPEED_MODIFIER;\r\n FRval = FRval*SPEED_MODIFIER;\r\n BLval = BLval*SPEED_MODIFIER;\r\n BRval = BRval*SPEED_MODIFIER;\r\n } else { //Stick at origin\r\n FLval = 0;\r\n FRval = 0;\r\n BLval = 0;\r\n BRval = 0;\r\n }\r\n\r\n //Right now turning overrides other movement\r\n\r\n if (x2 != 0) //Turning\r\n {\r\n FRval = FORWARD_POWER * -(x2 / (Math.abs(x2)));\r\n FLval = FORWARD_POWER * (x2 / (Math.abs(x2)));\r\n BRval = FORWARD_POWER * -(x2 / (Math.abs(x2)));\r\n BLval = FORWARD_POWER * (x2 / (Math.abs(x2)));\r\n FLval = FLval*SPEED_MODIFIER;\r\n FRval = FRval*SPEED_MODIFIER;\r\n BLval = BLval*SPEED_MODIFIER;\r\n BRval = BRval*SPEED_MODIFIER;\r\n }\r\n\r\n //For changing tread speed\r\n TLval = treadStickValueL;\r\n TRval = -treadStickValueR;\r\n\r\n\r\n //For changing arm value\r\n armVal = armStickValue;\r\n\r\n Range.clip(FLval, -CLIP_NUM, CLIP_NUM); //This is to make sure that no STRANGE values somehow get in\r\n Range.clip(BLval, -CLIP_NUM, CLIP_NUM);\r\n Range.clip(BRval, -CLIP_NUM, CLIP_NUM);\r\n Range.clip(FRval, -CLIP_NUM, CLIP_NUM);\r\n\r\n /*\r\n boolean imaniDoesNotCareForHerOwnSafety = gamepad2.a;\r\n if ((lastWasForSlow && !imaniDoesNotCareForHerOwnSafety) || (lastWasBackSlow && !gamepad2.y))\r\n spikeTime = 0;\r\n */\r\n\r\n FrontRight.setPower(FRval);\r\n FrontLeft.setPower(FLval);\r\n BackRight.setPower(BRval);\r\n BackLeft.setPower(BLval);\r\n\r\n TreadLeft.setPower(TLval);\r\n TreadRight.setPower(TRval);\r\n\r\n ArmMotor.setPower(armVal);\r\n\r\n boolean lastResetState = false;\r\n boolean curResetState = false;\r\n/**\r\n // Get a reference to a Modern Robotics gyro object. We use several interfaces\r\n // on this object to illustrate which interfaces support which functionality.\r\n gyro = hardwareMap.get(IntegratingGyroscope.class, \"gyro\");\r\n modernRoboticsI2cGyro = hardwareMap.get(ModernRoboticsI2cGyro.class, \"gyro\");\r\n gyro = (IntegratingGyroscope) modernRoboticsI2cGyro;\r\n // If you're only interested in the IntegratingGyroscope interface, the following will suffice.\r\n\r\n // A similar approach will work for the Gyroscope interface, if that's all you need.\r\n\r\n // Start calibrating the gyro. This takes a few seconds and is worth performing\r\n // during the initialization phase at the start of each opMode.\r\n\r\n\r\n telemetry.log().add(\"Gyro Calibrating. Do Not Move!\");\r\n modernRoboticsI2cGyro.calibrate();\r\n\r\n // Wait until the gyro calibration is complete\r\n timer.reset();\r\n while (modernRoboticsI2cGyro.isCalibrating()) {\r\n telemetry.addData(\"calibrating\", \"%s\", Math.round(timer.seconds()) % 2 == 0 ? \"|..\" : \"..|\");\r\n telemetry.update();\r\n }\r\n\r\n telemetry.log().clear();\r\n telemetry.log().add(\"Gyro Calibrated. Press Start.\");\r\n telemetry.clear();\r\n telemetry.update();\r\n\r\n // Wait for the start button to be pressed\r\n telemetry.log().clear();\r\n telemetry.log().add(\"Press A & B to reset heading\");\r\n\r\n // If the A and B buttons are pressed just now, reset Z heading.\r\n curResetState = (gamepad1.a && gamepad1.b);\r\n if (curResetState && !lastResetState) {\r\n modernRoboticsI2cGyro.resetZAxisIntegrator();\r\n }\r\n lastResetState = curResetState;\r\n\r\n // The raw() methods report the angular rate of change about each of the\r\n // three axes directly as reported by the underlying sensor IC.\r\n int rawX = modernRoboticsI2cGyro.rawX();\r\n int rawY = modernRoboticsI2cGyro.rawY();\r\n int rawZ = modernRoboticsI2cGyro.rawZ();\r\n int heading = modernRoboticsI2cGyro.getHeading();\r\n int integratedZ = modernRoboticsI2cGyro.getIntegratedZValue();\r\n\r\n // Read dimensionalized data from the gyro. This gyro can report angular velocities\r\n // about all three axes. Additionally, it internally integrates the Z axis to\r\n // be able to report an absolute angular Z orientation.\r\n AngularVelocity rates = gyro.getAngularVelocity(AngleUnit.DEGREES);\r\n float zAngle = gyro.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES).firstAngle;\r\n\r\n // Read administrative information from the gyro\r\n int zAxisOffset = modernRoboticsI2cGyro.getZAxisOffset();\r\n int zAxisScalingCoefficient = modernRoboticsI2cGyro.getZAxisScalingCoefficient();\r\n telemetry.addLine()\r\n .addData(\"dx\", (rates.xRotationRate))\r\n .addData(\"dy\", (rates.yRotationRate))\r\n .addData(\"dz\", \"%s deg/s\", (rates.zRotationRate));\r\n telemetry.addData(\"angle\", \"%s deg\", (zAngle));\r\n telemetry.addData(\"heading\", \"%3d deg\", heading);\r\n telemetry.addData(\"integrated Z\", \"%3d\", integratedZ);\r\n telemetry.addLine()\r\n .addData(\"rawX\", (rawX))\r\n .addData(\"rawY\", (rawY))\r\n .addData(\"rawZ\", (rawZ));\r\n telemetry.addLine().addData(\"z offset\", zAxisOffset).addData(\"z coeff\", zAxisScalingCoefficient);\r\n telemetry.update();\r\n **/\r\n\r\n telemetry.addData(\"Front Left: \", FLval);\r\n telemetry.addData(\"Front Right: \", FRval);\r\n telemetry.addData(\"Back Left: \", BLval);\r\n telemetry.addData(\"Back Right: \", BRval);\r\n telemetry.addData(\"Tread Left: \", TLval);\r\n telemetry.addData(\"Tread Right: \", TRval);\r\n telemetry.addData(\"Arm: \", armVal);\r\n telemetry.addData(\"xLeft: \", x1);\r\n telemetry.addData(\"yLeft: \", y1);\r\n telemetry.addData(\"xRight: \", x2);\r\n }","@Override\n public void loop() {\n switch (auto) {\n\n //Time Function Socks\n case 0:\n if (runtime.milliseconds() <= 6250) {\n robot.hook.setPower(1.0);\n } else if (runtime.milliseconds() > 6250) {\n robot.hook.setPower(0);\n auto++;\n } else {\n robot.hook.setPower(0);\n auto++;\n }\n\n break;\n\n case 1 :\n runtime.reset();\n auto++;\n break;\n\n\n case 2:\n if (runtime.milliseconds() <= 1000) {\n robot.drive(MovementEnum.RIGHTSTRAFE, 0.5);\n }\n else if(runtime.milliseconds() > 1000) {\n robot.drive(MovementEnum.STOP, 0.0);\n auto++;\n }\n else {robot.drive(MovementEnum.STOP, 0.0);\n auto++;\n }\n break;\n\n case 3:\n runtime.reset();\n auto++;\n break;\n\n case 4:\n // if (runtime.milliseconds() >= 12000) {\n //enable for color sensor here using DogeCV or OpenCV (Preferably DogeCV)\n /*\n if (runtime.milliseconds() > 7000) {\n robot.drive(MovementEnum.RIGHTTURN, 0.65);\n }\n auto++;\n */\n if (runtime.milliseconds() <= 3000) {\n robot.drive(MovementEnum.BACKWARD, 1);\n }\n else if(runtime.milliseconds() > 3000){ robot.drive(MovementEnum.STOP,0);}\n else {robot.drive(MovementEnum.STOP,0);}\n // auto++;\n\n\n break;\n\n case 34:\n if (runtime.milliseconds() <= 10000) {\n robot.drive(MovementEnum.BACKWARD, 1);\n }\n else if(runtime.milliseconds() > 10000)\n // auto++;\n break;\n\n case 45:\n if (runtime.milliseconds() > 11000) {\n robot.claw.setPosition(1);\n }\n auto++;\n break;\n\n case 5:\n if (runtime.milliseconds() > 13000) {\n robot.drive(MovementEnum.BACKWARD, 1);\n }\n break;\n\n default: {\n robot.drive(MovementEnum.STOP, 0);\n\n }\n break;\n //if gold color (RGB value) is detected return value. G\n // Go forward, go backwards, and turn left.\n // Go forward until distance to wall is 6 inches.\n // Turn 45 degrees, and go forward.\n // Drop the team marker, then back up into the crater.\n }\n\n }","@Test public void lastWins() {\n\t\tfinal String[] args = new String[]{\"-speed\", \"4\", \"-speed\", \"8\"};\n\t\tfinal CliActuators actuators = parser.parse(args, OPTIONS);\n\t\tAssert.assertEquals(\"8\", actuators.getActuatorById(\"speed\").getValue());\n\t}","public void setPuntosFwd(double value) {\r\n this.puntosFwd = value;\r\n }","public void checkInputs() {\n\n gearShift = driveStick.getXButtonReleased();\n slow = driveStick.getAButtonReleased();\n\n manualClimb = driveStick.getBumper(Hand.kLeft) && driveStick.getBumper(Hand.kRight);\n\n //climbToggle = driveStick.getBumperReleased(Hand.kLeft);\n climbToggle = false;\n climbRelease = driveStick.getStartButton();\n\n resetBalls = gunnerStick.getStartButtonReleased();\n visionShoot = gunnerStick.getBButtonReleased();\n manualShoot = gunnerStick.getYButton();\n distShoot = gunnerStick.getAButton();\n intakeToggle = gunnerStick.getBumperReleased(Hand.kRight);\n hoodToggle = gunnerStick.getBumperReleased(Hand.kLeft);\n intakeReverse = gunnerStick.getXButtonReleased();\n magazineReverse = gunnerStick.getBackButton();\n\n\n //Switch statement to determine controls for the driver\n switch (driverScheme) {\n case \"Reverse Turning\":\n XSpeed = -driveStick.getY(Hand.kLeft);\n ZRotation = driveStick.getX(Hand.kRight);\n break;\n default:\n XSpeed = driveStick.getY(Hand.kLeft);\n ZRotation = -driveStick.getX(Hand.kRight);\n break;\n }\n\n //Switch statement to determine controls for the gunner\n switch (gunnerScheme) {\n case \"Fun Mode\":\n\n discoToggle = gunnerStick.getBackButtonReleased();\n break;\n\n default:\n\n // if ((gunnerStick.getTriggerAxis(Hand.kRight) >= 0.75) && (gunnerStick.getTriggerAxis(Hand.kLeft) >= 0.75) && !overriding) {\n // overrideSafeties = !overrideSafeties;\n // overriding = true;\n // } else if ((gunnerStick.getTriggerAxis(Hand.kRight) <= 0.75) && (gunnerStick.getTriggerAxis(Hand.kLeft) <= 0.75)) {\n // overriding = false;\n // }\n\n break;\n }\n }","@Override\n public void robotInit() {\n m_oi = new OI();\n m_chooser.setDefaultOption(\"Default Auto\", new ExampleCommand());\n // chooser.addOption(\"My Auto\", new MyAutoCommand());\n SmartDashboard.putData(\"Auto mode\", m_chooser);\n\n Comp = new Compressor();\n\n //ClimbBack = new DoubleSolenoid(PCM_COMP_24V, 0, 1);\n //ClimbFront = new DoubleSolenoid(PCM_COMP_24V, 2, 3);\n LegFrontL = new VictorSPX(30);\n LegFrontR = new Spark(9);\n LegBackL = new VictorSPX(31);\n LegBackR = new VictorSPX(32);\n\n BackFootMover = new VictorSP(1);\n FrontFootMover = new Spark(2);\n //FeetMovers = new SpeedControllerGroup(BackFootMoverFootMover);\n\n MainRight = new CANSparkMax(9, MotorType.kBrushless);\n AltRight = new CANSparkMax(10, MotorType.kBrushless);\n MainLeft = new CANSparkMax(11, MotorType.kBrushless);\n AltLeft = new CANSparkMax(12, MotorType.kBrushless);\n\n MainRight.setIdleMode(IdleMode.kCoast);\n AltRight.setIdleMode(IdleMode.kCoast);\n MainLeft.setIdleMode(IdleMode.kCoast);\n AltLeft.setIdleMode(IdleMode.kCoast);\n\n AltLeft.follow(MainLeft);\n AltRight.follow(MainRight);\n\n Drive = new DifferentialDrive(MainLeft, MainRight);\n\n Lifter = new TalonSRX(6);\n Lifter.setNeutralMode(NeutralMode.Brake);\n Lifter.enableCurrentLimit(false);\n /*Lifter.configContinuousCurrentLimit(40);\n Lifter.configPeakCurrentLimit(50);\n Lifter.configPeakCurrentDuration(1500);*/\n //Lifter.configReverseSoftLimitEnable(true);\n //Lifter.configReverseSoftLimitThreshold(-27000);\n //Lifter.configForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);\n //Lifter.configClearPositionOnLimitF(true, 0);\n Lifter.selectProfileSlot(0, 0);\n LiftSetpoint = 0;\n\n LiftFollower = new TalonSRX(5);\n LiftFollower.follow(Lifter);\n LiftFollower.setNeutralMode(NeutralMode.Brake);\n\n ArmExtender = new Solenoid(0);\n ArmOpener = new Solenoid(1);\n ArmGrippers = new Spark(0);\n\n HatchSwitch0 = new DigitalInput(0);\n HatchSwitch1 = new DigitalInput(1);\n\n Accel = new BuiltInAccelerometer(Range.k2G);\n\n //Diagnostics = new DiagnosticsLogger();\n // Uncomment this line to enable diagnostics. Warning: this may\n // cause the robot to be slower than it is supposed to be because of lag.\n //Diagnostics.start();\n\n xbox = new XboxController(0);\n joystick = new Joystick(1);\n \n LiftRamp = new SRamp();\n SpeedRamp = new SRamp();\n\n NetworkTableInstance nt = NetworkTableInstance.getDefault();\n\n VisionTable = nt.getTable(\"ChickenVision\");\n TapeDetectedEntry = VisionTable.getEntry(\"tapeDetected\");\n TapePitchEntry = VisionTable.getEntry(\"tapePitch\");\n TapeYawEntry = VisionTable.getEntry(\"tapeYaw\");\n\n LedTable = nt.getTable(\"LedInfo\");\n LedScript = LedTable.getEntry(\"CurrentScript\");\n LedScriptArgument = LedTable.getEntry(\"ScriptArgument\");\n LedArmsClosed = LedTable.getEntry(\"ArmsClosed\");\n\n UsbCamera cam = CameraServer.getInstance().startAutomaticCapture();\n cam.setPixelFormat(PixelFormat.kMJPEG);\n cam.setResolution(320, 240);\n cam.setFPS(15);\n \n\n LedScript.setString(\"ColorWaves\");\n LedScriptArgument.setString(\"\");\n\n limits = new DigitalInput[8];\n\n for (int i = 0; i < limits.length; i++) {\n limits[i] = new DigitalInput(i + 2);\n }\n }","private boolean loop() throws Exception{\n\t\treadSensors(100);\r\n\t\tint[] lightBumpReadings = getLightBumps();\r\n\t\tdriveDirect(300, 300);\r\n\t\t//driveDirect(500,350);\r\n\t\t\r\n\t\tif(lightBumpReadings[0]>0){\r\n\t\t\tdriveDirect(175,100);\r\n\t\t\tsleep(300);\r\n\t\t\t\r\n\t\t}\r\n\t\tif(lightBumpReadings[1]>0){\r\n\t\t\tdriveDirect(150,100);\r\n\t\t\tsleep(300);\r\n\t\t}\r\n\t\tif(lightBumpReadings[2]>0){\r\n\t\t\tdriveDirect(125,100);\r\n\t\t\tsleep(300);\r\n\t\t}\r\n\t\tif(lightBumpReadings[3]>0){\r\n\t\t\tdriveDirect(100,125);\r\n\t\t\tsleep(300);\r\n\t\t}\r\n\t\tif(lightBumpReadings[4]>0){\r\n\t\t\tdriveDirect(100,150);\r\n\t\t\tsleep(300);\r\n\t\t}\r\n\t\tif(lightBumpReadings[5]>0){\r\n\t\t\tdriveDirect(100,175);\r\n\t\t\tsleep(300);\r\n\t\t}\r\n\t\t\r\n\t\tif(lightBumpReadings[2]>0 && lightBumpReadings[3]>0){\r\n\t\t\tdriveDirect(0,500);\r\n\t\t\tsleep(750);\r\n\t\t\tif(lightBumpReadings[2]>0 && lightBumpReadings[3]>0){\r\n\t\t\t\tdriveDirect(0,500);\r\n\t\t\t\tsleep(1500);\r\n\t\t\t\tif(lightBumpReadings[2]>0 && lightBumpReadings[3]>0){\r\n\t\t\t\t\tdriveDirect(0,500);\r\n\t\t\t\t\tsleep(750);\r\n\t\t\t\t}else{\r\n\t\t\t\t\tdriveDirect(300,300);\r\n\t\t\t\t}\r\n\t\t\t}else{\r\n\t\t\t\tdriveDirect(300,300);\r\n\t\t\t}\r\n\t\t}\r\n\t\t\r\n\t\treturn true;\r\n\t}","public void autoUpdate()\n {\n if(distanceSensor.checkDistance() < 300 && myRobot.getAutoDrive())\n {\n activateDumpSolenoid(forward);\n myRobot.setAutoDoneTrue();\n }\n\n //closes the ball tray after doing autonomous\n if(distanceSensor.checkDistance() > 900 && myRobot.getAutoDrive())\n {\n activateDumpSolenoid(reverse);\n }\n }","public void tankDrive() {\n\t\tif (fastBool) {\n\t\t\tmotorRB.set(joystickRYAxis);\n\t\t\tmotorRF.set(joystickRYAxis);\n\t\t\tmotorLB.set(-joystickLYAxis);\n\t\t\tmotorLF.set(-joystickLYAxis);\n\n\t\t} else {\n\t\t\tmotorRB.set(joystickRYAxis/2);\n\t\t\tmotorRF.set(joystickRYAxis/2);\n\t\t\tmotorLB.set(-joystickLYAxis/2);\n\t\t\tmotorLF.set(-joystickLYAxis/2);\n\t\t\t//System.out.println(strongBad.motorMultiplier);\n\t\t\t//SmartDashboard.putNumber(\"MM2\", strongBad.motorMultiplier);\n\n\t\t}\n\t}","public void intake(double up_speed, double down_speed) //上面&下面的intake\n {\n intake_up.set(ControlMode.PercentOutput, up_speed);\n intake_down.set(ControlMode.PercentOutput, down_speed);\n }","protected void initialize() {\n \ttarget = (int) SmartDashboard.getNumber(\"target\", 120);\n \ttarget = (int) (target * Constants.TICKS_TO_INCHES);\n\t\tRobot.drive.stop();\n\t\tmaxCount = (int) SmartDashboard.getNumber(\"max count\", 0);\n\t\ttolerance = (int) SmartDashboard.getNumber(\"tolerance\", 0);\n\t\tRobot.drive.left.motor1.setSelectedSensorPosition(0, Constants.kPIDLoopIdx, Constants.kTimeoutMs);\n\t\tRobot.drive.right.motor1.setSelectedSensorPosition(0, Constants.kPIDLoopIdx, Constants.kTimeoutMs);\n }","private void testRelease()\n {\n if(gamepad1.x) {\n // move to 0 degrees.\n servoLeft.setPosition(0);\n //servoRight.setPosition(0);\n }\n telemetry.addData(\"Servo Left Posit++backInc;ion\", servoLeft.getPosition());\n //telemetry.addData(\"Servo Right Position\", servoRight.getPosition());\n }","public void gearBoxTest(){\n\t\tif (counter < 6) {\n\t\t\ttimerTest.start();\n\t\t\tif (480 >= timerTest.get()) {\n\t\t\t\tmotorRB.set(1);\n\t\t\t\tmotorRF.set(1);\n\t\t\t\tmotorLB.set(1);\n\t\t\t\tmotorLF.set(1);\n\t\t\t}\n\t\t\telse if (timerTest.get() > 480 && 600 >= timerTest.get()) {\n\t\t\t\tmotorRB.set(0);\n\t\t\t\tmotorRF.set(0);\n\t\t\t\tmotorLB.set(0);\n\t\t\t\tmotorLF.set(0);\n\t\t\t}\n\t\t\telse if (timerTest.get() > 600) {\n\t\t\t\ttimerTest.reset();\n\t\t\t\tcounter++;\n\t\t\t}\n\t\t}\n\t}","protected void initialize() {\n \t starttime = Timer.getFPGATimestamp();\n \tthis.startAngle = RobotMap.navx.getAngle();\n \tangleorientation.setSetPoint(RobotMap.navx.getAngle());\n \t\n \tRobotMap.motorLeftTwo.enableControl();\n \tRobotMap.motorRightTwo.enableControl();\n \tRobotMap.motorLeftTwo.enableControl();\n \tRobotMap.motorRightTwo.enableControl();\n \n //settting talon control mode\n \tRobotMap.motorLeftTwo.changeControlMode(TalonControlMode.MotionMagic);\t\t\n\t\tRobotMap.motorLeftOne.changeControlMode(TalonControlMode.Follower);\t\n\t\tRobotMap.motorRightTwo.changeControlMode(TalonControlMode.MotionMagic);\t\n\t\tRobotMap.motorRightOne.changeControlMode(TalonControlMode.Follower);\n\t\t//setting peak and nominal output voltage for the motors\n\t\tRobotMap.motorLeftTwo.configPeakOutputVoltage(+12.0f, -12.0f);\n\t\tRobotMap.motorLeftTwo.configNominalOutputVoltage(0.00f, 0.0f);\n\t\tRobotMap.motorRightTwo.configPeakOutputVoltage(+12.0f, -12.0f);\n\t\tRobotMap.motorRightTwo.configNominalOutputVoltage(0.0f, 0.0f);\n\t\t//setting who is following whom\n\t\tRobotMap.motorLeftOne.set(4);\n\t\tRobotMap.motorRightOne.set(3);\n\t\t//setting pid value for both sides\n\t//\tRobotMap.motorLeftTwo.setCloseLoopRampRate(1);\n\t\tRobotMap.motorLeftTwo.setProfile(0);\n\t RobotMap.motorLeftTwo.setP(0.000014f);\n \tRobotMap.motorLeftTwo.setI(0.00000001);\n\t\tRobotMap.motorLeftTwo.setIZone(0);//325);\n\t\tRobotMap.motorLeftTwo.setD(1.0f);\n\t\tRobotMap.motorLeftTwo.setF(this.fGainLeft+0.014);//0.3625884);\n\t\tRobotMap.motorLeftTwo.setAllowableClosedLoopErr(0);//300);\n\t\t\n\t RobotMap.motorRightTwo.setCloseLoopRampRate(1);\n\t RobotMap.motorRightTwo.setProfile(0);\n\t\tRobotMap.motorRightTwo.setP(0.000014f);\n\t\tRobotMap.motorRightTwo.setI(0.00000001);\n\t\tRobotMap.motorRightTwo.setIZone(0);//325);\n\t\tRobotMap.motorRightTwo.setD(1.0f);\n\t\tRobotMap.motorRightTwo.setF(this.fGainRight);// 0.3373206);\n\t\tRobotMap.motorRightTwo.setAllowableClosedLoopErr(0);//300);\n\t\t\n\t\t//setting Acceleration and velocity for the left\n\t\tRobotMap.motorLeftTwo.setMotionMagicAcceleration(125);\n\t\tRobotMap.motorLeftTwo.setMotionMagicCruiseVelocity(250);\n\t\t//setting Acceleration and velocity for the right\n\t\tRobotMap.motorRightTwo.setMotionMagicAcceleration(125);\n\t\tRobotMap.motorRightTwo.setMotionMagicCruiseVelocity(250);\n\t\t//resets encoder position to 0\t\t\n\t\tRobotMap.motorLeftTwo.setEncPosition(0);\n\t\tRobotMap.motorRightTwo.setEncPosition(0);\n\t //Set Allowable error for the loop\n\t\tRobotMap.motorLeftTwo.setAllowableClosedLoopErr(300);\n\t\tRobotMap.motorRightTwo.setAllowableClosedLoopErr(300);\n\t\t\n\t\t//sets desired endpoint for the motors\n RobotMap.motorLeftTwo.set(motionMagicEndPoint);\n RobotMap.motorRightTwo.set(-motionMagicEndPoint );\n \t\n }","private void updateMotors() {\n\t\t//Pass filtered values to ChopperStatus.\n\t\tmStatus.setMotorFields(mMotorSpeed);\n\t\tString logline = Long.toString(System.currentTimeMillis()) + \" \" + mMotorSpeed[0] + \" \" + mMotorSpeed[1] + \" \" + mMotorSpeed[2] + \" \" + mMotorSpeed[3] + \"\\n\";\n\t\ttry {\n\t\t\tif (logfile != null) {\n\t\t\t\tlogfile.write(logline);\n\t\t\t\tlogfile.flush();\n\t\t\t}\n\t\t}\n\t\tcatch (IOException e) {\n\t\t\t//Log.e(TAG, \"Cannot write to logfile\");\n\t\t}\n\t\t//Pass motor values to motor controller!\n\t\tMessage msg = Message.obtain();\n\t\tmsg.what = SEND_MOTOR_SPEEDS;\n\t\tmsg.obj = mMotorSpeed;\n\t\tmBt.sendMessageToHandler(msg);\n\t\t//Log.i(TAG, \"Guidance sending message.\");\n\t\t\n\t}","@Override\n public void loop() {\n\n //double armRot = robot.Pivot.getPosition();\n\n double deadzone = 0.2;\n\n double trnSpdMod = 0.5;\n\n float xValueRight = gamepad1.right_stick_x;\n float yValueLeft = -gamepad1.left_stick_y;\n\n xValueRight = Range.clip(xValueRight, -1, 1);\n yValueLeft = Range.clip(yValueLeft, -1, 1);\n\n // Pressing \"A\" opens and closes the claw\n if (gamepad1.a) {\n\n if (robot.Claw.getPosition() < 0.7)\n while(gamepad1.a){\n robot.Claw.setPosition(1);}\n else if (robot.Claw.getPosition() > 0.7)\n while(gamepad1.a){\n robot.Claw.setPosition(0.4);}\n else\n while(gamepad1.a)\n robot.Claw.setPosition(1);\n }\n\n // Pressing \"B\" changes the wrist position\n if (gamepad1.b) {\n\n if (robot.Wrist.getPosition() == 1)\n while(gamepad1.b)\n robot.Wrist.setPosition(0.5);\n else if (robot.Wrist.getPosition() == 0.5)\n while(gamepad1.b)\n robot.Wrist.setPosition(1);\n else\n while(gamepad1.b)\n robot.Wrist.setPosition(1);\n }\n\n // Turn left/right, overrides forward/back\n if (Math.abs(xValueRight) > deadzone) {\n\n robot.FL.setPower(xValueRight * trnSpdMod);\n robot.FR.setPower(-xValueRight * trnSpdMod);\n robot.BL.setPower(xValueRight * trnSpdMod);\n robot.BR.setPower(-xValueRight * trnSpdMod);\n\n\n } else {//Forward/Back On Solely Left Stick\n if (Math.abs(yValueLeft) > deadzone) {\n robot.FL.setPower(yValueLeft);\n robot.FR.setPower(yValueLeft);\n robot.BL.setPower(yValueLeft);\n robot.BR.setPower(yValueLeft);\n }\n robot.FL.setPower(0);\n robot.FR.setPower(0);\n robot.BL.setPower(0);\n robot.BR.setPower(0);\n }\n\n\n telemetry.addData(\"Drive Encoder Ticks\", robot.FL.getCurrentPosition());\n telemetry.addData(\"Winch Encoder Ticks\", robot.Winch.getCurrentPosition());\n telemetry.addData(\"ColorArm Position\", robot.ColorArm.getPosition());\n telemetry.addData(\"Wrist Position\", robot.Wrist.getPosition());\n telemetry.addData(\"Claw Position\", robot.Claw.getPosition());\n telemetry.addData(\"Grip Position\", robot.Grip.getPosition());\n telemetry.addData(\"Color Sensor Data Red\", robot.Color.red());\n telemetry.addData(\"Color Sensor Data Blue\", robot.Color.blue());\n\n /*\n\n // This is used for an Omniwheel base\n\n // Group a is Front Left and Rear Right, Group b is Front Right and Rear Left\n float a;\n float b;\n float turnPower;\n if(!gamepad1.x) {\n if (Math.abs(xValueRight) <= deadzone && Math.abs(yValueRight) <= deadzone) {\n // And is used here because both the y and x values of the right stick should be less than the deadzone\n\n a = Range.clip(yValueLeft + xValueLeft, -1, 1);\n b = Range.clip(yValueLeft - xValueLeft, -1, 1);\n\n\n robot.FL.setPower(a);\n robot.FR.setPower(b);\n robot.BL.setPower(b);\n robot.BR.setPower(a);\n\n telemetry.addData(\"a\", \"%.2f\", a);\n telemetry.addData(\"b\", \"%.2f\", b);\n\n } else if (Math.abs(xValueRight) > deadzone || Math.abs(yValueRight) > deadzone) {\n\n // Or is used here because only one of the y and x values of the right stick needs to be greater than the deadzone\n turnPower = Range.clip(xValueRight, -1, 1);\n\n robot.FL.setPower(-turnPower);\n robot.FR.setPower(turnPower);\n robot.BL.setPower(-turnPower);\n robot.BR.setPower(turnPower);\n\n } else {\n\n robot.FL.setPower(0);\n robot.FR.setPower(0);\n robot.BL.setPower(0);\n robot.BR.setPower(0);\n }\n\n } else {\n\n if (Math.abs(xValueRight) <= deadzone && Math.abs(yValueRight) <= deadzone) {\n\n // And is used here because both the y and x values of the right stick should be less than the deadzone\n a = Range.clip(yValueLeft + xValueLeft, -0.6f, 0.6f);\n b = Range.clip(yValueLeft - xValueLeft, -0.6f, 0.6f);\n\n\n robot.FL.setPower(a);\n robot.FR.setPower(b);\n robot.BL.setPower(b);\n robot.BR.setPower(a);\n\n telemetry.addData(\"a\", \"%.2f\", a);\n telemetry.addData(\"b\", \"%.2f\", b);\n\n } else if (Math.abs(xValueRight) > deadzone || Math.abs(yValueRight) > deadzone) {\n\n // Or is used here because only one of the y and x values of the right stick needs to be greater than the deadzone\n turnPower = Range.clip(xValueRight, -1, 1);\n\n robot.FL.setPower(-turnPower);\n robot.FR.setPower(turnPower);\n robot.BL.setPower(-turnPower);\n robot.BR.setPower(turnPower);\n\n } else {\n\n robot.FL.setPower(0);\n robot.FR.setPower(0);\n robot.BL.setPower(0);\n robot.BR.setPower(0);\n }\n }\n\n\n if (gamepad1.dpad_up) {\n\n robot.Swing.setPower(.6);\n\n } else if (gamepad1.dpad_down) {\n\n robot.Swing.setPower(-.6);\n\n } else {\n\n robot.Swing.setPower(0);\n }\n\n if(gamepad1.a){\n\n robot.Claw.setPosition(.4);\n\n } else if(gamepad1.b){\n\n robot.Claw.setPosition(0);\n }\n\n if(gamepad1.left_bumper) {\n\n robot.Pivot.setPosition(armRot+0.0005);\n\n } else if(gamepad1.right_bumper) {\n\n robot.Pivot.setPosition(armRot-0.0005);\n\n } else{\n\n robot.Pivot.setPosition(armRot);\n }\n\n telemetry.addData(\"position\", position);\n\n */\n\n /*\n * Code to run ONCE after the driver hits STOP\n */\n }","public static void tick() {\n/* */ try {\n/* 540 */ if (!NEIConfig.isEnabled()) {\n/* */ return;\n/* */ }\n/* */ \n/* 544 */ for (Widget widget : controlWidgets)\n/* */ {\n/* 546 */ widget.update(gui);\n/* */ }\n/* */ }\n/* 549 */ catch (Exception exception) {\n/* */ \n/* 551 */ NEIUtils.reportException(exception);\n/* 552 */ NEIConfig.setEnabled(false);\n/* */ } \n/* */ }","public void move() {\n\t\t\tRandom rand = new Random();//random number generator\n\t\t\tint value = rand.nextInt(500000);//there is a 1 in 500000 chance there will be a new powerup every frame.\n\t\t\tif (value==0) {//if the value is 0\n\t\t\t\tRandom ran = new Random();//make a random number generator and a power up vairable\n\t\t\t\tPowerUp currentPowerUp = null;\n\t\t\t\tint type = ran.nextInt(3);//switch the 1 for the amount of types made.\n\t\t\t\tif (type==0) {//add the powerup depending on the random number. There are 3 types\n\t\t\t\t\tcurrentPowerUp = new PowerUp(healthPowerUp, 0);//this adds a life\n\t\t\t\t}\n\t\t\t\telse if (type==1) {\n\t\t\t\t\tcurrentPowerUp = new PowerUp(longPowerUp, 1);//this makes the slider wider\n\t\t\t\t} else if (type==2) {\n\t\t\t\t\tcurrentPowerUp = new PowerUp(bonusPointsPowerUp, 2);//this just adds points\n\t\t\t\t}\n\t\t\t\t\t\n\t\t\t\t//set x and y\n\t\t\t\t//make a random x\n\t\t\t\tint newX = ran.nextInt(401) - 201 + GamePlay.getScreenWidth()/2; //-200 to 200 variance from center\n\t\t\t\tint newY = ran.nextInt(201) - 101 + GamePlay.getScreenHeight()/4;//-100 to 100 variance from the 25% of top distance line.\n\t\t\t\tif (currentPowerUp!=null) {\n\t\t\t\t\tcurrentPowerUp.setX(newX);\n\t\t\t\t\tcurrentPowerUp.setY(newY);\n\t\t\t\t\tpowerUps.add(currentPowerUp);//add the powerups to an array list\n\t\t\t\t} else {\n\t\t\t\t\tSystem.out.println(\"PowerUp error.\");//if the variable is null, something went wrong.\n\t\t\t\t}\n\t\t\t}\n\t\t\t\n\t\t\t//move all powerUps down by ball speed\n\t\t\tfor (PowerUp power: powerUps) {\n\t\t\t\tpower.setY(power.getY() + ballSpeed);\n\t\t\t}\n\t\t\t\n\t\t\t//check if the powerups are off the screen. remove if they are. \n\t\t\tfor (int r = powerUps.size()-1; r>=0; r--) {\n\t\t\t\tif (powerUps.get(r).getY() > GamePlay.getScreenHeight()-h) {\n\t\t\t\t\tpowerUps.remove(r);\n\t\t\t\t}\n\t\t\t}\n\t\t\t\n\t\t\t\n\t\t\t\n\t\t\t\n\t\t\t//death of a ball\n\t\t\tif (ball.getY()>GamePlay.getScreenHeight() && pause==false) {\n\t\t\t\tdeath();\n\t\t\t}\n\t\t\t\n\t\t\t//no bricks left\n\t\t\tif (blocks.size()==0) {\n\t\t\t\t//you leveled up!\n\t\t\t\tlevelUp();\n\t\t\t}\n\t\t\t\n\t\t\t\n\t\t\t//wall collision check for ball\n\t\t\t//right wall\n\t\t\tif (ball.rightCollide(GamePlay.getScreenWidth())) {//seperated for later use if wanted.\n\t\t\t\tballVX*=-1;\n\t\t\t} else if (ball.leftCollide(0)) {//left wall\n\t\t\t\tballVX*=-1;\n\t\t\t}\n\t\t\t\n\t\t\tif (ball.topCollide(0)) {//top wall\n\t\t\t\tballVY*=-1;\n\t\t\t} //dont check bottom wall because that is the death of a ball.\n\t\t\t\n\t\t\t//collision with the slider.\n\t\t\tif (ball.getRect().intersects(slider.getRect()) && ball.getY()+ball.getHeight() <= slider.getY()+ballSpeed) {//intersected bool needed\n\t\t\t\tballVY*=-1;\n\t\t\t\tballVX+=sliderVX;//add the slider velocity to the ball velocity, giving user some control over angle. \n\t\t\t\t\n\t\t\t}\n\t\t\t\n\t\t\t//collision with the powerups\n\t\t\t\n\t\t\tfor (int a = powerUps.size()-1; a>=0; a--) {//iterate thrpough the powerups\n\t\t\t\tPowerUp power = powerUps.get(a);\n\t\t\t\tif (power.getRect().intersects(slider.getRect())) {//if the powerups rect intersects, the slider caught it. Remove from screen\n\t\t\t\t\t//THIS MEANS THEY CAUGHT THE POWERUP\n\t\t\t\t\tif (power.getType()==\"HEALTH\" && power.getIntersected()==false) {\n\t\t\t\t\t\tpower.setIntersected(true);\n\t\t\t\t\t\tif (lives<5)\n\t\t\t\t\t\t\tlives+=1;//add a life up to 5\n\t\t\t\t\t\tpowerUps.remove(a);\n\t\t\t\t\t} else if (power.getType()==\"LONG\" && power.getIntersected()==false) {\n\t\t\t\t\t\tpower.setIntersected(true);\n\t\t\t\t\t\textended = true;//extended flag to say the slider is extended. extend the slider's width by the adjust amount preset globally\n\t\t\t\t\t\tslider.resize(slider.getWidth()+adjust, slider.getHeight());\n\t\t\t\t\t\tslider.setX(slider.getX()-adjust/2);\n\t\t\t\t\t\textendTimer.restart();//restart the entend timer\n\t\t\t\t\t\tpowerUps.remove(a);\n\t\t\t\t\t} else if (power.getType()==\"BONUS\" && power.getIntersected()==false) {\n\t\t\t\t\t\tpower.setIntersected(true);\n\t\t\t\t\t\tscore+=100;//add a 100 points.\n\t\t\t\t\t\tpowerUps.remove(a);\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t\t}\n\t\t\t\n\t\t\t//collision with blocks\n\t\t\t\n\t\t\tboolean changed = false;//this is a flag to see if any collisions occured this frame\n\t\t\tfor (Block block:blocks) {\n\t\t\t\tRectangle r = block.getRect();\t\t\n\t\t\t\tif (r.intersects(ball.getRect())) {//if the rects intersected, something hit something. However, we don't know from what direction\n\t\t\t\t\t//since the vy is always going to be by 1, we can check if it is equal. There is no multiples to deal with. \n\t\t\t\t\t\n\t\t\t\t\t//this checks if it was colliding from the bottom. Check the bottom edge of block and top of the ball\n\t\t\t\t\tif (ball.getY() + 2 >= block.getBottom() && ball.getY() -2 <= block.getBottom() && ball.getIntersected()==false) {\n\t\t\t\t\t\t//bottom collision\n\t\t\t\t\t\tballVY*=-1;//reflect back\n\t\t\t\t\t\tscore += block.downColor();//change the color, adjust score\n\t\t\t\t\t\tball.setIntersected(true);//set the intersected flag so it will not trigger again for the same stimuli\n\t\t\t\t\t\tball.setY(ball.getY() + ballVY);//set the y to remove the ball from collision\n\t\t\t\t\t\tchanged=true;//set the changed flag to true\n\t\t\t\t\t\thitSound.play();//play a sound\n\t\t\t\t\t\t\n\t\t\t\t\t} else if (ball.getY() + ball.getHeight() + 2 >=block.getTop() && ball.getY() + ball.getHeight() -2 <=block.getTop() && ball.getIntersected()==false) {\n\t\t\t\t\t\t//this checks if it was colliding on the top. Check bottom edge of ball and top of block.\n\t\t\t\t\t\tballVY*=-1;//reflect back\n\t\t\t\t\t\tscore += block.downColor();//change the color, adjust score\n\t\t\t\t\t\tball.setIntersected(true);//set the intersected flag so it will not trigger again for the same stimuli\n\t\t\t\t\t\tball.setY(ball.getY() + ballVY);//set the y to remove the ball from collision\n\t\t\t\t\t\tchanged=true;//set the changed flag to true\n\t\t\t\t\t\thitSound.play();//play a sound\n\t\t\t\t\t}\n\t\t\t\t\t\n\t\t\t\t\tif (changed==false && ball.getIntersected()==false) {\n\t\t\t\t\t\t//this must mean it is on the left or right\n\t\t\t\t\t\t//it doesn't matter which one, the change is the exact same!\n\t\t\t\t\t\tballVX*=-1;//flip the x direction\n\t\t\t\t\t\tscore+=block.downColor();//change color, adjust score\n\t\t\t\t\t\tball.setIntersected(true);//set the intersected flag\n\t\t\t\t\t\tball.setX(ball.getX() + ballVX);\n\t\t\t\t\t\tchanged=true;//set the changed flag\n\t\t\t\t\t\thitSound.play();//play the sound\n\t\t\t\t\t}\n\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t}\n\t\t\t}//end the for.\n\t\t\tif (changed==false) {//if no changes, reset the flag.\n\t\t\t\tball.setIntersected(false);\n\t\t\t}\n\t\t\t\n\t\t\t\n\t\t\t\n\t\t\t//move everything as per velocity\n\t\t\tif (slider.getX() > 10 && sliderVX<0) {\n\t\t\t\tslider.setX(slider.getX() + sliderVX*ballSpeed*2);//the slider can move twice as fast as the ball.\n\t\t\t} else if ((slider.getX()+slider.getWidth()) < GamePlay.getScreenWidth()-10 && sliderVX>0) {\n\t\t\t\tslider.setX(slider.getX() + sliderVX*ballSpeed*2);\n\t\t\t}\n\t\t\tif (ready) {\n\t\t\t\tball.setX(ball.getX() + ballVX);\n\t\t\t\tball.setY(ball.getY() + ballVY);\n\t\t\t}\n\t\t\t\n\t\t\t\n\t\t}","void nearingTheWallBefore(){\n robot.absgyroRotation(0, \"absolute\");\n\n //alligning with the wall before going for the toy\n while(robot.leftDistanceSensor.getDistance(DistanceUnit.CM) > 15 && !isStopRequested()){\n if(robot.leftDistanceSensor.getDistance(DistanceUnit.CM) < 30)\n robot.mecanumMovement(0, .3, 0);\n else\n robot.mecanumMovement(0, .7, 0);\n\n telemetry.addLine(\"Distance from sensor: \" + robot.leftDistanceSensor.getDistance(DistanceUnit.CM));\n telemetry.update();\n }\n robot.mecanumMovement(0, 0, 0);\n\n robot.absgyroRotation(45, \"absolute\");\n }","public void update1() {\n\n if(gamepad1.a)\n aCount1++;\n else\n aCount1 = 0;\n if(aCount1 == DEBOUNCING_NUMBER_OF_SAMPLES)\n aToggle1 = !aToggle1;\n\n if(gamepad1.b)\n bCount1++;\n else\n bCount1 = 0;\n if(bCount1 == DEBOUNCING_NUMBER_OF_SAMPLES)\n bToggle1 = !bToggle1;\n\n if(gamepad1.x)\n xCount1++;\n else\n xCount1 = 0;\n if(xCount1 == DEBOUNCING_NUMBER_OF_SAMPLES)\n xToggle1 = !xToggle1;\n\n if(gamepad1.y)\n yCount1++;\n else\n yCount1 = 0;\n if(yCount1 == DEBOUNCING_NUMBER_OF_SAMPLES)\n yToggle1 = !yToggle1;\n\n if(gamepad1.dpad_down)\n dpadDownCount1++;\n else\n dpadDownCount1 = 0;\n if(dpadDownCount1 == DEBOUNCING_NUMBER_OF_SAMPLES)\n dpadDownToggle1 = !dpadDownToggle1;\n\n if(gamepad1.dpad_up)\n dpadUpCount1++;\n else\n dpadUpCount1 = 0;\n if(dpadUpCount1 == DEBOUNCING_NUMBER_OF_SAMPLES)\n dpadUpToggle1 = !dpadUpToggle1;\n\n if(gamepad1.left_bumper)\n leftBumperCount1++;\n else\n leftBumperCount1 = 0;\n if(leftBumperCount1 == DEBOUNCING_NUMBER_OF_SAMPLES)\n leftBumperToggle1 = !leftBumperToggle1;\n\n if(gamepad1.right_bumper)\n rightBumperCount1++;\n else\n rightBumperCount1 = 0;\n if(rightBumperCount1 == DEBOUNCING_NUMBER_OF_SAMPLES)\n rightBumperToggle1 = !rightBumperToggle1;\n\n if(gamepad1.left_stick_button)\n leftStick1++;\n else\n leftStick1 = 0;\n if(leftStick1 == DEBOUNCING_NUMBER_OF_SAMPLES)\n leftStickToggle1 = !leftStickToggle1;\n\n if(gamepad1.right_stick_button)\n rightStick1++;\n else\n rightStick1 = 0;\n if(rightStick1 == DEBOUNCING_NUMBER_OF_SAMPLES)\n rightStickToggle1 = !rightStickToggle1;\n\n if(gamepad2.left_stick_button)\n leftStick2++;\n else\n leftStick2 = 0;\n if(leftStick2 == DEBOUNCING_NUMBER_OF_SAMPLES)\n leftStickToggle2 = !leftStickToggle2;\n\n if(gamepad2.right_stick_button)\n rightStick2++;\n else\n rightStick2 = 0;\n if(rightStick2 == DEBOUNCING_NUMBER_OF_SAMPLES)\n rightStickToggle2 = !rightStickToggle2;\n\n }","@Override\npublic void teleopPeriodic() {\nm_robotDrive.arcadeDrive(m_stick.getRawAxis(5)* (-0.5), m_stick.getRawAxis(4)*0.5);\n}","public void loop() {\n\n // robot.leftClamp.setPosition(((gamepad2.left_stick_y / 2) + .5));\n // robot.rightClamp.setPosition(((gamepad2.right_stick_y / 2) + .5));\n\n if(gamepad2.a){\n robot.rightClamp.setPosition(0);\n robot.leftClamp.setPosition(1);\n }\n else if(gamepad2.b){\n robot.rightClamp.setPosition(.275);\n robot.leftClamp.setPosition(.775);\n }\n\n\n }","public void configVelocityControl() {\n leftDrive.configTeleopVelocity();\n rightDrive.configTeleopVelocity();\n }","public void teleopPeriodic() {\n \t//driveTrain.setInputSpeed(xbox.getAxisLeftY(), xbox.getAxisRightY());\n \t\n \tdriveTrain.print();\n \t\n \t// funcao PID\n \tif (xbox.getButtonX()) {\n\t\t\tbotaoapertado = true;\n\t\t} else if (xbox.getButtonY()) {\n\t\t\tbotaoapertado = false;\n\t\t\tdriveTrain.start();\n\t\t\tdriveTrain.setSetPoint(0, 0);\n\t\t}\n \tif (botaoapertado) {\n \t\tdriveTrain.setSetPoint(100, 100);\n\t\t}\n \t\n }","protected void execute() \n {\n if(Robot.isClimbEnabled)\n if(Math.abs(Robot.oi.driverJoystick.getLeftStickRaw_Y())>0.1) //we only want to drive fwd, never reverse\n Robot.monkeyBarIntakeWheels.driveIntakeAll((Math.abs(Robot.oi.driverJoystick.getLeftStickRaw_Y()+.2)) + 0.15);\n else\n Robot.monkeyBarIntakeWheels.driveIntakeAll(0.07); //always drive wheels in climb mode\n else\n Robot.monkeyBarIntakeWheels.driveIntakeAll(0.6*Robot.oi.getMonkeyBarIntakeJoystickValue());\n }","public void adjustShooterAngleManual() {\n\n // If the driver pushes the Square Button on the PS4 Controller,\n // set the worm drive motors to go backwards (lower it).\n if (PS4.getRawButton(PS4_X_BUTTON) == true) {\n\n wormDriveMotors.set(-0.2);\n\n // If the driver pushes the Triangle Button on the PS4 Controller,\n // set the worm drive motors to go forwards (raise it up).\n } else if (PS4.getRawButton(PS4_SQUARE_BUTTON) == true) {\n\n wormDriveMotors.set(0.4);\n }\n\n // If the driver is an idiot and is pressing BOTH the Square Button AND the\n // Triangle Button at the same time, OR (||) if the driver is pushing neither\n // button, set the motor speed to 0.\n else if (((PS4.getRawButton(PS4_X_BUTTON) == true) && (PS4.getRawButton(PS4_SQUARE_BUTTON) == true))\n || ((PS4.getRawButton(PS4_X_BUTTON) == false) && (PS4.getRawButton(PS4_SQUARE_BUTTON) == false))) {\n\n wormDriveMotors.set(0);\n }\n\n }","void enablePWM(double initialDutyCycle);","private void controlLift()\n {\n if (gamepad1.dpad_up) {\n liftMotor.setPower(-0.5);\n } else if (gamepad1.dpad_down) {\n liftMotor.setPower(0.5);\n } else {++backInc;\n liftMotor.setPower(0);\n }\n }","public void autoScoreBottomCenterPeg() {\n getRobotDrive().goForward(-.5); //Speed at which to back up\n Timer.delay(1); //Time to continue backing up\n getRobotDrive().stop(); //Stop backing up\n arm.armJag.set(.4); //Speed to lower arm *may need to be inverted*\n Timer.delay(.5); //Time to lower arm\n arm.grabTube(true); //Opens the claw to release Ub3r Tube\n getRobotDrive().goForward(-.5); //Speed at which to back up again\n arm.armJag.set(.3); //Lowers arm safely to ground.\n\n }","void think() {\n //get the output of the neural network\n decision = brain.output(vision);\n\n if (decision[0] > 0.8) {//output 0 is boosting\n boosting = true;\n } else {\n boosting = false;\n }\n if (decision[1] > 0.8) {//output 1 is turn left\n spin = -0.08f;\n } else {//cant turn right and left at the same time\n if (decision[2] > 0.8) {//output 2 is turn right\n spin = 0.08f;\n } else {//if neither then dont turn\n spin = 0;\n }\n }\n //shooting\n if (decision[3] > 0.8) {//output 3 is shooting\n shoot();\n }\n }","public Indexer() {\n motor = new CANSparkMax(RobotMap.INDEX_MOTOR, MotorType.kBrushless);\n motorPid = motor.getPIDController();\n motorEnc = motor.getEncoder();\n\n motorEnc.setVelocityConversionFactor(1);\n motorEnc.setPositionConversionFactor(1);\n\n motorEnc.setPosition(0);\n\n motorPid.setIZone(200);\n motorPid.setOutputRange(-1, 1);\n\n motorPid.setP(Constants.INDEXER_P);\n motorPid.setI(Constants.INDEXER_I);\n motorPid.setD(Constants.INDEXER_D);\n motorPid.setFF(Constants.INDEXER_FF);\n\n motorPid.setSmartMotionMaxAccel(10000, 0);\n motorPid.setSmartMotionAccelStrategy(AccelStrategy.kTrapezoidal, 0);\n motorPid.setSmartMotionMaxVelocity(MAX_VEL, 0);\n // motorPid.setSmartMotionMinOutputVelocity(100, 0);\n motorPid.setSmartMotionAllowedClosedLoopError(0.5, 0);\n\n motor.setIdleMode(IdleMode.kBrake);\n\n input1 = new DigitalInput(RobotMap.LIMIT_PORT_1);\n input2 = new DigitalInput(RobotMap.LIMIT_PORT_2);\n input3 = new DigitalInput(RobotMap.LIMIT_PORT_3);\n input5 = new DigitalInput(RobotMap.LIMIT_PORT_5);\n inputDecrement = new DigitalInput(RobotMap.LIMIT_PORT_DECREMENT);\n\n var tab = Shuffleboard.getTab(\"Indexer\");\n tab.addNumber(\"Motor Speed\", motorEnc::getVelocity);\n // tab.addNumber(\"Position\", motorEnc::getPosition);\n tab.addNumber(\"Num Balls\", () -> numBalls);\n tab.addBoolean(\"Beam Break 1\", input1::get);\n tab.addBoolean(\"Beam Break 2\", input2::get);\n tab.addBoolean(\"Beam Break 3\", input3::get);\n // tab.addBoolean(\"Beam Break 4\", input4::get);\n tab.addBoolean(\"Beam Break 5\", input5::get);\n\n var matchTab = Shuffleboard.getTab(\"Match\");\n matchTab.addNumber(\"Num Balls\", this::getNumBalls);\n matchTab.addBoolean(\"5 Balls\", () -> getNumBalls() >= 5);\n\n new Thread(() -> {\n boolean wasRead = false;\n while (true) {\n if (inputDecrement.get() && !wasRead) {\n wasRead = true;\n } else if (!inputDecrement.get() && wasRead) {\n decrementBall();\n wasRead = false;\n }\n try {\n Thread.sleep(5);\n } catch (InterruptedException e) {\n }\n }\n }).start();\n }","public void joystickDeadZone() {\n\t\tif (joystickLXAxis <= 0.075 && joystickLXAxis >= -0.075) {\n\t\t\tjoystickLXAxis = 0;\n\t\t} if (joystickLYAxis <= 0.075 && joystickLYAxis >= -0.075) {\n\t\t\tjoystickLYAxis = 0;\n\t\t}\n\t\tif (joystickRXAxis <= 0.075 && joystickRXAxis >= -0.075) {\n\t\t\tjoystickRXAxis = 0;\n\t\t} if (joystickRYAxis <= 0.075 && joystickRYAxis >= -0.075) {\n\t\t\tjoystickRYAxis = 0;\n\t\t}\n\t}","public void tensionRangeCheck(){\n if(motor.get() < 0){\n if(Bottom_Limit_Switch.get() | tenPot.pidGet()> tenPotMAX ){\n motor.set(0.0);\n }\n }else if(motor.get() > 0){\n if(Top_Limit_Switch.get() | tenPot.pidGet()< tenPotMIN){\n motor.set(0.0);\n }\n }\n }","@Override\n public void loop() {\n\n // Right wheels will be controlled by the right stick\n // Left wheels will be controlled by the left stick\n float rightWheels = gamepad1.right_stick_y;\n float leftWheels = gamepad1.left_stick_y;\n\n // write the values to the motors\n setRightMotors(rightWheels);\n setLeftMotors(leftWheels);\n\n //When dino arms are open\n if (gamepad2.left_bumper){\n openDinoArms();\n }\n\n //When dino arms are closed\n if (gamepad2.right_bumper){\n closeDinoArms();\n }\n\n //When ball channel is open\n if (gamepad2.b) {\n openBallChannel();\n } else {\n //When ball channel is closed\n closeBallChannel();\n }\n\n //When the deflector is raised\n if (gamepad2.y) {\n openDeflector();\n }\n else {\n stopDeflector();\n }\n\n //When deflector is lowered\n if (gamepad2.a) {\n closeDeflector();\n }\n else {\n stopDeflector();\n }\n\n //When ball is shooting\n if (gamepad2.x) {\n shootBalls();\n }\n else{\n stopShootBalls();\n }\n\n //When collector is collecting balls\n if (gamepad1.right_trigger>0){\n collectorForward();\n }\n else {\n stopCollector();\n }\n\n //When collector is spitting balls out\n if (gamepad1.left_trigger>0){\n collectorBackward();\n }\n else{\n stopCollector();\n }\n }","public void operatorControl() {\n \tmyRobot.setSafetyEnabled(true);\n while (isOperatorControl() && isEnabled()) {\n \tdouble x = stick2.getRawAxis(0);\n \tdouble y = stick2.getRawAxis(1);\n \tdouble rot = stick.getRawAxis(0);\n \tSmartDashboard.putNumber(\"x1\", x);\n SmartDashboard.putNumber(\"y1\", y);\n SmartDashboard.putNumber(\"rot1\", rot);\n \tif(Math.abs(x) < .2)\n \t\tx = 0;\n \tif(Math.abs(y) < .2)\n \t\ty = 0;\n \tif(Math.abs(rot) < .2)\n \t\trot = 0;\n \tmyRobot.mecanumDrive_Cartesian(x*-1, y*-1,rot*-1, gyro.getAngle());\n double current1 = pdp.getCurrent(0);\n double current2 = pdp.getCurrent(13);\n double current3 = pdp.getCurrent(15);\n double current4 = pdp.getCurrent(12);\n SmartDashboard.putNumber(\"Front Left current\", current1);\n SmartDashboard.putNumber(\"back Left current\", current2);\n SmartDashboard.putNumber(\"Front right current\", current3);\n SmartDashboard.putNumber(\"back right current\", current4);\n SmartDashboard.putNumber(\"x\", x);\n SmartDashboard.putNumber(\"y\", y);\n SmartDashboard.putNumber(\"rot\", rot);\n SmartDashboard.putNumber(\"Gyro\", gyro.getAngle());\n \tTimer.delay(0.005);\t\t// wait for a motor update time\n }\n }","public void up() {\n\t\tmotor1.set( Constants.CLAW_MOTOR_SPEED );\n\t\t}","@Override\n\tprotected void initialize() {\n\t\t//hookMotor1.configPeakCurrentDuration(9000, 10000);\n\t\t//hookMotor1.configPeakCurrentLimit(40, 10000);\n\t\t//hookMotor2.configPeakCurrentDuration(9000, 10000);\n\t\t//hookMotor2.configPeakCurrentLimit(40, 10000);\n\t\thookMotor1.enableCurrentLimit(false);\n\t\thookMotor2.enableCurrentLimit(false);\n\n\t\t//first move joint2 forward to release hook\n//\t\tRobot.joint2Cmd = new Joint2Cmd(RobotMap.jointEncoder2.getRaw(), -1647, 1000);\n//\t\tRobot.joint2Cmd.start();\n\t\t\n\t\thookMotor1.set(ControlMode.PercentOutput, -1.0);\n\t\thookMotor2.set(ControlMode.PercentOutput, -1.0);\n\t\tstepCnt = 0;\n\t\tSystem.out.println(\"start climbing\");\n\t}","void disablePWM();","@Override\n public void teleopPeriodic() {\n double x = xcontroller2.getX(Hand.kLeft);\n //double y = xcontroller1.getTriggerAxis(Hand.kRight) - xcontroller1.getTriggerAxis(Hand.kLeft);\n // For testing just use left joystick. Use trigger axis code for GTA Drive/\n double y = -xcontroller2.getY(Hand.kLeft);\n double z = xcontroller2.getX(Hand.kRight);\n double yaw = imu.getAngleZ();\n RobotDT.driveCartesian(x, y, 0, 0);\n \n\n // After you spin joystick R3 press A button to reset gyro angle\n if (xcontroller1.getAButtonPressed()) {\n imu.reset();\n }\n \n if (xcontroller2.getBButtonPressed()){\n mGPM.goSpongeHatch();\n }\n\n if (xcontroller2.getXButtonPressed()){\n mGPM.goPineHome();\n \n }\n\n\n /** \n * If Bumpers are pressed then Cargo Intake Motor = -1 for Intake \n *if Triggers are pressed set value to 1 for Outtake\n *If triggers are released set value to 0*/\n if(xcontroller2.getBumperPressed(Hand.kLeft) && xcontroller2.getBumperPressed(Hand.kRight)) {\n mGPM.setCargoMotor(-1);\n } else if((xcontroller2.getTriggerAxis(Hand.kLeft) >0.75) && (xcontroller2.getTriggerAxis(Hand.kRight) >0.75)) {\n mGPM.setCargoMotor(1);\n } else{\n mGPM.setCargoMotor(0);\n }\n }","public void commonPeriodic()\n {\n double d1LeftJoystick = driver1.getAxis(driver1.LAxisUD);\n double d1RightJoystick = driver1.getAxis(driver1.RAxisUD);\n\n double d2LeftJoystick = driver2.getAxis(driver2.LAxisUD);\n double d2RightJoystick = driver2.getAxis(driver2.RAxisUD);\n\n // -------------------- DRIVER 1\n\n driveTrain.drive(d1LeftJoystick * speedModifier, d1RightJoystick * speedModifier);\n\n // driver1 controls ramp\n // press start and select together to deploy\n if(driver1.down(driver1.Start) && driver1.down(driver1.Select))\n {\n ramp.deploy();\n hatchArm.fingerGrab();\n }\n else\n {\n ramp.undeploy();\n }\n\n // driver 1 can double speed by holding L2\n //driveTrain.fastSpeed = driver1.down(driver1.L2);\n if(driver1.pressed(driver1.A))\n {\n driveTrain.slowSpeed = !driveTrain.slowSpeed;\n System.out.println(\"Fast speed toggled to: \" + driveTrain.slowSpeed);\n }\n\n //drive straight\n if(driver1.down(driver1.L1))\n {\n driveTrain.set_right_motors(speedModifier);\n }\n if(driver1.down(driver1.R1))\n {\n driveTrain.set_left_motors(speedModifier);\n }\n\n // flip drive orientation\n if(driver1.pressed(driver1.Select))\n {\n driveTrain.flip_orientation();\n \n if(driveTrain.isFacingForward())\n {\n camServForward.setSource(camFront);\n //camServReverse.setSource(camBack);\n // camBack.free();\n // camFront.close();\n // camFront = CameraServer.getInstance().startAutomaticCapture(0);\n // camBack = CameraServer.getInstance().startAutomaticCapture(1);\n }\n else\n {\n camServForward.setSource(camBack);\n //camServReverse.setSource(camFront);\n // camBack.close();\n // camFront.close();\n // camFront = CameraServer.getInstance().startAutomaticCapture(1);\n // camBack = CameraServer.getInstance().startAutomaticCapture(0);\n }\n }\n\n\n // -------------------- DRIVER 2\n\n\n // up is out\n // down is in\n // (when it's negated)\n cargoArm.spinBallMotor(-1 * d2LeftJoystick * 0.9);\n\n // control hatch placement pistons\n if(driver2.pressed(driver2.A))\n {\n hatchArm.pushPistons();\n }\n else if (driver2.released(driver2.A))\n {\n hatchArm.retractPistons();\n }\n\n // open/close hatch grabber arms\n if(driver2.pressed(driver2.B))\n {\n hatchArm.toggleGrabber();\n }\n\n if(driver2.pressed(driver2.Select))\n {\n //cargoArm.toggleArmLock();\n hatchArm.toggleFinger();\n }\n\n // extend/de-extend cargo hand\n if(driver2.pressed(driver2.Start))\n {\n cargoArm.toggleHand();\n }\n\n // button 7: L2\n // button 8: R2\n // L2 will reverse the finger\n // R2 will rotate it forward\n if(driver2.down(driver2.L1))\n {\n hatchArm.rotateFinger(1);\n }\n else\n {\n if(driver2.down(driver2.L2))\n {\n hatchArm.rotateFinger(-1);\n }\n else\n {\n hatchArm.rotateFinger(0);\n }\n }\n\n \n // button 5: L1\n // button 6: R1\n // L1 will move the hatch arm one way\n // R1 will move it the other way\n if(driver2.down(driver2.R1))\n {\n hatchArm.rotateArm(-1 * speedModifier);// * 0.75);\n }\n else\n {\n if(driver2.down(driver2.R2))\n {\n hatchArm.rotateArm(1 * speedModifier);// * 0.75);\n }\n else\n {\n hatchArm.rotateArm(0);\n }\n }\n\n \n // button 1: x\n // button 4: y\n // button 1 will move the ball arm one way\n // button 4 will move it the other way\n if(driver2.down(driver2.X))\n {\n //cargoArm.requestMove(-1 * speedModifier);\n cargoArm.rotateArm(-1);\n //cargoArm.solArmBrake.set(false);\n }\n else\n {\n if(driver2.down(driver2.Y))\n {\n //cargoArm.requestMove(2 * speedModifier);\n cargoArm.rotateArm(1);\n //cargoArm.solArmBrake.set(false);\n }\n else\n {\n //cargoArm.rotateArm(cargoArm.getArmCalculation());\n //cargoArm.solArmBrake.set(true);\n cargoArm.rotateArm(0);\n }\n }\n if(driver2.released(driver2.X) || driver2.released(driver2.Y))\n {\n //cargoArm.setArmTarget(cargoArm.currentPosition());\n //cargoArm.solArmBrake.set(true);\n cargoArm.rotateArm(0);\n }\n\n if(driver2.dpad(driver2.Up))\n {\n cargoArm.setArmUp();\n }\n if(driver2.dpad(driver2.Down))\n {\n cargoArm.setArmDown();\n }\n if(driver2.dpad(driver2.Left))\n {\n cargoArm.setArmMid();\n }\n if(driver2.dpad(driver2.Right))\n {\n cargoArm.setArmLow();\n }\n\n if(driver2.pressed(driver2.LThumb))\n {\n cargoArm.armLockEnabled = !cargoArm.armLockEnabled;\n \n }\n if(driver2.pressed(driver2.RThumb))\n {\n cargoArm.toggleBrake();\n }\n\n\n // allow move-to calculations to occur\n hatchArm.periodic();\n cargoArm.periodic();\n }","@Override\n public void run() {\n while (!stop) {\n /**change the variable that controls the speed of the chassis using the bumpers*/\n if (gamepad1.right_bumper) {\n v = 1;\n } else if (gamepad1.left_bumper) {\n v = 2;\n }\n /**getting the gamepad joystick values*/\n forward = gamepad1.left_stick_y;\n right = -gamepad1.left_stick_x;\n clockwise = gamepad1.right_stick_x;\n\n /**calculating the power for motors */\n df = forward + clockwise - right;\n ss = -forward + clockwise + right;\n sf = -forward + clockwise - right;\n ds = forward + clockwise + right;\n\n /**normalising the power values*/\n max = abs(sf);\n if (abs(df) > max) {\n max = abs(df);\n }\n if (abs(ss) > max) {\n max = abs(ss);\n }\n if (abs(ds) > max) {\n max = abs(ds);\n }\n if (max > 1) {\n sf /= max;\n df /= max;\n ss /= max;\n ds /= max;\n }\n /** setting the speed of the chassis*/\n if (v == 1) {\n POWER(df / 5, sf / 5, ds / 5, ss / 5);\n } else if (v == 2) {\n POWER(df, sf, ds, ss);\n }\n }\n }","private void driveForwardTimer()\r\n\t{\r\n\t\tif(timer.get() < Config.Auto.timeDriveForward){\r\n\t\t\tdrive.setSpeed(0, 0, Config.Auto.driveForwardSpeed, Config.Auto.driveForwardSpeed);\r\n\t\t\tSystem.out.println(timer.get());}\r\n\t\t\r\n\t\telse\r\n\t\t{\r\n\t\t\tdrive.setSpeed(0, 0, 0, 0);\r\n\t\t\tautoStep++;\r\n\t\t}\r\n\t}","public void loop()\n {\n double rightPower, leftPower;\n double gearRatio = gamepad1.right_bumper ? 0.7 : 0.2;\n // If right_bumper is down, the gearRatio is 0.7. Otherwise, the gearRatio is 0.3\n \n rightPower = gearRatio * gamepad1.left_stick_y;\n leftPower = gearRatio * gamepad1.right_stick_y;\n \n leftpower = Range.clip(leftpower, -1, 1); //gamepad controllers have a value of 1 when you push it to its maximum foward\n rightpower = Range.clip(rightpower, -1, 1); //limiting the range of each power, min first then max\n \n motorR.setPower(rightPower);\n motroL.setPower(leftPower);\n \n telemetry.addData(\"Gear Ratio \", gearRatio);\n telemetry.addData(\"Right Power \", rightPower);\n telemetry.addData(\"Left Power \", leftPower);\n \n \n }","public void teleopPeriodic() {\r\n //Driving\r\n if (driveChooser.getSelected().equals(\"tank\")){\r\n if (joystickChooser.getSelected().equals(\"two\")){\r\n drive.tankDrive(leftJoystick.getY(), rightJoystick.getY());\r\n } \r\n else {\r\n drive.tankDrive(manipulator.getY(), manipulator.getThrottle());\r\n }\r\n }\r\n if (driveChooser.getSelected().equals(\"arcade1\")){\r\n if (joystickChooser.getSelected().equals(\"two\")){\r\n drive.arcadeDrive(leftJoystick.getY(), leftJoystick.getX());\r\n } \r\n else {\r\n drive.arcadeDrive(manipulator.getY(), manipulator.getX());\r\n }\r\n }\r\n if (driveChooser.getSelected().equals(\"arcade2\")){\r\n if (joystickChooser.getSelected().equals(\"two\")){\r\n drive.arcadeDrive(leftJoystick.getY(), rightJoystick.getX());\r\n }\r\n else{\r\n drive.arcadeDrive(manipulator.getY(), manipulator.getTwist());\r\n }\r\n }\r\n \r\n //Shooting\r\n if (shootButton1.get()||shootButton2.get()){\r\n frontShooter.set(-1);\r\n backShooter.set(1);\r\n }\r\n else{\r\n frontShooter.set(0);\r\n backShooter.set(0); \r\n }\r\n if (transportButton1.get()||transportButton2.get()){\r\n transport.set(-1);\r\n }\r\n else{\r\n transport.set(0); \r\n }\r\n \r\n //Intake\r\n if (intakeButton1.get()||intakeButton2.get()){\r\n //intakeA.set(-1);BROKEN\r\n intakeB.set(-1);\r\n }\r\n else{\r\n intakeA.set(0);\r\n intakeB.set(0); \r\n }\r\n \r\n //Turret\r\n if (toggleTurretButton.get()){\r\n turret.set(leftJoystick.getX());\r\n }\r\n else{\r\n turret.set(manipulator.getX());\r\n }\r\n }","@Override\r\n\tpublic void autonomous() {\n\r\n\t\tint autoMode = -1;\r\n\t\t\r\n\t\tif (!switch1.get() && !switch2.get() && !switch3.get()) {\r\n\t\t\t//if all the switches are off\r\n\t\t\tautoMode = 0;\r\n\t\t} else if (switch1.get() && !switch2.get() && !switch3.get()) {\r\n\t\t\tautoMode = 1;\r\n\t\t} else if (!switch1.get() && switch2.get() && !switch3.get()) {\r\n\t\t\tautoMode = 2;\r\n\t\t} else if (switch1.get() && switch2.get() && !switch3.get()) {\r\n\t\t\tautoMode = 3;\r\n\t\t}\r\n\r\n\t\tautotime.start();\r\n\r\n\t\t// double[] wheelSpeeds = new double[2];\r\n\t\t// double[] startCoords = {0, 0, Math.PI / 2};\r\n\t\t// double[] endCoords = {0, 1, Math.PI / 2};\r\n\t\t// AutoPath pathAuto = new AutoPath(startCoords, endCoords,\r\n\t\t// ahrs.getAngle());\r\n\t\t//\r\n\t\t// int i = 0;\r\n\t\t// boolean successfullyGrabbedRectangles = false;\r\n\t\t\r\n\t\tboolean shotGear = false;\r\n\t\t//boolean hasBackedUp = false;\r\n\t\twhile (isAutonomous() && isEnabled()) {\r\n\t\t\t// auto.drive(autoMode);\r\n\r\n\t\t\t// while(autotime.get() < 3) {\r\n\t\t\t// drive.drive(-0.9, -0.9);\r\n\t\t\t// }\r\n\r\n\t\t\t// grab the current switch status\r\n\r\n\t\t\tswitch (autoMode) {\r\n\t\t\tcase 0:\r\n\t\t\t\t//Mark: Drive forward\r\n\r\n\t\t\t\tif (autotime.get() < 3) {\r\n\t\t\t\t\tdrive.drive(-0.9, -0.9);\r\n\t\t\t\t}\r\n\t\t\t\tbreak;\r\n\t\t\tcase 1:\r\n\t\t\t\t// Mark: Drive Forward, NO turning, and shoot gear onto peg\r\n\r\n\t\t\t\tif (autotime.get() < 3) {\r\n\t\t\t\t\tdrive.drive(-0.75, -0.75);\r\n\t\t\t\t} else if(!shotGear) {\r\n\t\t\t\t\t// shoot the gear onto the peg\r\n\t\t\t\t\tgearOutput.autoOutput();\r\n\t\t\t\t\tshotGear = true;\r\n\t\t\t\t}else if(autotime.get() < 3.67) {\r\n\t\t\t\t\tdrive.drive(0.50, 0.50);\r\n\t\t\t\t}else{\r\n\t\t\t\t\tdrive.drive(0,0);\r\n\t\t\t\t}\r\n\r\n\t\t\t\tbreak;\r\n\t\t\tcase 2:\r\n\t\t\t\t//Mark: start LEFT of center, drive forward, turn -60 degrees, drive forward, shoot gear on peg\r\n\t\t\t\tif (autotime.get() < 2) {\r\n\t\t\t\t\tdrive.drive(-0.75, -0.75);\r\n\t\t\t\t} else if (autotime.get() < 2.5) {\r\n\t\t\t\t\tdrive.drive(1, 0);\r\n\t\t\t\t}else if(autotime.get() < 3.5) { \r\n\t\t\t\t\tdrive.drive(-.75,-.75);\r\n\t\t\t\t} else if (!shotGear) {\r\n\t\t\t\t\tgearOutput.autoOutput();\r\n\t\t\t\t\tshotGear = true;\r\n\t\t\t\t}else if(autotime.get() < 4.5) {\r\n\t\t\t\t\tdrive.drive(0.75, 0.75);\r\n\t\t\t\t}else{\r\n\t\t\t\t\tdrive.drive(0,0);\r\n\t\t\t\t}\r\n\t\t\t\tbreak;\r\n\t\t\tcase 3:\r\n\t\t\t\t//Mark: start RIGHT of center, drive forward, turn 60 degrees, drive forward, shoot gear on peg\r\n\t\t\t\tif (autotime.get() < 2) {\r\n\t\t\t\t\tdrive.drive(-0.75, -0.75);\r\n\t\t\t\t} else if (autotime.get() < 2.25) {\r\n\t\t\t\t\tdrive.drive(0, 1);\r\n\t\t\t\t}else if(autotime.get() < 4) { \r\n\t\t\t\t\tdrive.drive(-.75,-.75);\r\n\t\t\t\t} else if (!shotGear) {\r\n\t\t\t\t\tgearOutput.autoOutput();\r\n\t\t\t\t\tshotGear = true;\r\n\t\t\t\t}else if(autotime.get() < 4.5) {\r\n\t\t\t\t\tdrive.drive(0.75, 0.75);\r\n\t\t\t\t}else{\r\n\t\t\t\t\tdrive.drive(0,0);\r\n\t\t\t\t}\r\n\t\t\t\tbreak;\r\n\t\t\tdefault:\r\n\t\t\t\tbreak;\r\n\t\t\t}\r\n\r\n\t\t\t// if(!successfullyGrabbedRectangles) {\r\n\t\t\t// Rectangle[] targets = grabRectangles();\r\n\t\t\t//\r\n\t\t\t//// System.out.println(\"-----\");\r\n\t\t\t//// for(Rectangle r : testing) {\r\n\t\t\t//// System.out.println(r.getArea());\r\n\t\t\t//// }\r\n\t\t\t//// System.out.println(\"-----\");\r\n\t\t\t//\r\n\t\t\t// if(targets[0].getArea() == 0) {\r\n\t\t\t// //since grabRectangles returns 1 rectangle with area of 0, so if\r\n\t\t\t// one of the area's\r\n\t\t\t// //equals 0, then it was a failed response\r\n\t\t\t// successfullyGrabbedRectangles = false;\r\n\t\t\t// }else{\r\n\t\t\t//\r\n\t\t\t// successfullyGrabbedRectangles = true;\r\n\t\t\t//\r\n\t\t\t// //call auto path to get the wheel speeds from the rectangle\r\n\t\t\t// pathAuto.makeNewPath(targets[0].getWidth(),\r\n\t\t\t// targets[1].getWidth(), targets[0].getXPos() - 240,\r\n\t\t\t// targets[1].getXPos() - 240, ahrs.getAngle());\r\n\t\t\t// //drive.drive(wheelSpeeds[0], wheelSpeeds[1]);\r\n\t\t\t//\r\n\t\t\t// }\r\n\t\t\t// }else{\r\n\t\t\t// //drive.drive(0,0);\r\n\t\t\t//\r\n\t\t\t// double[] wheelSpeedsFromPath = pathAuto.getWheelSpeeds(.4); //the\r\n\t\t\t// .4 doesn't mean anything at all; Beitel is just weird :^)\r\n\t\t\t// drive.drive(wheelSpeedsFromPath[0], wheelSpeedsFromPath[1]);\r\n\t\t\t// //System.out.println(\"Left:\" + wheelSpeedsFromPath[0]);\r\n\t\t\t// //System.out.println(\"Right: \" + wheelSpeedsFromPath[1]);\r\n\t\t\t// }\r\n\r\n\t\t}\r\n\t\t\r\n\t}","public void autonomousPeriodic() {\n //Scheduler.getInstance().run();\n /** if(autoLoopCounter < 100) { //Checks to see if the counter has reached 100 yet\n myRobot.drive(-0.5, 0.0); //If the robot hasn't reached 100 packets yet, the robot is set to drive forward at half speed, the next line increments the counter by 1\n autoLoopCounter++;\n } else {\n myRobot.drive(0.0, 0.0); //If the robot has reached 100 packets, this line tells the robot to stop\n }*/\n }","public void start(){\n tuningParams = new HashMap<>();\n running = true;\n int valsListIndex = 0;\n Gamepad gamepad1 = FTCUtilities.getOpMode().gamepad1;\n Switch upSwitch = new Switch();\n Switch downSwitch = new Switch();\n\n\n for(String name: params.keySet()){\n tuningParams.put(name,0.0);\n }\n\n while (running){\n for(String name : paramNames){\n String output = \"\";\n\n output += name;\n output += \": \";\n output += Double.toString(tuningParams.get(name));\n if(paramNames.get(valsListIndex).equals(name)){\n output += \"<---\"; // Indicator so that we know which value we're editing\n }\n\n FTCUtilities.addLine(output);\n }\n\n if(gamepad1.dpad_up) {\n if (upSwitch.flip()) {\n if (valsListIndex >= 1) {\n valsListIndex -= 1;\n } else {\n valsListIndex = paramNames.size() - 1; //wrap to top\n }\n }\n } else if(gamepad1.dpad_down){\n if (downSwitch.flip()) {\n if (valsListIndex < paramNames.size() - 1) {\n valsListIndex += 1;\n } else {\n valsListIndex = 0; // wrap around to 0\n }\n }\n } else {\n String currentValKey = paramNames.get(valsListIndex);\n double currentValDouble = tuningParams.get(currentValKey);\n currentValDouble += gamepad1.right_trigger * params.get(currentValKey);\n currentValDouble -= gamepad1.left_trigger * params.get(currentValKey);\n tuningParams.put(currentValKey, currentValDouble);\n }\n FTCUtilities.updateOpLogger();\n\n if (gamepad1.x) {\n stop();\n }\n }\n }","public void run() {\n \t//System.out.println(\"In Run \" + currentPoint + \" \" + profile.length);\n \tif(currentPoint == profile.length) return;\n \tdouble[] profilePoint = profile[currentPoint];\n \tdouble leftPos = profilePoint[0];\n \tdouble leftVel = profilePoint[1];\n \tdouble rightPos = profilePoint[2];\n \tdouble rightVel = profilePoint[3];\n \tdouble heading = profilePoint[4];\n \tdouble leftError = leftPos-Robot.sensors.getLeftPosition();\n \tdouble rightError = rightPos-Robot.sensors.getRightPosition();\n \tdouble correction = kAngle * (heading - Robot.sensors.getHeading());\n \t\n \t\n \tcurrentPoint++;\n \t\n \tdouble leftPower = leftVel / vmax + (kP * (leftError)) - correction;\n \tdouble rightPower = rightVel / vmax + (kP * (rightError)) + correction;\n \t\n \tleftPower = leftPower > 1 ? 1 : leftPower;\n \trightPower = rightPower > 1 ? 1 : rightPower;\n \t\n \tleftPower = leftPower < -1 ? -1 : leftPower;\n \trightPower = rightPower < -1 ? -1 : rightPower;\n \t\n \tRobot.drive.setPower(leftPower, rightPower);\n \t\n \tlong currentTime = System.currentTimeMillis();\n \tlong elapsedTime = currentTime - lastTime;\n \tif(elapsedTime < minElapsedTime) minElapsedTime = elapsedTime;\n \tif(elapsedTime > maxElapsedTime) maxElapsedTime = elapsedTime;\n \tlastTime = currentTime;\n \tif(currentPoint == profile.length) {\n \t\tstopNotifier();\n \t}\n }","public void execute () {\n // Gets values of Xbox joysticks from RobotContainer\n leftSpeed = robotcontainer.getXboxAxis(Constants.XBOX_LEFT_Y);\n rightSpeed = robotcontainer.getXboxAxis(Constants.XBOX_RIGHT_Y);\n\n if (Math.abs(leftSpeed) > Constants.DRV_DEADZONE || Math.abs(rightSpeed) > Constants.DRV_DEADZONE) {\n drive.drivePercentOutput(leftSpeed, rightSpeed);\n } \n\n }","public void approachTargetWithVision() {\n final double STEER_P = 0.005; \n final double DRIVE_P = 0.05; \n final double DESIRED_TARGET_AREA = 4; // Area of the target when the robot reaches the wall\n final double MAX_DRIVE = 0.75; // Simple speed limit so we don't drive too fast\n final double STEER_I = 0.005;\n final double DRIVE_I = 0.0;\n final double STEER_D = 0.02;\n final double xError;\n final double aError;\n double DRIVE_INTEGRAL = 0;\n\n \n\n double tv = NetworkTableInstance.getDefault().getTable(\"limelight\").getEntry(\"tv\").getDouble(0);\n double tx = NetworkTableInstance.getDefault().getTable(\"limelight\").getEntry(\"tx\").getDouble(0);\n double ta = NetworkTableInstance.getDefault().getTable(\"limelight\").getEntry(\"ta\").getDouble(0);\n xError = tx;\n aError = (DESIRED_TARGET_AREA - ta);\n // SmartDashboard.putNumber(\"TA\", ta);\n // SmartDashboard.putNumber(\"TA Error\", aError);\n SmartDashboard.putNumber(\"TX Error\", xError);\n STEER_INTEGRAL = STEER_INTEGRAL + (xError*0.02);\n DRIVE_INTEGRAL = DRIVE_INTEGRAL + (aError * 0.02);\n STEER_DERIVATIVE = (xError - STEER_ERROR_PRIOR)/0.02;\n SmartDashboard.putNumber(\"Integral\", STEER_INTEGRAL);\n SmartDashboard.putNumber(\"Derivative\", STEER_DERIVATIVE);\n SmartDashboard.putNumber(\"TA\", ta);\n\n\n if (tv < 1.0) {\n m_LimelightHasValidTarget = false;\n drive_cmd = 0.0;\n steer_cmd = 0.0;\n } else {\n m_LimelightHasValidTarget = true;\n // Start with proportional steering\n steer_cmd = (xError * STEER_P) + (STEER_INTEGRAL * STEER_I) + (STEER_DERIVATIVE * STEER_D);\n\n // try to drive forward until the target area reaches our desired area\n drive_cmd = (aError * DRIVE_P) + (DRIVE_INTEGRAL * DRIVE_I);\n // don't let the robot drive too fast into the goal\n if (drive_cmd > MAX_DRIVE){\n drive_cmd = MAX_DRIVE;\n }\n }\n\n Robot.driveTrain.setLeftMotors(-drive_cmd - steer_cmd);\n Robot.driveTrain.setRightMotors(-drive_cmd + steer_cmd);\n\n STEER_ERROR_PRIOR = xError;\n\n }","public void setBoulderLockOff(){\r\n\t\tservoTarget = Constants.BALL_HOLDER_RETRACTED;\r\n\t}","@Override\r\n public int paddleSpeed() {\r\n return 5;\r\n }","@Override\n\tpublic void robotInit() {\n\t\tdt = new DriveTrain();\n\t\t//Initialize drive Talons\n\t\tRobotMap.vspLeft = new WPI_TalonSRX(RobotMap.dtLeft);\n\t\tRobotMap.vspRight = new WPI_TalonSRX(RobotMap.dtRight);\n\t\t//Initialize drive slave Victors\n\t\t//RobotMap.slaveLeft = new WPI_VictorSPX(RobotMap.slaveDriveLeft);\n\t\t//RobotMap.slaveRight = new WPI_VictorSPX(RobotMap.slaveDriveRight);\n\t\t//Set drive slaves to follower mode\n\t\t//RobotMap.slaveLeft.follow(RobotMap.vspLeft);\n\t\t//RobotMap.slaveRight.follow(RobotMap.vspRight);\n\t\t//Initialize drive train\n\t\tRobotMap.rd = new DifferentialDrive(RobotMap.vspLeft, RobotMap.vspRight);\n\t\t//Initialize drive joystick\n\t\tRobotMap.stick = new Joystick(RobotMap.joystickPort);\n\t\t//Disabled drive safety\n\t\tRobotMap.vspLeft.setSafetyEnabled(false);\n\t\tRobotMap.vspRight.setSafetyEnabled(false);\n\t\tRobotMap.rd.setSafetyEnabled(false);\n\t\t//Initialize lift Talon\n\t\tRobotMap.liftTalon = new WPI_TalonSRX(5);\n\t\t//Initialize operator controller\n\t\tRobotMap.controller = new Joystick(RobotMap.controllerPort);\n\t\t//Initialize intake Victors\n\t\tRobotMap.intakeVictorLeft = new WPI_VictorSPX(RobotMap.intakeMaster);\n\t\tRobotMap.intakeVictorRight = new WPI_VictorSPX(RobotMap.intakeSlave);\n\t\t//Set right intake Victor to follow left intake Victor\n\t\tRobotMap.intakeVictorRight.follow(RobotMap.intakeVictorLeft);\n\t\t\n\t\tRobotMap.climberVictorLeft = new WPI_VictorSPX(RobotMap.climberLeftAddress);\n\t\tRobotMap.climberVictorRight = new WPI_VictorSPX(RobotMap.climberRightAddress);\n\t\t\n\t\tRobotMap.climberVictorRight.follow(RobotMap.climberVictorLeft);\n\t\t\n\t\tRobotMap.piston = new DoubleSolenoid(RobotMap.inChannel, RobotMap.outChannel);\n\t\t\n\t\tRobotMap.intakeLifter = new WPI_VictorSPX(2);\n\t\t\n\t\tRobotMap.liftTalon = new WPI_TalonSRX(RobotMap.liftTalonAddress);\n\t\t\n\t\tautoChooser = new SendableChooser();\n\t\tautoChooser.addDefault(\"Drive to baseline\" , new DriveToBaseline());\n\t\tautoChooser.addObject(\"Null auto\", new NullAuto());\n\t\tautoChooser.addObject(\"Switch from right\", new SwitchFromRight());\n\t\tautoChooser.addObject(\"Switch from left\", new SwitchFromLeft());\n\t\tautoChooser.addObject(\"PID from left\", new PIDfromLeft());\n\t\tautoChooser.addObject(\"PID from right\", new PIDfromRight());\n\t\tautoChooser.addObject(\"Scale from right\", new ScaleAutoRight());\n\t\tautoChooser.addObject(\"Scale from left\", new ScaleAutoLeft());\n\t\tautoChooser.addObject(\"PID tester\", new PIDTESTER());\n\t\tautoChooser.addObject(\"Joe use this one\", new leftOnly());\n\t\tSmartDashboard.putData(\"Autonomous mode chooser\", autoChooser);\n\t\t\n\t\t//RobotMap.liftVictor.follow(RobotMap.climberTalon);\n\t\t\n\t\tRobotMap.vspLeft.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0, 0);\n\t\tRobotMap.vspRight.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0, 0);\n\t\t\n\t\tRobotMap.intakeLifted = new DigitalInput(1);\n\t\tRobotMap.isAtTop = new DigitalInput(2);\n\t\tRobotMap.isAtBottom = new DigitalInput(0);\n\t\t\n\t\tRobotMap.vspLeft.configVelocityMeasurementPeriod(VelocityMeasPeriod.Period_100Ms, 1);\n\t\tRobotMap.vspRight.configVelocityMeasurementWindow(64, 1); \n\t\t\n\t\toi = new OI();\n\t}"],"string":"[\n \"@Override\\n public void loop() {\\n float left = -gamepad1.left_stick_y;\\n float right = -gamepad1.right_stick_y;\\n // clip the right/left values so that the values never exceed +/- 1\\n right = Range.clip(right, -1, 1);\\n left = Range.clip(left, -1, 1);\\n\\n // scale the joystick value to make it easier to control\\n // the robot more precisely at slower speeds.\\n right = (float)scaleInput(right);\\n left = (float)scaleInput(left);\\n\\n // write the values to the motors\\n if (motor1!=null) {\\n motor1.setPower(right);\\n }\\n if (motor2!=null) {\\n motor2.setPower(left);\\n }\\n if (motor3!=null) {\\n motor3.setPower(right);\\n }\\n if (motor4!=null) {\\n motor4.setPower(left);\\n }\\n\\n if (gamepad1.right_bumper && motor5Timer + 150 < timer) {\\n motor5Forward = !motor5Forward;\\n motor5Backward = false;\\n motor5Timer = timer;\\n } else if (gamepad1.left_bumper && motor5Timer + 150 < timer) {\\n motor5Forward = false;\\n motor5Backward = !motor5Backward;\\n motor5Timer = timer;\\n }\\n if (motor5!=null) {\\n if (gamepad1.dpad_left)\\n {\\n motor5Forward = false;\\n motor5.setPower(1);\\n }\\n else if (gamepad1.dpad_right)\\n {\\n motor5Backward = false;\\n motor5.setPower(-1);\\n }\\n else if (motor5Forward)\\n {\\n motor5.setPower(1);\\n }\\n else if (motor5Backward)\\n {\\n motor5.setPower(-1);\\n }\\n else\\n {\\n motor5.setPower(0);\\n }\\n }\\n if (motor6!=null) {\\n if (gamepad1.dpad_up)\\n {\\n motor6.setPower(1);\\n }\\n else if (gamepad1.dpad_down)\\n {\\n motor6.setPower(-1);\\n }\\n else\\n {\\n motor6.setPower(0);\\n }\\n\\n\\n }\\n if (motor7!=null) {\\n if (gamepad1.dpad_left)\\n {\\n motor7.setPower(1);\\n }\\n else if (gamepad1.dpad_right)\\n {\\n motor7.setPower(-1);\\n }\\n else\\n {\\n motor7.setPower(0);\\n }\\n }\\n if (motor8!=null) {\\n if (gamepad1.dpad_up)\\n {\\n motor8.setPower(1);\\n }\\n if (gamepad1.dpad_down)\\n {\\n motor8.setPower(-1);\\n }\\n else\\n {\\n motor8.setPower(0);\\n }\\n }\\n if (timer == 0) {\\n servo1pos=0.5;\\n servo2pos=0.5;\\n servo3pos=0.5;\\n servo4pos=0.5;\\n servo5pos=0.5;\\n servo6pos=0.5;\\n }\\n timer++;\\n\\n if (servo1!=null){\\n if (gamepad1.right_bumper) {\\n servo1pos += 0.01;\\n }\\n if (gamepad1.left_bumper) {\\n servo1pos -= 0.01;\\n }\\n servo1pos = Range.clip(servo1pos, 0.00, 1.0);\\n\\n servo1.setPosition(servo1pos);\\n }\\n if (servo2!=null){\\n if (gamepad1.x) {\\n servo2pos += 0.01;\\n }\\n if (gamepad1.y) {\\n servo2pos -= 0.01;\\n }\\n servo2pos = Range.clip(servo2pos, 0.00, 1.0);\\n\\n servo2.setPosition(servo2pos);\\n }\\n if (servo3!=null){\\n if (gamepad1.a) {\\n servo3pos += 0.01;\\n }\\n if (gamepad1.b) {\\n servo3pos -= 0.01;\\n }\\n servo3pos = Range.clip(servo3pos, 0.00, 1.0);\\n\\n servo3.setPosition(servo3pos);\\n }\\n if (servo4!=null){\\n if (gamepad1.right_bumper) {\\n servo4pos -= 0.01;\\n }\\n if (gamepad1.left_bumper) {\\n servo4pos += 0.01;\\n }\\n servo4pos = Range.clip(servo4pos, 0.00, 1.0);\\n\\n servo4.setPosition(servo4pos);\\n }\\n if (servo5!=null){\\n if (gamepad1.x) {\\n servo5pos -= 0.01;\\n }\\n if (gamepad1.y) {\\n servo5pos += 0.01;\\n }\\n servo5pos = Range.clip(servo5pos, 0.00, 1.0);\\n\\n servo5.setPosition(servo5pos);\\n }\\n if (servo6!=null){\\n if (gamepad1.a) {\\n servo6pos -= 0.01;\\n }\\n if (gamepad1.b) {\\n servo6pos += 0.01;\\n }\\n servo6pos = Range.clip(servo6pos, 0.00, 1.0);\\n\\n servo6.setPosition(servo6pos);\\n }\\n if (servo1!=null){\\n telemetry.addData(\\\"servoBumpers\\\", servo1.getPosition());}\\n if (servo2!=null){\\n telemetry.addData(\\\"servoX/Y\\\", servo2.getPosition());}\\n if (servo3!=null){\\n telemetry.addData(\\\"servoA/B\\\", servo3.getPosition());}\\n if (servo4!=null){\\n telemetry.addData(\\\"servoBumpers-\\\", servo4.getPosition());}\\n if (servo5!=null){\\n telemetry.addData(\\\"servoX/Y-\\\", servo5.getPosition());}\\n if (servo6!=null){\\n telemetry.addData(\\\"servoA/B-\\\", servo6.getPosition());}\\n if (motor1 != null) {\\n telemetry.addData(\\\"Motor1\\\", motor1.getCurrentPosition());\\n }\\n }\",\n \"@Override\\n public void loop() { \\n\\n double forward = gamepad1.left_stick_y;\\n double turn = gamepad1.right_stick_x;\\n double collect = gamepad2.left_trigger - gamepad2.right_trigger;\\n double wristPower = gamepad1.left_trigger - gamepad1.right_trigger;\\n\\n if (forward > 0)\\n forward = Math.pow(forward, 2);\\n else if (forward < 0)\\n forward = -Math.pow(forward, 2);\\n\\n if (turn > 0)\\n turn = Math.pow(turn, 2);\\n else if (turn < 0)\\n turn = -Math.pow(turn, 2);\\n//\\n// else if(turn < 0)\\n// turn = -Math.pow(turn, 2);\\n telemetry.addData(\\\"Forward Power\\\", forward);\\n telemetry.addData(\\\"Turn Power\\\", turn);\\n left.setPower(Range.clip(forward - turn, -1, 1));\\n right.setPower(Range.clip(forward + turn, -1, 1));\\n collection.setPower(0.8 * (Range.clip(collect, -1.0, 1.0)));\\n wrist.setPower((Range.clip(wristPower, -1, 1)));\\n\\n //regular servo code\\n// if(gamepad1.x && !wristUp) //wrist up\\n// {\\n// wrist.setPosition(.9);\\n// wristUp = true;\\n// }\\n// else if(gamepad1.x && wristUp) //wrist down\\n// { wrist.setPosition(-.9);\\n// wristUp = false;\\n// }\\n// else if(gamepad1.left_trigger > 0 && wrist.getPosition() <= .95)\\n// {\\n// wrist.setPosition(wrist.getPosition() + 0.005);\\n// }\\n// else if(gamepad1.right_trigger > 0 && wrist.getPosition() >= -.95)\\n// {\\n// wrist.setPosition(wrist.getPosition() - 0.005);\\n// }\\n\\n if (lift.getCurrentPosition() >= 0 || lift.getCurrentPosition() <= 3200 || liftOverride){\\n if (gamepad2.left_stick_y > 0.2)\\n lift.setPower(-1);\\n else if (gamepad2.left_stick_y < -0.2)\\n lift.setPower(1);\\n else\\n lift.setPower(0);\\n }\\n if(gamepad2.right_bumper && gamepad2.y)\\n {\\n liftOverride = true;\\n }\\n else if(liftOverride == true)\\n {\\n lift.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);\\n lift.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\n liftOverride = false;\\n }\\n telemetry.addData(\\\"bucket posiition\\\", bucket.getPosition());\\n telemetry.update();\\n\\n if (gamepad2.a) //bucket dump\\n {\\n bucket.setPosition(0.75);\\n } else if (gamepad2.b) //bucket down\\n {\\n bucket.setPosition(0);\\n } else if (gamepad2.x) //endgame\\n bucket.setPosition(0.4);\\n if (gamepad2.dpad_up && bucket.getPosition() <= 0.9975)\\n bucket.setPosition(bucket.getPosition() + .0025);\\n else if (gamepad2.dpad_down && bucket.getPosition() >= -0.9975)\\n bucket.setPosition(bucket.getPosition() - .0025);\\n\\n\\n //Press to keep bucket up for endgame\\n //NOTE: D-Pad will not work unless gamepad2 B is pressed to end the override\\n// if(gamepad2.a && bucketOverride == false) {\\n// bucket.setPower(-.4);\\n// bucketOverride = true;\\n// }\\n// else if (gamepad2.a && bucketOverride == true)\\n// {\\n// bucket.setPower(0);\\n// bucketOverride = false;\\n// }\\n\\n if (gamepad1.right_bumper) {\\n extension.setPower(1);\\n } else if (gamepad1.left_bumper) {\\n extension.setPower(-1);\\n } else extension.setPower(0);\\n\\n telemetry.update();\\n }\",\n \"private void visionDrive(double throttle) {\\n if(limelight.isValidTarget()) {\\n// DriverStation.reportWarning(\\\"\\\"+SmartDashboard.getNumber(\\\"Vision P\\\", Constants.visionDriveP),false);\\n// visionDrive.setP(SmartDashboard.getNumber(\\\"Vision P\\\", Constants.visionDriveP));\\n// visionDrive.setI(SmartDashboard.getNumber(\\\"Vision I\\\", Constants.visionDriveI));\\n// visionDrive.setD(SmartDashboard.getNumber(\\\"Vision D\\\", Constants.visionDriveD));\\n// visionDrive.setMaxIOutput(.225);\\n double error = limelight.getCenter().x;\\n double output = Constants.outsideP * -error;\\n if(Math.abs(error) < 4) {\\n// SmartDashboard.putString(\\\"In PID?\\\", \\\"PID\\\");\\n output = visionDrive.getOutput(error);\\n left.set(ControlMode.PercentOutput, throttle - output);\\n right.set(ControlMode.PercentOutput, throttle + output);\\n// SmartDashboard.putNumber(\\\"PID Output\\\", output);\\n }\\n else if(Math.abs(error) < 7 && Math.abs(error) > 2){\\n double val = .2;\\n if (error < 0){\\n// SmartDashboard.putString(\\\"In PID?\\\", \\\"1\\\");\\n left.set(ControlMode.PercentOutput, -val);\\n right.set(ControlMode.PercentOutput, val);\\n }\\n else if (error > 0){\\n// SmartDashboard.putString(\\\"In PID?\\\", \\\"2\\\");\\n left.set(ControlMode.PercentOutput, val);\\n right.set(ControlMode.PercentOutput, -val);\\n }\\n }\\n else if (error < 0){\\n// SmartDashboard.putString(\\\"In PID?\\\", \\\"3\\\");\\n left.set(ControlMode.PercentOutput, -.25);\\n right.set(ControlMode.PercentOutput, .25);\\n }\\n else if (error > 0){\\n// SmartDashboard.putString(\\\"In PID?\\\", \\\"4\\\");\\n left.set(ControlMode.PercentOutput, .25);\\n right.set(ControlMode.PercentOutput, -.25);\\n }\\n\\n SmartDashboard.putNumber(\\\"Error\\\", error);\\n } else {\\n visionDrive.reset();\\n setOutput(0, 0);\\n }\\n }\",\n \"void driveStick(float x, float y) {\\n speed = (Math.abs(x) > Math.abs(y) ? Math.abs(x) : Math.abs(y)) / 1.5;\\n\\n telemetry.addData(\\\"y\\\", y);\\n telemetry.addData(\\\"x\\\", x);\\n\\n //One program to combine 8 directions of motion on one joystick using ranges of x and y values\\n if (y > .10) {\\n drive(\\\"left\\\");\\n } else if (y < -.10) {\\n drive(\\\"right\\\");\\n } else if (x > .10) {\\n drive(\\\"down\\\");\\n } else if (x < -.10) {\\n drive(\\\"up\\\");\\n } else {\\n drive(\\\"stop\\\");\\n }\\n\\n\\n }\",\n \"public void activateUncontrolledMoves() {\\n new Thread(new Runnable() {\\n @Override\\n public void run() {\\n actualPoint = new Point();\\n actualPoint.x = 0;\\n actualPoint.y = 0;\\n final int maxX = wheel.getBounds().width(); //This represent the max X possible coord on the wheel\\n final int maxY = wheel.getBounds().height();\\n int timeBtwnMvmnts = 5000; //Time between each new movement\\n while (true) {\\n\\n try {\\n Thread.sleep(timeBtwnMvmnts);//Waiting for the next movement\\n } catch (InterruptedException e) {\\n\\n }\\n if (isUncontrolledActivated) { //If is activated continue\\n double userCurrentSnap = USER_CURRENT_BREATH_RATE; //Snapshot to the current BR\\n\\n //Getting the percent of excess according to the max ideal breathing rate and the max posible rate (20)\\n //Consider 6-8, MAX_IDEAL_BREATH_RATE (8) will be the max\\n double referenceDistance = MAX_BREATH_RATE - MAX_IDEAL_BREATH_RATE;\\n double myRateExcess = userCurrentSnap - MAX_IDEAL_BREATH_RATE;\\n double relationPreferedActual = myRateExcess / referenceDistance;\\n double percentOfExcess = relationPreferedActual * 100;\\n\\n Random r = new Random();\\n\\n //Probability of appearance of each special move\\n if (percentOfExcess <= 40 && percentOfExcess > 10) { //A little error margin to make it easier. Nets to be 10% excess\\n //Boost, stop, roll , inverted. probabilities (70,16,10,4)\\n int diceRolled = r.nextInt(100); //This works as the \\\"probability\\\"\\n if (diceRolled < 4) {// 4% inverted\\n /*Enable inverted controlling. Determine how much time is this going to last.\\n Not more than the time between each movement.*/\\n final int duration = new Random().nextInt(timeBtwnMvmnts - 1000) + 1000;\\n invertControls(duration);\\n } else if (diceRolled >= 4 && diceRolled < 14) { // 10% roll\\n uncRoll(maxX, maxY);\\n } else if (diceRolled >= 14 && diceRolled < 30) { // 16% stop\\n uncStop();\\n } else if (diceRolled >= 30 && diceRolled < 100) { // 70% boost\\n int whichBoost = new Random().nextInt(1);\\n if (whichBoost == 0)\\n uncBackwardBoost(actualPoint.x, actualPoint.y, maxX, maxY);\\n else\\n uncForwardBoost(actualPoint.x, actualPoint.y, maxX, maxY);\\n }\\n timeBtwnMvmnts = 8000;\\n } else if (percentOfExcess <= 60 && percentOfExcess > 10) {\\n //Boost, stop, roll , inverted. probabilities (45,30,15,10)\\n int diceRolled = r.nextInt(100);\\n if (diceRolled < 10) {// 10% inverted\\n final int duration = new Random().nextInt(timeBtwnMvmnts - 1000) + 1000;\\n invertControls(duration);\\n } else if (diceRolled >= 10 && diceRolled < 25) { // 15% roll\\n uncRoll(maxX, maxY);\\n } else if (diceRolled >= 25 && diceRolled < 55) { // 30% stop\\n uncStop();\\n } else if (diceRolled >= 55 && diceRolled < 100) { // 45% boost\\n int whichBoost = new Random().nextInt(1);\\n if (whichBoost == 0)\\n uncBackwardBoost(actualPoint.x, actualPoint.y, maxX, maxY);\\n else\\n uncForwardBoost(actualPoint.x, actualPoint.y, maxX, maxY);\\n }\\n timeBtwnMvmnts = 6700;\\n } else if (percentOfExcess > 10) {//Percent > 60\\n //Boost, stop, roll , inverted. probabilities (5,10,25,60)\\n int diceRolled = r.nextInt(100);\\n if (diceRolled < 60) {// 60% inverted\\n final int duration = new Random().nextInt(timeBtwnMvmnts - 1000) + 1000;\\n invertControls(duration);\\n } else if (diceRolled >= 60 && diceRolled < 85) { // 25% roll\\n uncRoll(maxX, maxY);\\n } else if (diceRolled >= 85 && diceRolled < 95) { // 10% stop\\n uncStop();\\n } else if (diceRolled >= 95 && diceRolled < 100) { // 5% boost\\n int whichBoost = new Random().nextInt(1);\\n if (whichBoost == 0)\\n uncBackwardBoost(actualPoint.x, actualPoint.y, maxX, maxY);\\n else\\n uncForwardBoost(actualPoint.x, actualPoint.y, maxX, maxY);\\n }\\n timeBtwnMvmnts = 5000;\\n }\\n\\n } else {\\n break;\\n }\\n }\\n }\\n }).start();\\n }\",\n \"public void uncForwardBoost(final int x, final int y, final int maxX, final int maxY) {\\n /* First, determine in which quadrant is the puck.\\n Remember, here with the driver there is no negative values to the drive coords\\n */\\n new Thread(new Runnable() {\\n @Override\\n public void run() {\\n int count = 0;\\n int centerX = maxX / 2;\\n int centerY = maxY / 2;\\n int finalX = 0, finalY = 0;\\n int time = 1;\\n if (ACTUAL_DIFICULTY == EASY)\\n time = 1;\\n if (ACTUAL_DIFICULTY == MEDIUM)\\n time = 2;\\n if (ACTUAL_DIFICULTY == HARD)\\n time = 3;\\n\\n if (x >= centerX && y < centerY) {//Quadrant 1. x btw 130 and 300. y btw 0 and 130\\n finalX = maxX;\\n finalY = 0;\\n } else if (x < centerX && y < centerY) { //Quadrant 2.\\n finalX = 0;\\n finalY = 0;\\n } else if (x < centerX && y >= centerY) { //Quadrant 3.\\n finalX = 0;\\n finalY = maxY;\\n } else if (x >= centerX && y >= centerY) { //Quadrant 4.\\n finalX = maxX;\\n finalY = maxY;\\n }\\n while (count < time) {//Time of boost\\n\\n drive_control.stopDriving();\\n drive_control.setSpeedScale(MAX_SCALED_SPEED);\\n drive_control.startDriving(getContext(), DriveControl.JOY_STICK);\\n drive_control.driveJoyStick(finalX, finalY);\\n try {\\n Thread.sleep(100);\\n } catch (InterruptedException e) {\\n }\\n count++;\\n }\\n restoreValues();\\n }\\n }).start();\\n }\",\n \"@Override\\n public void teleopPeriodic() {\\n double pi4 = (double)Math.PI/4;\\n/*\\n double deadzoneX = 0.1;\\n double multiplierX = 1/deadzoneX;\\n double deadzoneY = 0.1;\\n double multiplierY = 1/deadzoneY;\\n\\n double maxSpeed = stick.getThrottle() * 1f;\\nstick.getX()/Math.abs(stick.getX())\\n double stickX;\\n if (Math.abs(stick.getX())< deadzoneX){\\n stickX = 0;\\n }\\n\\n else {\\n stickX = ((stick.getMagnitude() * Math.sin(stick.getDirectionRadians())) - deadzoneX)*multiplierX;\\n }\\n\\n \\n double stickY;\\n if (Math.abs(stick.getY())< deadzoneY){\\n stickY = 0;\\n }\\n\\n else {\\n stickY = (stick.getMagnitude() * Math.cos(stick.getDirectionRadians()) - deadzoneY)*multiplierY;\\n }\\n \\n\\n double stickTwist = stick.getTwist();\\n\\n double leftFrontForwardsPower = -stickY;\\n double rightFrontForwardsPower = stickY;\\n double leftBackForwardsPower = -stickY;\\n double rightBackForwardsPower = stickY;\\n\\n double leftFrontSidePower = -stickX;\\n double rightFrontSidePower = -stickX;\\n double leftBackSidePower = +stickX;\\n double rightBackSidePower = stickX;\\n\\n double leftFrontRotatePower = -stickTwist;\\n double rightFrontRotatePower = -stickTwist;\\n double leftBackRotatePower = -stickTwist;\\n double rightBackRotatePower = -stickTwist;\\n\\n */\\n\\n /* get gyro from robot\\n set gyro tto original gyro\\n void()\\n\\n get X for joystick\\n get Y for Joystick\\n\\n get gyro for robot\\n\\n if X = 0\\n then Joystick angle pi/2\\n else\\n then Joystick angle = arctan(Y/X)\\n\\n newGyro = original gyro - gyro\\n\\n xfinal = cos(newGyro+joystickangle) * absolute(sqrt(x^2+y^2))\\n yfinal = sin(newGyro+joystickangle) * absolute(sqrt(x^2+y^2))\\n*/\\n\\n//Xbox COntroller\\n \\n double maxSpeed = stick.getThrottle() * 0.2f;\\n double maxRot = 1f;\\n\\n double controllerX = -controller.getX(Hand.kRight);\\n double controllerY = controller.getY(Hand.kRight);\\n double joyAngle;\\n boolean gyroRestart = controller.getAButtonPressed();\\n\\n if (gyroRestart){\\n gyro.reset();\\n origGyro = Math.toRadians(gyro.getAngle());\\n }\\n\\n double mainGyro = Math.toRadians(gyro.getAngle());\\n/*\\n if (controllerX == 0 && controllerY > 0){\\n joyAngle = (3*Math.PI)/2;\\n }\\n\\n \\n if (controllerX == 0 && controllerY < 0){\\n joyAngle = Math.PI/2;\\n }\\n\\n else{\\n joyAngle = Math.atan(controllerY/controllerX);\\n }\\n\\n if (controllerX > 0 && controllerY < 0){\\n joyAngle = Math.abs(joyAngle + Math.toRadians(180));\\n }\\n if (controllerX > 0 && controllerY > 0){\\n joyAngle -= Math.toRadians(180);\\n }\\n / * if (controllerX < 0 && controllerY > 0){\\n joyAngle -= Math.toRadians(270);\\n }* /\\n*/\\n joyAngle = Math.atan2(controllerY, controllerX);\\n\\n double newGyro = origGyro - mainGyro;\\n //double newGyro = 0;\\n\\n double controllerTurn = -controller.getX(Hand.kLeft)*maxRot;\\n\\n double magnitude = Math.abs(Math.sqrt(Math.pow(controllerX,2) + Math.pow(controllerY, 2)));\\n\\n double xFinal = Math.cos(newGyro + joyAngle) * magnitude;\\n double yFinal = Math.sin(newGyro + joyAngle) * magnitude;\\n\\n\\n /* \\n double leftFrontForwardsPower = -controllerY;\\n double rightFrontForwardsPower = controllerY;\\n double leftBackForwardsPower = -controllerY;\\n double rightBackForwardsPower = controllerY;\\n\\n double leftFrontSidePower = -controllerX;\\n double rightFrontSidePower = -controllerX;\\n double leftBackSidePower = controllerX;\\n double rightBackSidePower = controllerX;\\n*/\\n \\n double leftFrontForwardsPower = -yFinal;\\n double rightFrontForwardsPower = yFinal;\\n double leftBackForwardsPower = -yFinal;\\n double rightBackForwardsPower = yFinal;\\n\\n double leftFrontSidePower = -xFinal;\\n double rightFrontSidePower = -xFinal;\\n double leftBackSidePower = xFinal;\\n double rightBackSidePower = xFinal;\\n \\n double leftFrontRotatePower = -controllerTurn;\\n double rightFrontRotatePower = -controllerTurn;\\n double leftBackRotatePower = -controllerTurn;\\n double rightBackRotatePower = -controllerTurn;\\n\\n double forwardsWeight = 1;\\n double sideWeight = 1;\\n double rotateWeight = 1;\\n\\n double leftFrontPower = leftFrontForwardsPower * forwardsWeight + leftFrontSidePower * sideWeight + leftFrontRotatePower * rotateWeight;\\n double rightFrontPower = rightFrontForwardsPower * forwardsWeight + rightFrontSidePower * sideWeight + rightFrontRotatePower * rotateWeight;\\n double leftBackPower = leftBackForwardsPower * forwardsWeight + leftBackSidePower * sideWeight + leftBackRotatePower * rotateWeight;\\n double rightBackPower = rightBackForwardsPower * forwardsWeight + rightBackSidePower * sideWeight + rightBackRotatePower * rotateWeight;\\n\\n leftFrontPower *= maxSpeed;\\n rightFrontPower *= maxSpeed;\\n leftBackPower *= maxSpeed;\\n rightBackPower *= maxSpeed;\\n\\n\\n double largest = Math.max( \\n Math.max( Math.abs( leftFrontPower),\\n Math.abs(rightFrontPower)),\\n Math.max( Math.abs( leftBackPower), \\n Math.abs( rightBackPower)));\\n\\n if (largest > 1) {\\n leftFrontPower /= largest;\\n rightFrontPower /= largest;\\n leftBackPower /= largest;\\n rightBackPower /= largest;\\n }\\n \\n \\n leftFrontMotor.set(leftFrontPower);\\n rightFrontMotor.set(rightFrontPower); \\n leftBackMotor.set(leftBackPower);\\n rightBackMotor.set(rightBackPower);\\n\\n SmartDashboard.putNumber(\\\"Main Gyro\\\", mainGyro);\\n SmartDashboard.putNumber(\\\"Original Gyro\\\", origGyro);\\n SmartDashboard.putNumber(\\\"New Gyro\\\", newGyro);\\n SmartDashboard.putNumber(\\\"Controller X\\\", controllerX);\\n SmartDashboard.putNumber(\\\"Controller Y\\\", controllerY);\\n SmartDashboard.putNumber(\\\"Magnitude \\\", magnitude);\\n SmartDashboard.putNumber(\\\"Largest\\\", largest);\\n SmartDashboard.putNumber(\\\"Joystick Angle\\\", Math.toDegrees(joyAngle));\\n SmartDashboard.putNumber(\\\"X final\\\", xFinal);\\n SmartDashboard.putNumber(\\\"Y final\\\", yFinal);\\n SmartDashboard.putNumber(\\\"Left Front Power\\\", leftFrontPower);\\n SmartDashboard.putNumber(\\\"Right Front Power\\\", rightFrontPower);\\n SmartDashboard.putNumber(\\\"Left Back Power\\\", leftBackPower);\\n SmartDashboard.putNumber(\\\"Right Back Power\\\", rightBackPower);\\n }\",\n \"@Override\\n public void teleopPeriodic() {\\n double y = -xbox.getRawAxis(0) * 0.7D * (1.0D + Math.max(0, xbox.getRawAxis(4)) * 1.4285714D);\\n double rawSpeed = xbox.getRawAxis(2) - xbox.getRawAxis(3);\\n\\n if (SAFETY_MODE) {\\n y *= 0.75D;\\n\\n if (xbox.getBumper(Hand.kLeft) && joystick.getRawButton(7)) {\\n if (safetyCount > 0) {\\n safetyCount--;\\n SmartDashboard.putNumber(\\\"Safety Count\\\", safetyCount);\\n\\n if (safetyCount == 0) {\\n safetyTripped = false;\\n clearAllButtonStates();\\n SmartDashboard.putBoolean(\\\"Safety Tripped\\\", safetyTripped);\\n }\\n } else {\\n safetyTripped = false;\\n }\\n } else {\\n safetyTripped = true;\\n safetyCount = MAX_SAFETY_COUNT;\\n SmartDashboard.putNumber(\\\"Safety Count\\\", safetyCount);\\n SmartDashboard.putBoolean(\\\"Safety Tripped\\\", safetyTripped);\\n }\\n } else {\\n safetyTripped = false;\\n }\\n\\n // Climb Speed\\n if (xbox.getRawButton(6)) {\\n rawSpeed = -0.3D;\\n }\\n\\n // Super slow mode\\n if (xbox.getAButton() || SAFETY_MODE) {\\n SpeedRamp.Setpoint = rawSpeed * 0.45D;\\n } else {\\n SpeedRamp.Setpoint = rawSpeed * 0.8D * (1.0D + Math.max(0, xbox.getRawAxis(4)) * 0.25);\\n }\\n\\n SpeedRamp.update();\\n\\n boolean seesTape = TapeDetectedEntry.getBoolean(false);\\n \\n if (seesTape && !safetyTripped) {\\n final double ADJUST_CONST = 0.13281734;\\n //double tapePitch = TapePitchEntry.getNumber(0).doubleValue();\\n double tapeYaw = TapeYawEntry.getNumber(0).doubleValue();\\n final double TARGET_YAW = 0;//PitchYawAdjuster.GetYawFromPitch(tapePitch);\\n\\n //SmartDashboard.putNumber(\\\"tapePitch\\\", tapePitch);\\n //SmartDashboard.putNumber(\\\"tapeYaw\\\", tapeYaw);\\n \\n double diff = tapeYaw - ADJUST_CONST;\\n \\n String s = \\\"\\\";\\n\\n if (diff > 0) {\\n s = \\\"<-- (\\\" + diff + \\\")\\\";\\n } else if (diff < 0) {\\n s = \\\"--> (\\\" + diff + \\\")\\\";\\n }\\n\\n if (/*xbox.getRawButton(5) This is now taken for the safety button*/false) {\\n final double MAX_AFFECT = 0.4;\\n if (diff > MAX_AFFECT) {\\n diff = MAX_AFFECT;\\n } else if (diff < -MAX_AFFECT) {\\n diff = -MAX_AFFECT;\\n }\\n\\n y -= diff;\\n }\\n\\n SmartDashboard.putString(\\\"TapeDir\\\", s);\\n } else {\\n SmartDashboard.putString(\\\"TapeDir\\\", \\\"X\\\");\\n }\\n\\n if (xbox.getRawButtonPressed(7)) {\\n Lifter.setSelectedSensorPosition(0);\\n LiftSetpoint = 0;\\n LiftRamp.Setpoint = 0;\\n LiftRamp.setOutput(0);\\n }\\n\\n //Scheduler.getInstance().run();\\n // Cargo ship is(n't anymore) -13120\\n\\n // The fine adjustment has nothing to do with hammers.\\n // Don't try to use a hammer on the roboRIO. Ever.\\n final int FINE_ADJUSTMENT_AMOUNT = -500;\\n\\n if (!safetyTripped) {\\n if (joystick.getPOV() == 0) {\\n if (!joyPOV0PressedLast) {\\n joyPOV0PressedLast = true;\\n if (LiftSetpoint - FINE_ADJUSTMENT_AMOUNT <= 0)\\n LiftSetpoint -= FINE_ADJUSTMENT_AMOUNT;\\n }\\n } else {\\n joyPOV0PressedLast = false;\\n\\n if (joystick.getPOV() == 180) {\\n if (!joyPOV180PressedLast) {\\n joyPOV180PressedLast = true;\\n LiftSetpoint += FINE_ADJUSTMENT_AMOUNT;\\n }\\n } else {\\n joyPOV180PressedLast = false;\\n }\\n }\\n\\n Drive.arcadeDrive(SpeedRamp.getOutput(), y);\\n\\n if (joystick.getRawButtonPressed(11)) {\\n LiftSetpoint = HATCH_BOTTOM;\\n } else if (joystick.getRawButtonPressed(9)) {\\n LiftSetpoint = HATCH_MIDDLE;\\n //} else if (joystick.getRawButtonPressed(7)) {\\n // This button is now used for safety mode LiftSetpoint = HATCH_TOP;\\n // and also for grab-hatch-on-impact mode\\n } else if (joystick.getRawButtonPressed(12)) {\\n LiftSetpoint = CARGO_BOTTOM;\\n } else if (joystick.getRawButtonPressed(10)) {\\n LiftSetpoint = CARGO_MIDDLE;\\n //} else if (joystick.getRawButtonPressed(8)) {\\n //LiftSetpoint = CARGO_TOP;\\n } else if (joystick.getRawButtonPressed(1)) {\\n LiftSetpoint = CARGO_FLOOR;\\n }\\n\\n double liftY = -joystick.getRawAxis(1);\\n final double deadband = 0.15;\\n\\n if (Math.abs(liftY) > deadband) {\\n double change = (liftY < 0 ? liftY + 0.15 : liftY - 0.15) * 200;//(int)liftEntry.getDouble(0);//\\n \\n if (change > 100) {\\n change = 100;\\n } else if (change < -100) {\\n change = -100;\\n }\\n\\n LiftRamp.setOutput(LiftRamp.getOutput() + change);\\n LiftRamp.Setpoint += change;\\n LiftSetpoint = (int)LiftRamp.Setpoint;\\n }\\n\\n if (LiftSetpoint < LIMIT_UP) {\\n LiftSetpoint = LIMIT_UP;\\n }\\n } else {\\n Drive.arcadeDrive(0, 0);\\n }\\n \\n LiftRamp.Setpoint = LiftSetpoint;\\n SmartDashboard.putNumber(\\\"LiftSetpoint\\\", LiftRamp.Setpoint);\\n //SmartDashboard.putNumber(\\\"LiftEncoderPos\\\", Lifter.getSelectedSensorPosition());\\n SmartDashboard.putNumber(\\\"LiftOutput\\\", LiftRamp.getOutput());\\n LiftRamp.update();\\n\\n Lifter.set(ControlMode.Position, LiftRamp.getOutput());\\n //Lifter.set(ControlMode.PercentOutput, -joystick.getRawAxis(1));\\n\\n if (!safetyTripped) {\\n if (joystick.getRawButtonPressed(4)) {\\n ArmsClosed = !ArmsClosed;\\n } else if (!SAFETY_MODE) {\\n // This is the same as the joystick safety button, so it only works outside\\n // safety mode, and why would it be needed in safety mode anyway?\\n // It should be disabled in safety mode anyway to make sure we don't\\n // accidently attack someone's fingers at a Demo.\\n\\n // Holding joystick button 7 makes the limit switches on the hatch mechanism\\n // active, so when the hatch contacts the switches, the mechanism automatically\\n // grabs the hatch.\\n // HatchSwitch0 does not have to be inverted. It's complicated.\\n if (joystick.getRawButton(7) && (HatchSwitch0.get() || !HatchSwitch1.get())) {\\n ArmsClosed = false;\\n }\\n }\\n\\n if (joystick.getRawButtonPressed(3)) {\\n ArmsExtended = !ArmsExtended;\\n }\\n }\\n\\n ArmExtender.set(ArmsExtended);\\n ArmOpener.set(ArmsClosed);\\n\\n //Diagnostics.writeDouble(\\\"DriveX\\\", x);\\n //Diagnostics.writeDouble(\\\"DriveY\\\", y);\\n\\n // X = out, Y = in\\n\\n final double GRAB_SPEED;\\n\\n if (SAFETY_MODE) {\\n GRAB_SPEED = 0.8D;\\n } else {\\n GRAB_SPEED = 1D; // TODO at one point we had this 0.8, is that what it's supposed to be?\\n }\\n \\n if (!safetyTripped) {\\n ArmGrippers.set(/*xbox.getXButton() || */joystick.getRawButton(6) ? -GRAB_SPEED : /*xbox.getYButton() ||*/ joystick.getRawButton(5) ? GRAB_SPEED : 0);\\n } else {\\n ArmGrippers.set(0);\\n }\\n\\n\\n // === Climbing stuff ===\\n\\n boolean climbSafety = /*joystick.getRawButton(2) &&*/ !safetyTripped;\\n \\n // Have to check all of these every update to make sure it was pressed\\n // between now and the last update\\n boolean retractFront = xbox.getYButton/*Pressed*/();\\n boolean retractBack = xbox.getXButton/*Pressed*/();\\n boolean climbBoth = xbox.getRawButton/*Pressed*/(8);\\n\\n final double CLIMB_SPEED = 1;\\n final double RETRACT_SPEED = 0.75;\\n final double HOLD_SPEED = 0.3;\\n // If you multiply the hold by this, you get the climb value.\\n // Avoids having to thing + or minus so many times.\\n final double HOLD_CLIMB_MULTIPLIER = CLIMB_SPEED / HOLD_SPEED;\\n\\n // Left is negative, right is positive\\n double xOff = Math.round((Accel.getX() - ZeroX) * 10) / 10D;\\n // Forward is negative, backwards is positive\\n double zOff = Math.round((Accel.getZ() - ZeroZ) * 10) / 10D;\\n\\n\\n SmartDashboard.putNumber(\\\"X\\\", xOff);\\n SmartDashboard.putNumber(\\\"Z\\\", zOff);\\n\\n\\n if (climbSafety || IsHoldingBack || IsHoldingFront) {\\n if (climbBoth) {\\n IsHoldingBack = true;\\n IsHoldingFront = true;\\n\\n \\n double SpeedFR = CLIMB_SPEED;\\n double SpeedFL = -CLIMB_SPEED;\\n double SpeedBR = -CLIMB_SPEED;\\n double SpeedBL = CLIMB_SPEED;\\n\\n final double SLOW_MULT = 0.3;\\n\\n if (xOff < 0 || zOff < 0) {\\n SpeedBR *= SLOW_MULT;\\n }\\n\\n if (xOff < 0 || zOff > 0) {\\n SpeedFR *= SLOW_MULT;\\n }\\n\\n if (xOff > 0 || zOff < 0) {\\n SpeedBL *= SLOW_MULT;\\n }\\n\\n if (xOff > 0 || zOff > 0) {\\n SpeedFL *= SLOW_MULT;\\n }\\n \\n LegFrontR.set(SpeedFR);\\n LegFrontL.set(ControlMode.PercentOutput, SpeedFL);\\n LegBackR.set(ControlMode.PercentOutput, SpeedBR);\\n LegBackL.set(ControlMode.PercentOutput, SpeedBL);\\n\\n } else {\\n if (retractBack) {\\n IsHoldingBack = false;\\n LegBackR.set(ControlMode.PercentOutput, RETRACT_SPEED);\\n LegBackL.set(ControlMode.PercentOutput, -RETRACT_SPEED);\\n } else if (IsHoldingBack) {\\n double rightSpeed = -HOLD_SPEED;\\n double leftSpeed = HOLD_SPEED;\\n int pov = xbox.getPOV();\\n\\n // Front right leg\\n if (pov >= 0 && pov <= 90) {\\n\\n }\\n\\n LegBackR.set(ControlMode.PercentOutput, -HOLD_SPEED);\\n LegBackL.set(ControlMode.PercentOutput, HOLD_SPEED);\\n } else {\\n LegBackR.set(ControlMode.PercentOutput, 0);\\n LegBackL.set(ControlMode.PercentOutput, 0);\\n }\\n\\n if (retractFront) {\\n IsHoldingFront = false;\\n LegFrontR.set(-RETRACT_SPEED);\\n LegFrontL.set(ControlMode.PercentOutput, RETRACT_SPEED);\\n } else if (IsHoldingFront) {\\n double rightSpeed = HOLD_SPEED;\\n double leftSpeed = -HOLD_SPEED;\\n int pov = xbox.getPOV();\\n\\n // Front right leg\\n if (pov >= 0 && pov <= 90) {\\n rightSpeed *= HOLD_CLIMB_MULTIPLIER;\\n }\\n\\n LegFrontR.set(rightSpeed);\\n LegFrontL.set(ControlMode.PercentOutput, leftSpeed);\\n } else {\\n LegFrontR.set(0);\\n LegFrontL.set(ControlMode.PercentOutput, 0);\\n }\\n }\\n } else {\\n LegBackR.set(ControlMode.PercentOutput, 0);\\n LegBackL.set(ControlMode.PercentOutput, 0);\\n LegFrontR.set(0);\\n LegFrontL.set(ControlMode.PercentOutput, 0);\\n }\\n \\n double footSpeed = Math.max(-1.0, Math.min(rawSpeed * 3, 1.0F));\\n\\n if (IsHoldingBack) {\\n // Drive back feet\\n BackFootMover.set(footSpeed);\\n } else {\\n BackFootMover.set(0);\\n }\\n\\n if (IsHoldingFront) {\\n // Drive front feet\\n FrontFootMover.set(footSpeed);\\n } else {\\n FrontFootMover.set(0);\\n }\\n\\n // Publish values to dashboard for LEDs\\n LedArmsClosed.setBoolean(ArmsClosed);\\n }\",\n \"@Override\\n public void loop() {\\n double left;\\n double right;\\n\\n // Run wheels in tank mode (note: The joystick goes negative when pushed forwards, so negate it)\\n if(!reverseMode)\\n {\\n left = -gamepad1.left_stick_y;\\n right = -gamepad1.right_stick_y;\\n }\\n else\\n {\\n left = gamepad1.right_stick_y;\\n right = gamepad1.left_stick_y;\\n }\\n\\n targetSpeedLeft = left * driveSpeed;\\n targetSpeedRight = right * driveSpeed;\\n\\n currentLiftSpeed = 0.0;\\n if(gamepad1.left_trigger >= 0.1) {\\n currentLiftSpeed = -LIFT_MAX_DOWN_SPEED;\\n }\\n if(gamepad1.right_trigger >= 0.1) {\\n currentLiftSpeed = LIFT_MAX_DOWN_SPEED;\\n }\\n //if(gamepad2.left_trigger) {\\n // currentLiftSpeed = -gamepad2.left_bumper * LIFT_MAX_DOWN_SPEED;\\n //}\\n //if(gamepad2.right_trigger) {\\n // currentLiftSpeed = gamepad2.right_bumper * LIFT_MAX_UP_SPEED;\\n //}\\n/*\\n currentSpeedArm = 0.0;\\n if(gamepad1.left_trigger) {\\n currentSpeedArm = -gamepad1.left_bumper * ARM_MAX_DOWN_SPEED;\\n }\\n if(gamepad1.right_trigger) {\\n currentSpeedArm = gamepad1.right_bumper * ARM_MAX_UP_SPEED;\\n }\\n\\n /*\\n // limit acceleration by only allowing MAX_ACCEL power change per UPDATE_TIME\\n if(runtime.seconds() > UPDATE_TIME)\\n {\\n runtime.reset();\\n \\n if( ((currentSpeedLeft >= 0.0) && (targetSpeedLeft >= 0.0)) ||\\n ((currentSpeedLeft <= 0.0) && (targetSpeedLeft <= 0.0)))\\n {\\n if(Math.abs(currentSpeedLeft) > Math.abs(targetSpeedLeft)) \\n {\\n currentSpeedLeft = targetSpeedLeft;\\n }\\n else \\n {\\n if (currentSpeedLeft != targetSpeedLeft) {\\n if (Math.abs(targetSpeedLeft - currentSpeedLeft) <= MAX_ACCEL)\\n currentSpeedLeft = targetSpeedLeft;\\n else {\\n if (currentSpeedLeft < targetSpeedLeft)\\n currentSpeedLeft += MAX_ACCEL;\\n else\\n currentSpeedLeft -= MAX_ACCEL;\\n }\\n }\\n }\\n\\n }\\n else \\n {\\n currentSpeedLeft = 0.0;\\n }\\n\\n if( ((currentSpeedRight >= 0.0) && (targetSpeedRight >= 0.0)) ||\\n ((currentSpeedRight <= 0.0) && (targetSpeedRight <= 0.0)))\\n {\\n if(Math.abs(currentSpeedRight) > Math.abs(targetSpeedRight))\\n {\\n currentSpeedRight = targetSpeedRight;\\n }\\n else\\n {\\n if (currentSpeedRight != targetSpeedRight) {\\n if (Math.abs(targetSpeedRight - currentSpeedRight) <= MAX_ACCEL)\\n currentSpeedRight = targetSpeedRight;\\n else {\\n if (currentSpeedRight < targetSpeedRight)\\n currentSpeedRight += MAX_ACCEL;\\n else\\n currentSpeedRight -= MAX_ACCEL;\\n }\\n }\\n }\\n\\n }\\n else\\n {\\n currentSpeedRight = 0.0;\\n }\\n\\n }\\n */\\n\\n // replace acceleration limit because no longer needed\\n currentSpeedLeft = targetSpeedLeft;\\n currentSpeedRight = targetSpeedRight;\\n\\n robot.leftDriveMotor.setPower(currentSpeedLeft);\\n robot.rightDriveMotor.setPower(currentSpeedRight);\\n // robot.armMotor.setPower(currentSpeedArm);\\n robot.liftMotor.setPower(currentLiftSpeed);\\n\\n\\n if(gamepad1.a)\\n {\\n if (!aButtonHeld)\\n {\\n aButtonHeld = true;\\n if (servoOpen) {\\n servoOpen = false;\\n robot.leftGrabServo.setPosition(LEFT_SERVO_CLOSED);\\n robot.rightGrabServo.setPosition(RIGHT_SERVO_CLOSED);\\n }\\n else {\\n servoOpen = true;\\n robot.leftGrabServo.setPosition(LEFT_SERVO_OPEN);\\n robot.rightGrabServo.setPosition(RIGHT_SERVO_OPEN);\\n }\\n }\\n }\\n else {\\n aButtonHeld = false;\\n }\\n/*\\n if(gamepad1.b)\\n {\\n if (!bButtonHeld)\\n {\\n bButtonHeld = true;\\n reverseMode = !reverseMode;\\n }\\n }\\n else\\n {\\n bButtonHeld = false;\\n }\\n\\n*/\\n if(gamepad1.y)\\n {\\n if (!yButtonHeld)\\n {\\n yButtonHeld = true;\\n\\n if(driveSpeed == MAX_SPEED) {\\n driveSpeed = 0.3 * MAX_SPEED;\\n slowMode = true;\\n }\\n else\\n {\\n driveSpeed = MAX_SPEED;\\n slowMode = false;\\n }\\n }\\n }\\n else\\n {\\n yButtonHeld = false;\\n }\\n\\n\\n if(gamepad1.x)\\n {\\n if(!xButtonHeld)\\n {\\n xButtonHeld = true;\\n\\n if(servoUp){\\n servoUp=false;\\n robot.leftDragServo.setPosition(LEFT_DOWN);\\n }\\n else\\n {\\n servoUp=true;\\n robot.leftDragServo.setPosition(LEFT_UP);\\n }\\n }\\n }\\n else\\n {\\n xButtonHeld = false;\\n }\\n\\n telemetry.addData(\\\"reverse\\\", reverseMode);\\n\\n // telemetry.addData(\\\"currentLeft\\\", currentSpeedLeft);\\n // telemetry.addData(\\\"currentRight\\\", currentSpeedRight);\\n // telemetry.addData(\\\"currentArm\\\", currentSpeedArm);\\n // telemetry.addData(\\\"currentLift\\\", currentLiftSpeed);\\n telemetry.addData(\\\"encoderLeft\\\", robot.leftDriveMotor.getCurrentPosition());\\n telemetry.addData(\\\"encoderRight\\\", robot.rightDriveMotor.getCurrentPosition());\\n // telemetry.addData(\\\"reverseMode\\\", reverseMode);\\n telemetry.addData(\\\"slowMode\\\", slowMode);\\n telemetry.addData(\\\"Drag Servo\\\", robot.leftDragServo.getPosition());\\n telemetry.addData(\\\"Touch Sensor\\\", robot.rearTouch.getState());\\n }\",\n \"@Override\\n public void loop() {\\n\\n double drive = gamepad1.left_stick_y;\\n double strafe = gamepad1.left_stick_x;\\n double rotate = -gamepad1.right_stick_x;\\n\\n findRobotPosition(); // Call Vuforia routines, get robot position\\n\\n // Intake Operator Actions\\n if (gamepad1.a || gamepad1.b || gamepad1.x){ // Operator wants to control the intake\\n if (gamepad1.a){ // A turns the intake on for bringing in rings\\n intakeMotor.setPower(1);\\n }\\n else if (gamepad1.b) { // B reverses the intake\\n intakeMotor.setPower(-1);\\n\\n } else if (gamepad1.x){ // X stops the intake\\n intakeMotor.setPower(0);\\n }\\n }\\n\\n // Ring Shooter Operator Actions\\n /*if (gamepad1.dpad_up || gamepad1.dpad_down){\\n if (gamepad1.dpad_up) {\\n if (ringVel <= 170000) {\\n ringVel = ringVel + 10000;\\n }\\n } else if (gamepad1.dpad_down){\\n if (ringVel >= 10000){\\n ringVel = ringVel - 10000;\\n } else{\\n ringVel = 0;\\n }\\n }\\n }\\n */\\n\\n if (gamepad1.right_bumper){\\n fireServo.setPosition(FIRE_SERVO);\\n } else{\\n fireServo.setPosition(STANDBY_SERVO);\\n }\\n if (gamepad1.left_trigger > 0.5){\\n ringShooterMotor.setVelocity(ringVel);\\n }else {\\n ringShooterMotor.setPower(0);\\n }\\n\\n // Wobble Goal acions here\\n if (gamepad1.dpad_left || gamepad1.dpad_right || gamepad1.left_bumper){\\n if(gamepad1.dpad_left){\\n wobbleMotor.setTargetPosition(WOBBLE_GRAB);\\n wobbleMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\n wobbleMotor.setPower(.4);\\n } else if (gamepad1.dpad_right){\\n wobbleMotor.setTargetPosition(WOBBLE_CARRY);\\n wobbleMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\n wobbleMotor.setPower(.4);\\n } else if (gamepad1.left_bumper) {\\n wobbleMotor.setTargetPosition(WOBBLE_OVER_WALL);\\n wobbleMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\n wobbleMotor.setPower(.4);\\n }\\n }\\n // Insert operator driving actions here\\n if ((targetVisible) && (gamepad1.y)) {\\n // Allow the operator to position the robot to shoot a ring if a target is visible\\n alignRobotToShoot();\\n }\\n else {\\n moveBot(drive, rotate, strafe, power); //Basic Robot-centric Frame Driving\\n }\\n\\n // Telemetry Section\\n //telemetry.addData(\\\"Ring Velocity\\\", ringVel);\\n //telemetry.addData(\\\"Actual Velocity\\\", ringShooterMotor.getVelocity());\\n telemetry.addData(\\\"Ring Motor Encoder\\\", ringShooterMotor.getCurrentPosition());\\n telemetry.addData(\\\"Wobble Goal Encoder\\\", wobbleMotor.getCurrentPosition());\\n telemetry.update();\\n }\",\n \"public static void main(String[] args){\\n Robot robot = new DifferentialWheels();\\n\\n // Get the time step of the current world.\\n int timeStep = (int) Math.round(robot.getBasicTimeStep());\\n\\n // Get references to, and enable, all required devices on the robot.\\n Lidar lidar = robot.getLidar(\\\"lms291\\\");\\n lidar.enable(timeStep);\\n lidar.enablePointCloud();\\n\\n GPS gps = robot.getGPS(\\\"gps\\\");\\n gps.enable(timeStep);\\n\\n Emitter emitter = robot.getEmitter(\\\"emitter\\\");\\n emitter.setChannel(0);\\n\\n Compass compass = robot.getCompass(\\\"compass\\\");\\n compass.enable(timeStep);\\n\\n Motor frontLeft = robot.getMotor(\\\"front_left_wheel\\\");\\n frontLeft.setPosition(Double.POSITIVE_INFINITY);\\n Motor frontRight = robot.getMotor(\\\"front_right_wheel\\\");\\n frontRight.setPosition(Double.POSITIVE_INFINITY);\\n Motor backLeft = robot.getMotor(\\\"back_left_wheel\\\");\\n backLeft.setPosition(Double.POSITIVE_INFINITY);\\n Motor backRight = robot.getMotor(\\\"back_right_wheel\\\");\\n backRight.setPosition(Double.POSITIVE_INFINITY);\\n\\n TestTurnPB turnPBController = new TestTurnPB(gps, compass, emitter, frontLeft, frontRight, backLeft, backRight);\\n System.out.println(\\\"current param : \\\" + turnPBController.toString());\\n\\n //Initialise Start and Goal Coordinates\\n robot.step(timeStep);\\n turnPBController.updateObstacleReadings(lidar.getPointCloud());\\n turnPBController.isRunning = true;\\n turnPBController.initMetrics();\\n turnPBController.initPositions();\\n //potBugController.initAlgorithm();\\n turnPBController.runInit();\\n\\n //Iteration Count\\n int itCount = 0;\\n\\n while (robot.step(timeStep*100) != -1) {\\n //Check max iteration\\n //while (itCount<DEFAULT_MAX_ITERATION_COUNT){\\n //Update Turn Angles\\n turnPBController.updateAngles();\\n\\n //Update Sensor Information\\n turnPBController.updateObstacleReadings(lidar.getPointCloud());\\n\\n //Check if goal is reached and terminate as appropriate\\n if (turnPBController.isGoalReached()){\\n turnPBController.isRunning = false;\\n turnPBController.setRobotSpeed(0,0);\\n turnPBController.terminatePotBug();\\n System.out.println(\\\"Goal Reached Successfully!\\\");\\n }\\n\\n if(!turnPBController.isGoalReached() && turnPBController.isRunning){\\n //Check for goal direction on forwards semi-circle\\n if (!turnPBController.isObstruction()){\\n\\n turnPBController.setDriveMode(DEFAULT_DRIVE_MODE_TOWARDS_GOAL);\\n //Move 'freely' to the next sample point, towards goal\\n turnPBController.updateMetrics();\\n\\n } else {\\n\\n if (turnPBController.isClearToLeave()){\\n\\n if (turnPBController.isProgressAttained() &&\\n turnPBController.isClearToLeave()){\\n\\n turnPBController.setDriveMode(DEFAULT_DRIVE_MODE_TOWARDS_GOAL);\\n turnPBController.updateMetrics();\\n\\n }\\n } else {\\n\\n if (turnPBController.hitPoint == null){\\n\\n turnPBController.setHitPoint();\\n turnPBController.setDriveMode(DEFAULT_DRIVE_MODE_TOWARDS_CONTOUR);\\n turnPBController.updateMetrics();\\n\\n } else {\\n\\n // engaged mode\\n turnPBController.setDriveMode(DEFAULT_DRIVE_MODE_ALONG_CONTOUR);\\n turnPBController.updateMetrics();\\n\\n }\\n }\\n }\\n }\\n //}\\n }\\n }\",\n \"@Override\\n public void testPeriodic() {\\n go_speed=-xbox_controller.getRawAxis(1);\\n turn_speed=xbox_controller.getRawAxis(4);\\n right_motor_2.set(-go_speed+turn_speed);\\n left_motor_1.set(go_speed+turn_speed);\\n\\n while(xbox_controller.getRawButton(2)){\\n double x = tx.getDouble(0.0);\\n double a = ta.getDouble(0.0);\\n if(a >= 1 && a <= 1.7){\\n servo.set(0.26);\\n if (x > -6 && x < 6){\\n right_motor_2.set(0);\\n left_motor_1.set(0);\\n if_correted=true;\\n break;\\n } \\n else if ( x >= 6 ){\\n right_motor_2.set(0.15);\\n left_motor_1.set(0.15);\\n }\\n else if ( x <= -6 ){\\n right_motor_2.set(-0.15);\\n left_motor_1.set(-0.15);\\n }\\n }\\n else if(a>=0.8 && a<1){\\n servo.set(0.35);\\n if (x > -2.3 && x < 2.3){\\n right_motor_2.set(0);\\n left_motor_1.set(0);\\n if_correted=true;\\n break;\\n } \\n else if ( x >= 2.3 ){\\n right_motor_2.set(0.11);\\n left_motor_1.set(0.11);\\n }\\n else if ( x <= -2.3 ){\\n right_motor_2.set(-0.11);\\n left_motor_1.set(-0.11);\\n }\\n }\\n else if(a>=0.5 && a<0.8){\\n servo.set(0.5);\\n if (x > -1.7 && x < 1.7){\\n right_motor_2.set(0);\\n left_motor_1.set(0);\\n if_correted=true;\\n break;\\n } \\n else if ( x >= 1.7 ){\\n right_motor_2.set(0.08);\\n left_motor_1.set(0.08);\\n }\\n else if ( x <= -1.7 ){\\n right_motor_2.set(-0.08);\\n left_motor_1.set(-0.08);\\n }\\n }\\n else if(a>=0.3 && a<0.5){\\n servo.set(0.32);\\n if (x > -1.2 && x < 1.2){\\n right_motor_2.set(0);\\n left_motor_1.set(0);\\n if_correted=true;\\n break;\\n } \\n else if ( x >= 1.2 ){\\n right_motor_2.set(0.05);\\n left_motor_1.set(0.05);\\n }\\n else if ( x <= -1.2 ){\\n right_motor_2.set(-0.05);\\n left_motor_1.set(-0.05);\\n }\\n }\\n else{}\\n }\\n\\n if(xbox_controller.getRawAxis(2)!=0){\\n ball_collection_motor.set(1);\\n }\\n else{\\n ball_collection_motor.set(0);\\n }\\n\\n while(joystick.getRawButton(5)){\\n double a=ta.getDouble(0.0);\\n if(a>=1&&a<=1.7){\\n servo.set(0.26);\\n }\\n else if(a>=0.8 && a<1){\\n servo.set(0.35);\\n }\\n else if(a>=0.5 && a<0.8){\\n servo.set(0.5);\\n }\\n else if(a>=0.3 && a<0.5){\\n servo.set(0.32);\\n }\\n else{}\\n }\\n\\n while (joystick.getRawButton(6)) {\\n double x = tx.getDouble(0.0);\\n if ( x>-1 && x<1 ){\\n right_motor_2.set(0);\\n left_motor_1.set(0);\\n if_correted=true;\\n break;\\n } \\n else if ( x >= 1 ){\\n right_motor_2.set(0.05);\\n left_motor_1.set(0.05);\\n }\\n else if ( x <= -1 ){\\n right_motor_2.set(-0.05);\\n left_motor_1.set(-0.05);\\n }\\n else{}\\n }\\n\\n if(xbox_controller.getRawButton(3)){\\n System.out.println(currentServoAngle);\\n servo.set(currentServoAngle + factor);\\n currentServoAngle += factor;\\n pushed = true;\\n if(currentServoAngle >= 1 || (currentServoAngle <= 0 && pushed == true)){\\n factor *= -1;\\n } \\n }\\n \\n \\n //ball_collection_motor.set(xbox_controller.getRawAxis(2));//xbox rt\\n if(xbox_controller.getRawAxis(3)!=0){\\n while(xbox_controller.getRawAxis(3)){\\n left_low_eject.set(ControlMode.PercentOutput, 1);\\n right_low_eject.set(ControlMode.PercentOutput,-1);\\n TimeUnit.SECONDS.sleep(0.5);\\n left_belt.set(ControlMode.PercentOutput,-0.5);\\n right_belt.set(ControlMode.PercentOutput,0.5);\\n }\\n }\\n else{\\n left_low_eject.set(ControlMode.PercentOutput,0);\\n right_low_eject.set(ControlMode.PercentOutput,0);\\n left_belt.set(ControlMode.PercentOutput,0);\\n right_belt.set(ControlMode.PercentOutput,0);\\n }\\n if(xbox_controller.getRawButton(1)){\\n double_solenoid_1.set(DoubleSolenoid.Value.kForward);\\n }\\n else if(xbox_controller.getRawButton(4)){\\n double_solenoid_1.set(DoubleSolenoid.Value.kReverse);\\n }\\n if(xbox_controller.getRawButton(5)){\\n right_motor_2.set(-0.1);\\n left_motor_1.set(-0.1);\\n }\\n else if(xbox_controller.getRawButton(6)){\\n right_motor_2.set(0.1);\\n left_motor_1.set(0.1);\\n }\\n if(xbox_controller.getRawButton(8)){\\n /*\\n for(double speed=0;speed<=0.85;speed+=0.000002){\\n left_high_eject.set(speed+0.2*(joystick.getRawAxis(3)-control_speed_init));\\n } \\n */\\n if(high_eject_run==false){\\n high_eject_run=true;\\n eject_speed=0;\\n }\\n\\n }\\n\\n if(xbox_controller.getRawButton(7)){\\n left_high_eject.set(0);\\n high_eject_run=false;\\n eject_speed=0;\\n }\\n if(high_eject_run){\\n if(eject_speed<=0.85){\\n //System.out.println(123);\\n eject_speed+=0.001;\\n //System.out.println(eject_speed);\\n left_high_eject.set(-eject_speed);\\n }\\n }\\n\\n \\n }\",\n \"private void testServo(){\\n\\n if (gamepad1.y) {\\n servoLeft.setDirection(Servo.Direction.REVERSE);\\n servoLeft.setPosition(0.5);\\n servoRight.setDirection(Servo.Direction.REVERSE);\\n servoRight.setPosition(0.5);\\n\\n }\\n if (gamepad1.x) {\\n servoLeft.setDirection(Servo.Direction.FORWARD);\\n servoLeft.setPosition(0.1);\\n servoRight.setDirection(Servo.Direction.FORWARD);\\n servoRight.setPosition(0.1);\\n }\\n //Should theoretically move the servo back and forth\\n\\n }\",\n \"@Override\\n public void loop(){\\n speedBT.ifPress(gamepad1.x);\\n speedMode = speedBT.getMode() ? 0.8 : 0.5;\\n speedBT.update(gamepad1.x);\\n\\n // Gets the speed, strafe, and turn of the robot and accounts for stick drifting\\n double speed = gamepad1.left_stick_y;\\n double strafe = -gamepad1.left_stick_x;\\n double turn = gamepad1.right_stick_x;\\n if (Math.abs(turn) < 0.2) {\\n turn = 0;\\n }\\n if (Math.abs(strafe) < 0.2) {\\n strafe = 0;\\n }\\n if (Math.abs(speed) < 0.2) {\\n speed = 0;\\n }\\n\\n // Drives in the inputted direction.\\n MecanumDrive.Motor.Vector2D vector = new MecanumDrive.Motor.Vector2D(strafe, speed);\\n drive.move(speedMode, vector, turn);\\n\\n // If not driving, check for turning in place or pure strafing\\n if (turn == 0 && strafe == 0 && speed == 0) {\\n if (gamepad1.left_bumper) {\\n drive.strafeLeftWithPower(speedMode);\\n } else if (gamepad1.right_bumper) {\\n drive.strafeRightWithPower(speedMode);\\n } else if (gamepad1.left_trigger > 0.2f) {\\n drive.turnInPlace(gamepad1.left_trigger, false);\\n } else if (gamepad1.right_trigger > 0.2f) {\\n drive.turnInPlace(gamepad1.right_trigger, true);\\n }\\n }\\n\\n // Activate and deactivate pivot flywheels (toggles)\\n flywheelBT.ifRelease(gamepad1.y);\\n flywheelBT.update(gamepad1.y);\\n\\n // Determines if the flywheels spin, spin in reverse, or freeze\\n if (flywheelBT.getMode()) {\\n intake.spin();\\n } else if (gamepad1.b) {\\n intake.spinReverse();\\n } else {\\n intake.stopSpinning();\\n }\\n\\n // Gets the elevator's movement inputs and accounts for stick drifting\\n double elevatorHeight = -gamepad2.left_stick_y;\\n double clawDistance = gamepad2.right_stick_y;\\n if (Math.abs(elevatorHeight) < 0.2) {\\n elevatorHeight = 0;\\n }\\n if (Math.abs(clawDistance) < 0.2) {\\n clawDistance = 0;\\n }\\n\\n // Moves the elevators and controls the claw and tray pullers\\n elevatorOuttake.moveElevators(elevatorHeight, clawDistance);\\n try {\\n if (gamepad2.dpad_up) {\\n elevatorOuttake2.grab();\\n telemetry.addData(\\\"gamepad 2-up Pressed \\\", true);\\n //elevatorOuttake.grabClamp();\\n } else if (gamepad2.dpad_down) {\\n elevatorOuttake2.release();\\n telemetry.addData(\\\"gamepad2-down Pressed\\\", true);\\n Thread.sleep(250);\\n elevatorOuttake2.stop();\\n }\\n }\\n catch (InterruptedException e){\\n throw new RuntimeException(e);\\n }\\n\\n // Raise or lower the tray pullers\\n if(gamepad1.dpad_down){\\n trayPuller.down();\\n }\\n if(gamepad1.dpad_up){\\n trayPuller.up();\\n }\\n\\n // Telemetry data\\n telemetry.addData(\\\"Speed Mode\\\", speedBT.getMode() ? \\\"Fast\\\" : \\\"Slow\\\");\\n telemetry.addData(\\\"Speed\\\", speed);\\n telemetry.addData(\\\"Strafe\\\", strafe);\\n telemetry.addData(\\\"Turn\\\", turn);\\n telemetry.addData(\\\"Elevator Height\\\", elevatorHeight);\\n telemetry.addData(\\\"Claw Distance\\\", clawDistance);\\n telemetry.addData(\\\"Vertical Elevator Encoder\\\", elevatorOuttake.getVerticalEncoder());\\n telemetry.addData(\\\"Horizontal Elevator Encoder\\\", elevatorOuttake.getHorizontalEncoder());\\n }\",\n \"public void loop() {\\n\\n double driveMult = gamepad1.left_bumper ? 0.5 : (gamepad1.right_bumper ? 0.2 : 1.0);\\n\\n double x = gamepad1.left_stick_x;\\n double y = gamepad1.left_stick_y;\\n\\n switch (state) {\\n case DRIVE:\\n left.setPower(driveMult * (y - x));\\n right.setPower(driveMult * (y + x));\\n break;\\n case REVERSE:\\n left.setPower(driveMult * -(y + x));\\n right.setPower(driveMult * -(y - x));\\n break;\\n case TANK:\\n left.setPower(driveMult * gamepad1.left_stick_y);\\n right.setPower(driveMult * gamepad1.right_stick_y);\\n break;\\n }\\n\\n if (gamepad1.dpad_up) {\\n state = State.DRIVE;\\n } else if (gamepad1.dpad_down) {\\n state = State.REVERSE;\\n } else if (gamepad1.dpad_left) {\\n state = State.TANK;\\n }\\n\\n // AUX CONTROLS\\n\\n double auxMult = gamepad2.left_bumper ? 0.5 : (gamepad2.right_bumper ? 0.2 : 1.0);\\n\\n rack.setPower(auxMult * ((gamepad2.dpad_up ? 1 : 0) + (gamepad2.dpad_down ? -1 : 0)));\\n\\n // extend.setPower(auxMult * gamepad2.left_stick_y);\\n slurp.setPower(auxMult * gamepad2.right_stick_y);\\n\\n\\n// if (gamepad2.a) {\\n// rack.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);\\n// rack.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);\\n// }\\n\\n // TELEMETRY\\n\\n telemetry.addData(\\\"Drive Mode: \\\", state);\\n telemetry.addData(\\\"Rack Encoder: \\\", rack.getCurrentPosition());\\n telemetry.addData(\\\"G2 RS Y: \\\", gamepad2.right_stick_y);\\n }\",\n \"public void updateController() {\\n\\t\\tjoystickLXAxis = controller.getRawAxis(portJoystickLXAxis);\\t\\t//returns a value [-1,1]\\n\\t\\tjoystickLYAxis = controller.getRawAxis(portJoystickLYAxis);\\t\\t//returns a value [-1,1]\\n\\t\\tjoystickLPress = controller.getRawButton(portJoystickLPress);\\t//returns a value {0,1}\\n\\t\\t\\n\\t\\t//right joystick update\\n\\t\\tjoystickRXAxis = controller.getRawAxis(portJoystickRXAxis);\\t\\t//returns a value [-1,1]\\n\\t\\tjoystickRYAxis = controller.getRawAxis(portJoystickRYAxis);\\t\\t//returns a value [-1,1]\\n\\t\\tjoystickRPress = controller.getRawButton(portJoystickRPress);\\t//returns a value {0,1}\\n\\t\\t\\n\\t\\t//trigger updates\\n\\t\\ttriggerL = controller.getRawAxis(portTriggerL);\\t\\t//returns a value [0,1]\\n\\t\\ttriggerR = controller.getRawAxis(portTriggerR);\\t\\t//returns a value [0,1]\\n\\t\\t\\n\\t\\t//bumper updates\\n\\t\\tbumperL = controller.getRawButton(portBumperL);\\t\\t//returns a value {0,1}\\n\\t\\tbumperR = controller.getRawButton(portBumperR);\\t\\t//returns a value {0,1}\\n\\t\\t\\n\\t\\t//button updates\\n\\t\\tbuttonX = controller.getRawButton(portButtonX);\\t\\t//returns a value {0,1}\\n\\t\\tbuttonY = controller.getRawButton(portButtonY);\\t\\t//returns a value {0,1}\\n\\t\\tbuttonA = controller.getRawButton(portButtonA);\\t\\t//returns a value {0,1}\\n\\t\\tbuttonB = controller.getRawButton(portButtonB);\\t\\t//returns a value {0,1}\\n\\t\\t\\n\\t\\tbuttonBack = controller.getRawButton(portButtonBack);\\t//returns a value {0,1}\\n\\t\\tbuttonStart = controller.getRawButton(portButtonStart);\\t//returns a value {0,1}\\n\\t\\t\\n\\t\\t//toggle checks\\n\\t\\ttankDriveBool = checkButton(buttonX, tankDriveBool, portButtonX);\\t\\t//toggles boolean if button is pressed\\n\\t\\tfastBool = checkButton(buttonB, fastBool, portButtonB);\\t\\t\\t\\t\\t//toggles boolean if button is pressed\\n\\t\\t\\n\\t\\t\\n\\t\\t//d-pad/POV updates\\n\\t\\tdPad = controller.getPOV(portDPad);\\t\\t//returns a value {-1,0,45,90,135,180,225,270,315}\\n\\n\\t\\t//d-pad/POV turns\\n\\t\\tif (dPad != -1) {\\n\\t\\t\\tdPad = 360 - dPad; //Converts the clockwise dPad rotation into a Gyro-readable counterclockwise rotation.\\n\\t\\t\\trotateTo(dPad);\\n\\t\\t}\\n\\t\\t\\n\\t\\tjoystickDeadZone();\\n\\t}\",\n \"@Override\\n public void loop() {\\n// double left;\\n robot.colorDrop.setPosition(0.45);\\n\\n double Righty, Lefty, sideRight, sideLeft;\\n double phaseUp;\\n double phaseDown;\\n boolean straffeL,straffeR,straffeL2,straffeR2;\\n double turnR,turnL;\\n double Righty2, Lefty2, sideRight2, sideLeft2;\\n double phaseUp2;\\n double phaseDown2;\\n\\n // Run wheels in tank mode (note: The joystick goes negative when pushed forwards, so negate it)\\n Lefty = gamepad1.right_stick_y;\\n Righty = gamepad1.left_stick_y;\\n sideRight= gamepad1.left_stick_x;\\n sideLeft=gamepad1.right_stick_x;\\n phaseUp = gamepad2.right_trigger;\\n phaseDown = gamepad2.left_trigger;\\n straffeL = gamepad1.right_bumper;\\n straffeR = gamepad1.left_bumper;\\n straffeL2 = gamepad2.right_bumper;\\n straffeR2 = gamepad2.left_bumper;\\n //turnL = gamepad1.left_trigger;\\n //turnR= gamepad1.left_trigger;\\n\\n Lefty2 = gamepad1.right_stick_y;\\n Righty2 = gamepad1.left_stick_y;\\n sideRight2= gamepad1.left_stick_x;\\n sideLeft2=gamepad1.right_stick_x;\\n //phaseUp2 = gamepad1.right_trigger;\\n //phaseDown2 = gamepad1.left_trigger;\\n\\n\\n\\n\\n if(sideRight!=0&&sideLeft<0) {\\n robot.leftFrontDrive.setPower(sideLeft);\\n robot.rightFrontDrive.setPower(sideLeft);\\n robot.leftRearDrive.setPower(sideLeft * -1);\\n robot.rightRearDrive.setPower(sideLeft);\\n }\\n else if(sideRight!=0&&sideLeft>0)\\n {\\n robot.leftFrontDrive.setPower(sideLeft);\\n robot.rightFrontDrive.setPower(sideLeft*-1);\\n robot.leftRearDrive.setPower(sideLeft);\\n robot.rightRearDrive.setPower(sideLeft);\\n }\\n else if(sideLeft!=0)\\n {\\n robot.leftFrontDrive.setPower(sideLeft);\\n robot.rightFrontDrive.setPower(sideLeft*-1);\\n robot.leftRearDrive.setPower(sideLeft*-1);\\n robot.rightRearDrive.setPower(sideLeft);\\n\\n }\\n else if(Righty<0&&sideRight<0)\\n {\\n robot.leftFrontDrive.setPower(-.5);\\n robot.rightFrontDrive.setPower(-.9);\\n robot.leftRearDrive.setPower(-.5);\\n robot.rightRearDrive.setPower(-.9);\\n }\\n else if(Righty<0&&sideRight>0) {\\n robot.leftFrontDrive.setPower(-.9);\\n robot.rightFrontDrive.setPower(-.5);\\n robot.leftRearDrive.setPower(-.9);\\n robot.rightRearDrive.setPower(-.5);\\n }\\n else if(Righty==0&&sideRight!=0)\\n {\\n robot.leftFrontDrive.setPower(sideRight*-.7);\\n robot.rightFrontDrive.setPower(sideRight*.7);\\n robot.leftRearDrive.setPower(sideRight*-.7);\\n robot.rightRearDrive.setPower(sideRight*.7);\\n }\\n else if(Righty<0&&sideRight==0)\\n {\\n robot.leftFrontDrive.setPower(Righty);\\n robot.rightFrontDrive.setPower(Righty);\\n robot.leftRearDrive.setPower(Righty);\\n robot.rightRearDrive.setPower(Righty);\\n\\n }\\n else if(Righty>0)\\n {\\n robot.leftFrontDrive.setPower(Righty);\\n robot.rightFrontDrive.setPower(Righty);\\n robot.leftRearDrive.setPower(Righty);\\n robot.rightRearDrive.setPower(Righty);\\n\\n }\\n else if(Lefty!=0&&sideLeft==0)\\n {\\n robot.leftFrontDrive.setPower(Lefty);\\n robot.rightFrontDrive.setPower(Lefty);\\n robot.leftRearDrive.setPower(Lefty);\\n robot.rightRearDrive.setPower(Lefty);\\n }\\n else if(straffeL==true||straffeL2==true)\\n {\\n robot.leftFrontDrive.setPower(.2);\\n robot.rightFrontDrive.setPower(-.2);\\n robot.leftRearDrive.setPower(-.2);\\n robot.rightRearDrive.setPower(.2);\\n }\\n\\n else if(straffeR==true||straffeR2==true)\\n {\\n robot.leftFrontDrive.setPower(-.2);\\n robot.rightFrontDrive.setPower(.2);\\n robot.leftRearDrive.setPower(.2);\\n robot.rightRearDrive.setPower(-.2);\\n }\\n else\\n {\\n robot.leftFrontDrive.setPower(0);\\n robot.rightFrontDrive.setPower(0);\\n robot.leftRearDrive.setPower(0);\\n robot.rightRearDrive.setPower(0);\\n\\n }\\n\\n\\n ///player 1\\n if ((phaseDown >0)) {\\n robot.leftStageOne.setPower(1);\\n robot.rightStageOne.setPower(1);\\n }\\n\\n else if ((phaseUp >0)) {\\n robot.leftStageOne.setPower(-1);\\n robot.rightStageOne.setPower(-1);\\n }\\n\\n else {\\n robot.rightStageOne.setPower(0);\\n robot.leftStageOne.setPower(0);\\n }\\n\\n/*\\n if (gamepad1.y){\\n robot.leftStageTwo.setPosition(1);\\n robot.rightStageTwo.setPosition(0.1);\\n }\\n if(gamepad1.x)\\n {\\n robot.leftStageTwo.setPosition(.4);\\n robot.rightStageTwo.setPosition(.7);\\n }\\n if (gamepad1.a){\\n robot.leftStageTwo.setPosition(0.12);\\n robot.rightStageTwo.setPosition(.98);\\n }\\n */\\n if(gamepad1.a) {\\n robot.align.setPosition(.57);\\n }\\n if(gamepad1.x)\\n {\\n robot.align.setPosition(0.95);\\n }\\n if (gamepad1.b){\\n robot.colorDrop.setPosition(.35);\\n }\\n\\n\\n\\n\\n if (gamepad2.a){\\n // robot.leftStageTwo.setPosition(1);\\n // robot.rightStageTwo.setPosition(0.1);\\n }\\n if(gamepad2.x)\\n {\\n // robot.leftStageTwo.setPosition(.4);\\n // robot.rightStageTwo.setPosition(.7);\\n }\\n if (gamepad2.y){//lift up\\n // robot.leftStageTwo.setPosition(0.12);\\n //robot.rightStageTwo.setPosition(.98);\\n }\\n if (gamepad2.b){\\n robot.colorDrop.setPosition(.35);\\n }\\n\\n\\n\\n\\n\\n\\n /*\\n if (gamepad1.right_bumper == true){\\n // robot.leftBumper.setPosition(robot.leftBumper.getPosition()+.05);\\n sleep(2000);\\n }\\n else if (gamepad1.left_bumper == true){\\n /// robot.leftBumper.setPosition(robot.leftBumper.getPosition()-.05);\\n\\n }\\n else{\\n ///robot.leftBumper.setPosition(robot.leftBumper.getPosition());\\n }\\n */\\n /*\\n\\n */\\n // if (gamepad2.dpad_down){\\n // robot.relicServo.setPosition(robot.relicServo.getPosition()+.025);\\n // }\\n //else if(gamepad2.dpad_up){\\n // robot.relicServo.setPosition(robot.relicServo.getPosition()-.025);\\n // }\\n // else{\\n // robot.relicServo.setPosition(robot.relicServo.getPosition());\\n //}\\n\\n// if (gamepad2.dpad_left){\\n // robot.relicDropperServo.setPosition(robot.relicDropperServo.getPosition()+.025);\\n // }\\n // else if (gamepad2.dpad_right){\\n // robot.relicDropperServo.setPosition(robot.relicDropperServo.getPosition()-.025);\\n // }\\n // else {\\n // robot.relicDropperServo.setPosition(robot.relicDropperServo.getPosition());\\n //}\\n // if (gamepad2.left_trigger>5){\\n // robot.relicMotor.setPower(.5);\\n // }\\n //else if (gamepad2.left_bumper){\\n // robot.relicMotor.setPower(-.5);\\n //}\\n //else{\\n // robot.relicMotor.setPower(0);\\n // }\\n\\n // Send telemetry message to signify robot running;\\n // telemetry.addData(\\\"claw\\\", \\\"Offset = %.2f\\\", clawOffset);\\n // telemetry.addData(\\\"sideright\\\", \\\"%.2f\\\", sideRight);\\n // telemetry.addData(\\\"right\\\", \\\"%.2f\\\", Left);\\n // telemetry.addData(\\\"sideright\\\", \\\"%.2f\\\", sideRight);\\n // telemetry.addData(\\\"left\\\", \\\"%.2f\\\", sideLeft);\\n/*\\n //distance = robot.sensorDistance.getDistance(DistanceUnit.CM);\\n // send the info back to driver station using telemetry function.\\n telemetry.addData(\\\"Distance (cm)\\\",\\n String.format(Locale.US, \\\"%.02f\\\", robot.sensorDistance.getDistance(DistanceUnit.CM)));\\n telemetry.addData(\\\"Alpha\\\", robot.sensorColor.alpha());\\n telemetry.addData(\\\"Red \\\", robot.sensorColor.red());\\n telemetry.addData(\\\"Green\\\", robot.sensorColor.green());\\n telemetry.addData(\\\"Blue \\\", robot.sensorColor.blue());\\n */\\n telemetry.addData(\\\"phaseUp \\\", phaseUp);\\n telemetry.addData(\\\"sideRight \\\", sideRight);\\n // telemetry.addData(\\\"right bumper: \\\", robot.rightBumper.getPosition());\\n // telemetry.addData(\\\"left bumper: \\\", robot.leftBumper.getPosition());\\n telemetry.update();\\n }\",\n \"public AutoBounce(DriveTrain driveTrain) {\\n // Add your commands in the addCommands() call, e.g.\\n // addCommands(new FooCommand(), new BarCommand());\\n addCommands(\\n new BounceP1(driveTrain),\\n new BounceP2(driveTrain),\\n new BounceP3(driveTrain).withTimeout(0.9),\\n new BounceP4(driveTrain),\\n new BounceP5(driveTrain).withTimeout(0.8),\\n new BounceP6(driveTrain).withTimeout(1.25),\\n new BounceP7(driveTrain),\\n new BounceP8(driveTrain).withTimeout(0.95),\\n new BounceP9(driveTrain)\\n );\\n }\",\n \"@Override\\n public void loop() {\\n // Setup a variable for each drive wheel to save power level for telemetry\\n double leftDrivePower;\\n double rightDrivePower;\\n double driveMultiplier;\\n double slowMultiplier;\\n double fastMultiplier;\\n double BASE_DRIVE_SPEED = 0.6;\\n double elevPower;\\n double armPower;\\n boolean lowerLimitPressed;\\n boolean upperLimitPressed;\\n\\n\\n\\n\\n // Tank Mode uses one stick to control each wheel.\\n // - This requires no math, but it is hard to drive forward slowly and keep straight.\\n armPower = -gamepad2.right_stick_x * 0.3;\\n\\n lowerLimitPressed = !lowerLimit.getState();\\n upperLimitPressed = !upperLimit.getState();\\n\\n if((lowerLimitPressed && -gamepad2.left_stick_y < 0) || (upperLimitPressed && -gamepad2.left_stick_y > 0)){\\n elevPower = 0;\\n }\\n else {\\n elevPower = -gamepad2.left_stick_y * 1;\\n }\\n\\n if (gamepad2.left_bumper){\\n hookPosDeg = HOOK_UP;\\n }\\n else if (gamepad2.left_trigger > 0){\\n hookPosDeg = HOOK_DOWN;\\n }\\n\\n if (gamepad2.right_bumper){\\n clawPosDeg = CLAW_OPEN;\\n }\\n else if (gamepad2.right_trigger > 0){\\n clawPosDeg = CLAW_CLOSED;\\n }\\n\\n if (gamepad1.left_trigger > 0){\\n slowMultiplier = 0.10;\\n }\\n else\\n slowMultiplier = 0;\\n\\n if (gamepad1.right_trigger > 0){\\n fastMultiplier = 0.30;\\n }\\n else\\n fastMultiplier = 0;\\n\\n driveMultiplier = BASE_DRIVE_SPEED + slowMultiplier + fastMultiplier;\\n leftDrivePower = -gamepad1.left_stick_y * driveMultiplier;\\n rightDrivePower = -gamepad1.right_stick_y * driveMultiplier;\\n\\n // Send power to actuators\\n leftDrive.setPower(leftDrivePower);\\n rightDrive.setPower(rightDrivePower);\\n elev.setPower(elevPower);\\n// arm.setTargetPosition(armTarget);\\n// arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\n arm.setPower(armPower);\\n hookPos = map(hookPosDeg, HOOK_MIN_POS_DEG, HOOK_MAX_POS_DEG, HOOK_MIN_POS, HOOK_MAX_POS);\\n clawPos = map(clawPosDeg, CLAW_MIN_POS_DEG, CLAW_MAX_POS_DEG, CLAW_MIN_POS, CLAW_MAX_POS);\\n hook.setPosition(hookPos);\\n claw.setPosition(clawPos);\\n\\n // Show the elapsed game time and wheel power.\\n telemetry.addData(\\\"Status\\\", \\\"Run Time: \\\" + runtime.toString());\\n telemetry.addData(\\\"Drive\\\", \\\"left (%.2f), right (%.2f)\\\", leftDrivePower, rightDrivePower);\\n telemetry.addData( \\\"Elev\\\", \\\"power (%.2f)\\\", elevPower);\\n telemetry.addData(\\\"Limit\\\", \\\"lower (%b), upper (%b)\\\", lowerLimitPressed, upperLimitPressed);\\n telemetry.addData(\\\"Arm Enc\\\", arm.getCurrentPosition());\\n\\n }\",\n \"public void liftArm(){armLifty.set(-drivePad.getThrottle());}\",\n \"public void strafe(double speed, boolean angle, double inches, double timeout){\\n int newLeftTarget;\\n int newRightTarget;\\n int newLeftBottomTarget;\\n int newRightBottomTarget;\\n if (opModeIsActive()) {\\n if (angle) {\\n //strafe right\\n // Determine new target position, and pass to motor controller\\n newLeftTarget = robot.leftFrontMotor.getCurrentPosition() + (int)(Math.abs(inches) * COUNTS_PER_INCH);\\n newLeftBottomTarget = robot.leftBackMotor.getCurrentPosition() + (int)(-Math.abs(inches) * COUNTS_PER_INCH);\\n newRightTarget = robot.rightFrontMotor.getCurrentPosition() + (int)(-Math.abs(inches) * COUNTS_PER_INCH);\\n newRightBottomTarget = robot.rightBackMotor.getCurrentPosition() + (int)(Math.abs(inches) * COUNTS_PER_INCH);\\n robot.leftFrontMotor.setTargetPosition(newLeftTarget);\\n robot.leftBackMotor.setTargetPosition(newLeftBottomTarget);\\n robot.rightFrontMotor.setTargetPosition(newRightTarget);\\n robot.rightBackMotor.setTargetPosition(newRightBottomTarget);\\n\\n // Turn On RUN_TO_POSITION\\n robot.leftFrontMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\n robot.leftBackMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\n robot.rightFrontMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\n robot.rightBackMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\n\\n // reset the timeout time and start motion.\\n runtime.reset();\\n robot.leftFrontMotor.setPower(Math.abs(speed));\\n robot.rightFrontMotor.setPower(Math.abs(speed));\\n robot.leftBackMotor.setPower(Math.abs(speed));\\n robot.rightBackMotor.setPower(Math.abs(speed));\\n\\n // keep looping while we are still active, and there is time left, and both motors are running.\\n // Note: We use (isBusy() && isBusy()) in the loop test, which means that when EITHER motor hits\\n // its target position, the motion will stop. This is \\\"safer\\\" in the event that the robot will\\n // always end the motion as soon as possible.\\n // However, if you require that BOTH motors have finished their moves before the robot continues\\n // onto the next step, use (isBusy() || isBusy()) in the loop test.\\n\\n while (opModeIsActive() &&\\n (runtime.seconds() < timeout) &&\\n (robot.leftFrontMotor.isBusy() && robot.rightFrontMotor.isBusy())) {\\n\\n // Display it for the driver.\\n telemetry.addData(\\\"Path1\\\", \\\"Running to %7d :%7d\\\", newLeftTarget, newRightTarget);\\n telemetry.addData(\\\"Path2\\\", \\\"Running at %7d :%7d\\\",\\n robot.leftFrontMotor.getCurrentPosition(),\\n robot.rightFrontMotor.getCurrentPosition(), robot.leftBackMotor.getCurrentPosition(), robot.rightBackMotor.getCurrentPosition());\\n telemetry.update();\\n }\\n // Stop all motion;\\n robot.rightFrontMotor.setPower(0);\\n robot.rightBackMotor.setPower(0);\\n robot.leftFrontMotor.setPower(0);\\n robot.leftBackMotor.setPower(0);\\n\\n // Turn off RUN_TO_POSITION\\n robot.rightFrontMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\n robot.rightBackMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\n robot.leftFrontMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\n robot.leftBackMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\n\\n } else if (!angle) {\\n //strafe left\\n // Determine new target position, and pass to motor controller\\n newLeftTarget = robot.leftFrontMotor.getCurrentPosition() + (int)(-Math.abs(inches) * COUNTS_PER_INCH);\\n newLeftBottomTarget = robot.leftBackMotor.getCurrentPosition() + (int)(Math.abs(inches) * COUNTS_PER_INCH);\\n newRightTarget = robot.rightFrontMotor.getCurrentPosition() + (int)(Math.abs(inches) * COUNTS_PER_INCH);\\n newRightBottomTarget = robot.rightBackMotor.getCurrentPosition() + (int)(-Math.abs(inches) * COUNTS_PER_INCH);\\n robot.leftFrontMotor.setTargetPosition(newLeftTarget);\\n robot.leftBackMotor.setTargetPosition(newLeftBottomTarget);\\n robot.rightFrontMotor.setTargetPosition(newRightTarget);\\n robot.rightBackMotor.setTargetPosition(newRightBottomTarget);\\n\\n // Turn On RUN_TO_POSITION\\n robot.leftFrontMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\n robot.leftBackMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\n robot.rightFrontMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\n robot.rightBackMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\n\\n // reset the timeout time and start motion.\\n runtime.reset();\\n robot.leftFrontMotor.setPower(Math.abs(speed));\\n robot.rightFrontMotor.setPower(Math.abs(speed));\\n robot.leftBackMotor.setPower(Math.abs(speed));\\n robot.rightBackMotor.setPower(Math.abs(speed));\\n\\n // keep looping while we are still active, and there is time left, and both motors are running.\\n // Note: We use (isBusy() && isBusy()) in the loop test, which means that when EITHER motor hits\\n // its target position, the motion will stop. This is \\\"safer\\\" in the event that the robot will\\n // always end the motion as soon as possible.\\n // However, if you require that BOTH motors have finished their moves before the robot continues\\n // onto the next step, use (isBusy() || isBusy()) in the loop test.\\n\\n while (opModeIsActive() &&\\n (runtime.seconds() < timeout) &&\\n (robot.leftFrontMotor.isBusy() && robot.rightFrontMotor.isBusy())) {\\n\\n // Display it for the driver.\\n telemetry.addData(\\\"Path1\\\", \\\"Running to %7d :%7d\\\", newLeftTarget, newRightTarget);\\n telemetry.addData(\\\"Path2\\\", \\\"Running at %7d :%7d\\\",\\n robot.leftFrontMotor.getCurrentPosition(),\\n robot.rightFrontMotor.getCurrentPosition(), robot.leftBackMotor.getCurrentPosition(), robot.rightBackMotor.getCurrentPosition());\\n telemetry.update();\\n }\\n // Stop all motion;\\n robot.rightFrontMotor.setPower(0);\\n robot.rightBackMotor.setPower(0);\\n robot.leftFrontMotor.setPower(0);\\n robot.leftBackMotor.setPower(0);\\n\\n // Turn off RUN_TO_POSITION\\n robot.rightFrontMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\n robot.rightBackMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\n robot.leftFrontMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\n robot.leftBackMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\n }\\n }\\n }\",\n \"public void move(Joystick joystick)\\n {\\n double joystickY = joystick.getRawAxis(OIConstants.ELEVATOR_JOYSTICK_Y);\\n\\n if (Math.abs(joystickY) > OIConstants.ELEVATOR_JOYSTICK_DEADZONE)\\n {\\n Robot.elevator.setTarget((int)(Robot.elevator.getTarget() + joystickY * Constants.ELEVATOR_SPEED_NORMAL));\\n }\\n else\\n {\\n Robot.elevator.setTarget(Robot.elevator.getTarget());\\n }\\n\\n // if the limit switch for level 1 is hit then rumble the controller\\n if (!Robot.elevator.isLevel1LimitClosed())\\n {\\n Robot.oi.mechJoystick.setRumble(RumbleType.kLeftRumble, 0.5);\\n Robot.oi.mechJoystick.setRumble(RumbleType.kRightRumble, 0.5);\\n }\\n else\\n {\\n Robot.oi.mechJoystick.setRumble(RumbleType.kLeftRumble, 0);\\n Robot.oi.mechJoystick.setRumble(RumbleType.kRightRumble, 0);\\n }\\n }\",\n \"public void testPeriodic() { \\n joystick1X = leftStick.getAxis(Joystick.AxisType.kX);\\n joystick1Y = leftStick.getAxis(Joystick.AxisType.kY);\\n joystick2X = rightStick.getAxis(Joystick.AxisType.kX);\\n joystick2Y = rightStick.getAxis(Joystick.AxisType.kY);\\n \\n mapped1Y = joystick1Y/2 + 0.5;\\n mapped1X = joystick1X/2 + 0.5;\\n mapped2X = joystick2X/2 + 0.5;\\n mapped2Y = joystick2Y/2 + 0.5;\\n \\n X1testServo.set(mapped1X);\\n Y1testServo.set(mapped1Y);\\n X2testServo.set(mapped2X);\\n Y2testServo.set(mapped2Y);\\n \\n \\n //System.out.println(\\\"X Servo Value = \\\" + XtestServo.get());\\n //System.out.println(\\\"Left Joystick X Value = \\\" + leftStick.getX());\\n //System.out.println(\\\"Y Servo Value = \\\" + YtestServo.get());\\n //System.out.println(\\\"Left Joystick Y Value = \\\" + leftStick.getY());\\n \\n \\n }\",\n \"public void up() {\\n double speed = RobotContainer.m_BlackBox.getPotValueScaled(Constants.OIConstants.kControlBoxPotY, 0.0, 1.0);\\n m_hook.set(speed);\\n SmartDashboard.putNumber(\\\"forward speed\\\", speed);\\n }\",\n \"public void autonomous() {\\n robot.drive(0.5); //Drives in a square\\n Timer.delay(0.5);\\n robot.tankDrive(0.5, -0.5);\\n Timer.delay(0.25);\\n robot.drive(0.5);\\n Timer.delay(0.5);\\n robot.tankDrive(0.5, -0.5);\\n Timer.delay(0.25);\\n robot.drive(0.5);\\n Timer.delay(0.5);\\n robot.tankDrive(0.5, -0.5);\\n Timer.delay(0.25);\\n robot.drive(0.5);\\n Timer.delay(0.5);\\n robot.tankDrive(0.5, -0.5);\\n Timer.delay(0.25);\\n }\",\n \"@Override\\r\\n public void loop() {\\r\\n double G1rightStickY = Math.pow(gamepad1.right_stick_y, 3);\\r\\n double G1leftStickY = Math.pow(gamepad1.left_stick_y, 3);\\r\\n boolean G1rightBumper = gamepad1.right_bumper; //strafe right\\r\\n boolean G1leftBumper = gamepad1.left_bumper; //strafe left\\r\\n //Methods methods = new Methods();\\r\\n double G2rightStickY=-gamepad2.right_stick_y;\\r\\n double G2leftStickY=-gamepad2.left_stick_y;\\r\\n boolean G2rightBumper=gamepad2.right_bumper;\\r\\n boolean G2leftBumper=gamepad2.left_bumper;\\r\\n\\r\\n\\r\\n\\r\\n\\r\\n\\r\\n\\r\\n //Right Strafe\\r\\n if (G1leftBumper)\\r\\n {\\r\\n robot.leftFrontMotor.setPower(-1);\\r\\n robot.rightFrontMotor.setPower(-1);\\r\\n robot.leftBackMotor.setPower(1);\\r\\n robot.rightBackMotor.setPower(1);\\r\\n }\\r\\n //Left Strafe\\r\\n else if (G1rightBumper)\\r\\n {\\r\\n robot.leftFrontMotor.setPower(1);\\r\\n robot.rightFrontMotor.setPower(1);\\r\\n robot.leftBackMotor.setPower(-1);\\r\\n robot.rightBackMotor.setPower(-1);\\r\\n }\\r\\n\\r\\n //Forward and Backward\\r\\n else\\r\\n {\\r\\n robot.leftFrontMotor.setPower(-G1leftStickY);\\r\\n robot.leftBackMotor.setPower(-G1leftStickY);\\r\\n robot.rightFrontMotor.setPower(G1rightStickY);\\r\\n robot.rightBackMotor.setPower(G1rightStickY);\\r\\n }\\r\\n\\r\\n if(gamepad2.a){\\r\\n robot.lift.setPower(1);\\r\\n\\r\\n } else if(gamepad2.y){\\r\\n robot.lift.setPower(-1);\\r\\n\\r\\n }else {\\r\\n robot.lift.setPower(0);\\r\\n }\\r\\n\\r\\n\\r\\n if (gamepad2.left_bumper){\\r\\n robot.claw.setPosition(1);\\r\\n\\r\\n\\r\\n }\\r\\n\\r\\n if (gamepad2.right_bumper){\\r\\n robot.claw.setPosition(0);\\r\\n\\r\\n }\\r\\n\\r\\n\\r\\n\\r\\n\\r\\n\\r\\n // Use gamepad buttons to move the arm up (Y) and down (A)\\r\\n //if (gamepad2.y)\\r\\n // robot.lift.setPower(robot.ARM_UP_POWER);\\r\\n //else if (gamepad2.a)\\r\\n // robot.lift.setPower(robot.ARM_DOWN_POWER);\\r\\n //else\\r\\n // robot.lift.setPower(0.0);\\r\\n\\r\\n // Send telemetry message to signify robot running;\\r\\n //telemetry.addData(\\\"claw\\\", \\\"Offset = %.2f\\\", clawOffset);\\r\\n //telemetry.addData(\\\"left\\\", \\\"%.2f\\\", left);\\r\\n //telemetry.addData(\\\"right\\\", \\\"%.2f\\\", right);\\r\\n }\",\n \"@Override\\n public void robotPeriodic() {\\n /*count++;\\n\\n if (count < 0) {\\n count = 0;\\n }\\n\\n int scriptIdx = count / SCRIPT_LENGTH;\\n\\n String[] script = LED_SCRIPTS[scriptIdx % (LED_SCRIPTS.length)];\\n\\n LedScript.setString(script[0]);\\n \\n if (script.length > 1) {\\n LedScriptArgument.setString(script[1]);\\n }*/\\n\\n // Hatch 0 has to be inverted because it is normally closed\\n //SmartDashboard.putBoolean(\\\"HatchSwitch0\\\", !HatchSwitch0.get());\\n //SmartDashboard.putBoolean(\\\"HatchSwitch1\\\", HatchSwitch1.get());\\n\\n //for (int i = 0; i < limits.length; i++) {\\n // SmartDashboard.putBoolean(\\\"Switch\\\" + (i + 2), limits[i].get());\\n //}\\n\\n\\n final int MAX_TEMP = 100;\\n if (MainLeft.getMotorTemperature() >= MAX_TEMP || AltLeft.getMotorTemperature() >= MAX_TEMP) {\\n xbox.setRumble(RumbleType.kLeftRumble, 0.5);\\n } else {\\n xbox.setRumble(RumbleType.kLeftRumble, 0);\\n }\\n \\n if (MainRight.getMotorTemperature() >= MAX_TEMP || AltRight.getMotorTemperature() >= MAX_TEMP) {\\n xbox.setRumble(RumbleType.kRightRumble, 0.5);\\n } else {\\n xbox.setRumble(RumbleType.kRightRumble, 0);\\n }\\n\\n //SmartDashboard.putNumber(\\\"DaTa\\\", NetworkTableInstance.getDefault().getTable(\\\"VisionTable\\\").getEntry(\\\"THIS IS A RANDOM NUMBER\\\").getNumber(-1).doubleValue());\\n //SmartDashboard.putNumber(\\\"LiftSetpoint\\\", LiftSetpoint);\\n //SmartDashboard.putNumber(\\\"LiftEncoderPos\\\", Lifter.getSelectedSensorPosition());\\n //SmartDashboard.putNumber(\\\"LiftVoltageOut\\\", Lifter.getMotorOutputVoltage());\\n //SmartDashboard.putNumber(\\\"LiftCurrentOut\\\", Lifter.getOutputCurrent());\\n //SmartDashboard.putString(\\\"ControlMode\\\", Lifter.getControlMode().toString());\\n //SmartDashboard.putNumber(\\\"ClosedLoopError\\\", Lifter.getClosedLoopError());\\n //SmartDashboard.putNumber(\\\"LiftRampOutput\\\", liftRamp.getOutput());\\n\\n /*Diagnostics.writeDouble(\\\"DrivePosLeft\\\", MainLeft.getEncoder().getPosition());\\n Diagnostics.writeDouble(\\\"DrivePosRight\\\", MainRight.getEncoder().getPosition());\\n Diagnostics.writeDouble(\\\"DrivePosLeftAlt\\\", AltLeft.getEncoder().getPosition());\\n Diagnostics.writeDouble(\\\"DrivePosRightAlt\\\", AltRight.getEncoder().getPosition());\\n Diagnostics.writeDouble(\\\"LiftVoltageOut\\\", Lifter.getMotorOutputVoltage());\\n Diagnostics.writeDouble(\\\"LiftCurrentOut\\\", Lifter.getOutputCurrent());\\n Diagnostics.writeInteger(\\\"LiftEncoderPos\\\", Lifter.getSelectedSensorPosition());\\n Diagnostics.writeInteger(\\\"LiftSetpoint\\\", LiftSetpoint);\\n Diagnostics.writeInteger(\\\"LiftRampOutput\\\", liftRamp.getOutput());\\n \\n Diagnostics.timestamp();*/\\n }\",\n \"@Override\\n public void loop() {\\n telemetry.addData(\\\"Status\\\", \\\"Running\\\"); //inform the driver\\n\\n //Calculate the power to set to each motor\\n\\n //left side you subtract right_stick_x\\n double FrontLeftVal = (gamepad1.left_stick_y - gamepad1.left_stick_x - gamepad1.right_stick_x) * Power; //front subtract left_stick_x\\n double BackLeftVal = (gamepad1.left_stick_y + gamepad1.left_stick_x - gamepad1.right_stick_x) * Power; //back subtract left_stick_x\\n\\n //right side you add right_stick_x\\n double FrontRightVal = (gamepad1.left_stick_y + gamepad1.left_stick_x + gamepad1.right_stick_x) * Power; //front add left_stick_x\\n double BackRightVal = (gamepad1.left_stick_y - gamepad1.left_stick_x + gamepad1.right_stick_x) * Power; //back subtract left_stick_x\\n\\n FLM.setPower(FrontLeftVal); //set the power to the motor\\n FRM.setPower(FrontRightVal);\\n BLM.setPower(BackLeftVal);\\n BRM.setPower(BackRightVal);\\n\\n if (gamepad1.y) {\\n if (!YPressed1) {\\n YPressed1 = true;\\n if (DragArm.getPosition() < DragArmDownPosition) {\\n DragArm.setPosition(DragArmDownPosition);\\n } else {\\n DragArm.setPosition(DragArmRestPosition);\\n }\\n }\\n } else if (YPressed1) YPressed1 = false;\\n\\n if (gamepad2.a) {\\n SetLiftPosition(Position1Inches);\\n } else if (gamepad2.b) {\\n SetLiftPosition(Position2Inches);\\n } else if (gamepad2.y) {\\n SetLiftPosition(Position3Inches);\\n } else if (gamepad2.left_bumper) {\\n if (UpLift.getCurrentPosition() >= Position1Inches * UpInchesToTicks) {\\n SetLiftPosition(UpLift.getCurrentPosition() - 756);\\n } else {\\n SetLiftPosition(Position0Inches);\\n }\\n } else {\\n UpLift.setPower(0);\\n }\\n\\n if (gamepad2.left_trigger == 1) {\\n if (!LeftTrigger2) {\\n LeftTrigger2= true;\\n if (LiftGrab.getPosition() != LiftGrabGrabPosition)\\n LiftGrab.setPosition(LiftGrabGrabPosition);\\n else LiftGrab.setPosition(LiftGrabRestPosition);\\n }\\n } else if (LeftTrigger2) LeftTrigger2= false;\\n\\n if (gamepad2.right_trigger == 1) {\\n if (!RightTrigger2) {\\n RightTrigger2 = true;\\n if (UpLift.getCurrentPosition() > Position2Inches) {\\n if (LiftSwivel.getPosition() != LiftSwivelRestPosition)\\n LiftSwivel.setPosition(LiftSwivelRestPosition);\\n else LiftSwivel.setPosition(LiftSwivelOutPosition);\\n }\\n }\\n } else if (RightTrigger2) RightTrigger2 = false;\\n\\n if (gamepad1.b) {\\n if (!BPressed1) {\\n BPressed1 = true;\\n if (BigSuck.getPower() == BigSuckPower) {\\n SmallSuck.setPower(0);\\n BigSuck.setPower(0);\\n\\n DragArm.setPosition(DragArmRestPosition);\\n } else {\\n BigSuck.setPower(BigSuckPower);\\n SmallSuck.setPower(SmallSuckPower);\\n DragArm.setPosition(DragArmUpPosition);\\n }\\n }\\n } else if (BPressed1) BPressed1 = false;\\n\\n if (gamepad1.x) {\\n if (!XPressed1) {\\n XPressed1 = true;\\n if (BigSuck.getPower() == -BigSuckPower) {\\n BigSuck.setPower(0);\\n SmallSuck.setPower(0);\\n } else {\\n BigSuck.setPower(-BigSuckPower);\\n SmallSuck.setPower(-SmallSuckPower);\\n }\\n }\\n } else if (XPressed1) XPressed1 = false;\\n\\n if (gamepad1.a) {\\n if (!A1) {\\n A1 = true;\\n if (Push.getPosition() == PushRestPosition) {\\n Push.setPosition(PushPushPosition);\\n } else {\\n Push.setPosition(PushRestPosition);\\n }\\n }\\n } else if (A1) A1 = false;\\n\\n telemetry.addData(\\\"Up Position\\\", UpLift.getCurrentPosition());\\n telemetry.update(); //update the telemetry\\n }\",\n \"@Override\\n public void loop() {\\n // Controller 1\\n double leftStick;\\n double rightStick;\\n double leftTrigger;\\n double rightTrigger;\\n boolean g1xSlowSwitch = false;\\n\\n // Controller 2\\n double leftStick2;\\n\\n // CONTROLLER 1: Assign variables to stick and trigger\\n\\n // leftstick, rightstick, lefttrigger, righttrigger without numbers is for controller one\\n if(!g1xSlowSwitch) {\\n leftStick = gamepad1.left_stick_y * .25;\\n rightStick = gamepad1.right_stick_y * .25;\\n leftTrigger = gamepad1.left_trigger * .25;\\n rightTrigger = gamepad1.right_trigger * .25;\\n } else {\\n leftStick = gamepad1.left_stick_y * .15;\\n rightStick = gamepad1.right_stick_y * .15;\\n leftTrigger = gamepad1.left_trigger * .15;\\n rightTrigger = gamepad1.right_trigger * .15;\\n }\\n\\n // SLOW-DOWN TOGGLE with 'x'\\n if(gamepad1.x) {\\n g1xSlowSwitch = !g1xSlowSwitch;\\n }\\n\\n // CONTROLLER 2: Assign variables to stick, triggers, and button\\n leftStick2 = gamepad2.left_stick_y;\\n\\n // display statements\\n telemetry.addData(\\\"LEFT STICK VALUE: \\\",leftStick);\\n telemetry.addData(\\\"RIGHT STICK VALUE: \\\",rightStick);\\n telemetry.addData(\\\"LEFT TRIGGER POWER: \\\",leftTrigger);\\n telemetry.addData(\\\"RIGHT TRIGGER POWER: \\\",rightTrigger);\\n\\n telemetry.addData(\\\"LEFT STICK 2 VALUE: \\\",leftStick2);\\n telemetry.addData(\\\"GRIPPER BUTTON STATUS: \\\", gamepad2.a);\\n\\n // If the triggers are being pushed\\n if(leftTrigger > 0 || rightTrigger > 0) {\\n if (leftTrigger > 0) {\\n robot.frontLeft.setPower(leftTrigger);\\n robot.backLeft.setPower(-leftTrigger);\\n robot.frontRight.setPower(-leftTrigger);\\n robot.backRight.setPower(leftTrigger);\\n } else if (rightTrigger > 0) {\\n robot.frontLeft.setPower(-rightTrigger);\\n robot.backLeft.setPower(rightTrigger);\\n robot.frontRight.setPower(rightTrigger);\\n robot.backRight.setPower(-rightTrigger);\\n }\\n } else {\\n // movement with sticks\\n robot.frontLeft.setPower(leftStick);\\n robot.backLeft.setPower(leftStick);\\n robot.backRight.setPower(rightStick);\\n robot.frontRight.setPower(rightStick);\\n }\\n\\n //Controller 2 Code:\\n //If left stick is being moved\\n if (leftStick2 != 0 ){\\n robot.lift.setPower(leftStick2*.25);\\n // If left stick is not being moved\\n } else if(leftStick2 == 0) {\\n robot.lift.setPower(0);\\n\\n // Claw toggle logic\\n // BUTTON A\\n if (gamepad2.a == true) {\\n robot.clawLeft.setPosition(1);\\n robot.clawRight.setPosition(1);\\n } else if (gamepad2.b == true) {\\n robot.clawLeft.setPosition(0);\\n robot.clawRight.setPosition(0);\\n } else if (gamepad2.a == false && gamepad2.b == false) {\\n robot.clawLeft.setPosition(0.5);\\n robot.clawRight.setPosition(0.5);\\n }\\n }\\n }\",\n \"@Override\\n public void loop() { //Starts this loop after you press the START Button\\n /**\\n * Functional control of up down lift with no limit switches Meet 0 ready\\n */\\n double liftposition = robot.liftUpDown.getCurrentPosition();\\n double liftrotposition = robot.liftRotate.getCurrentPosition();\\n telemetry.addData(\\\"Lift Position\\\",\\\"%5.2f\\\",liftposition);\\n telemetry.addData(\\\"LiftRot Position\\\", \\\"%5.2f\\\", liftrotposition);\\n // telemetry.addData(\\\"Block Stack\\\", BlockStack);\\n telemetry.update();\\n\\n/**Main drive controls\\n * Driver 1\\n */\\n\\n/**\\n * Drag servos\\n */\\n if (gamepad1.a){ //release\\n robot.drag1.setPosition(0);\\n robot.drag2.setPosition(1);\\n } else if (gamepad1.b){//grab\\n robot.drag1.setPosition(1);\\n robot.drag2.setPosition(0);\\n }\\n\\n/**Mast and Lift controls\\n *\\n *\\n * Driver Two\\n *\\n *\\n*/\\n\\n/**\\n * Need controls to\\n * Maybe predetermined locations based on number of pushes of a button.\\n */\\n\\n /**\\n * Functional arm rotation with limit switches and encoder limits. Meet 2 ready\\n */\\n\\n //Twists lift up after verifying that rotate up limit switch is not engaged and that step count is less than 5400\\n if ( gamepad2.dpad_up && robot.rotateup.getState() == true){\\n robot.liftRotate.setPower(1.0);\\n }\\n else if (gamepad2.dpad_down && robot.rotatedown.getState() == true){ //Twists lift down\\n robot.liftRotate.setPower(-1.0);\\n }\\n //required or lift rotate motor continues to run in last direction (breaks the motor shaft)\\n else robot.liftRotate.setPower(0);\\n\\n /**\\n * claw controls a= open b= close\\n * FUNCTIONAL Meet 2 ready\\n */\\n if (gamepad2.a){\\n robot.claw1.setPosition(0);\\n robot.claw2.setPosition(1);\\n } else if (gamepad2.b){\\n robot.claw1.setPosition(1);\\n robot.claw2.setPosition(0);\\n }\\n\\n /**\\n * Lift controls with limit switches and encoder position Meet 2 ready\\n * right_trigger = lift\\n * left_trigger = down\\n */\\n\\n if ( gamepad2.right_trigger>= 0.2 && robot.liftup.getState()) {\\n triggerpress=true;\\n robot.liftUpDown.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\n robot.liftUpDown.setPower(.9);\\n robot.liftRotate.setPower(.15);\\n }\\n if (gamepad2.left_trigger>=0.2){\\n triggerpress=true;\\n robot.liftUpDown.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\n robot.liftUpDown.setPower(-0.9);\\n robot.liftRotate.setPower(-0.15);\\n }\\n if (gamepad2.left_trigger<.2 && gamepad2.right_trigger<.2 && triggerpress ){\\n robot.liftUpDown.setPower(0);\\n robot.liftRotate.setPower(0);\\n triggerpress=false;\\n }\\n\\n int x;\\n int y;\\n double motorDelayTime;\\n //Necessary Debounce to keep bumper from being seen as multiple touches\\n/* motorDelayTime=.1;\\n if (robot.liftUpDown.getCurrentPosition()<50){\\n BlockStack =0;\\n }\\n //skips servos unless runtime is greater than 20 ms.\\n if( runtime.time() > motorDelayTime ) {\\n //Need to move 5.5 inches on position 2, subsequent blocks will only need to move up 4 inches.\\n x = robot.liftUpDown.getCurrentPosition();\\n y= robot.liftRotate.getCurrentPosition();\\n if (gamepad2.right_bumper ) {\\n\\n BlockStack= BlockStack + 1;\\n robot.liftUpDown.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\n robot.liftUpDown.setTargetPosition(x + robot.floorheight);\\n robot.liftUpDown.setPower(.9);\\n robot.liftRotate.setTargetPosition(y + robot.floorheightrotate);\\n robot.liftRotate.setPower(.1);\\n bumperpress=true;\\n\\n //don't want to drive the cable too far loose checks that we can move a full block down\\n } else if (gamepad2.left_bumper && x >= robot.floorheight ) {\\n BlockStack= BlockStack - 1;\\n robot.liftUpDown.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\n robot.liftUpDown.setTargetPosition(x - robot.floorheight);\\n robot.liftUpDown.setPower(-.5);\\n}\\n\\n runtime.reset();\\n robot.liftUpDown.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\n }*/\\n\\n /**\\n * Limit switch tests that reset the encoders Meet 1 ready\\n * * liftdown also allows the X button to work\\n * * rotatedown also allows the Y button to work\\n */\\n\\n if (robot.rotatedown.getState() == false) {\\n robot.liftRotate.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);\\n robot.liftRotate.setMode(DcMotor.RunMode.RUN_USING_ENCODER);\\n }\\n }\",\n \"public void operatorControl() {\\n \\tdouble ctrlThresh = .2; \\n \\tdouble minPower = .05; \\n \\tdouble maxPower = .75; \\n \\tdouble recip = (1 - ctrlThresh); \\n \\tdouble mult = (maxPower - minPower); \\n \\tdouble right; \\n \\tdouble strafe; \\n \\tdouble rotate; \\n \\tdouble rightAxis; \\n \\tdouble strafeAxis; \\n \\tdouble rotateAxis; \\n \\t// \\tboolean leftLeft; \\n \\t// \\tboolean leftRight; \\n \\tdouble rightDir; \\n \\tdouble strafeDir; \\n \\tdouble rotateDir; \\n \\tdouble rightPower; \\n \\tdouble rotatePower; \\n \\tdouble strafePower; \\n \\t\\n \\tint winchCount;\\n \\tboolean winchDirection;\\n \\n \\t// \\tdouble frontLeftPower; \\n \\t// \\tdouble frontRightPower; \\n \\t// \\tdouble backLeftPower; \\n \\t// \\tdouble backRightPower; \\n \\n \\t//myRobot.setSafetyEnabled(true); \\n \\t\\n \\tAccelerometer test = new BuiltInAccelerometer();\\n \\t\\n \\twhile (isOperatorControl() && isEnabled()) { \\n \\t\\t// ACCEL TEST CODE\\n// \\t\\tSystem.out.println(test.getX() + \\\", \\\" + test.getY() + \\\", \\\" + test.getZ());\\n \\t\\t// END ACCEL TEST CODE\\n \\n \\t\\t// ********** BEGIN DRIVING CODE ********** \\n \\t\\t// Code for driving using omniwheels and two wheels for strafing \\n \\t\\t// Diagram for the wheels of the robot below. \\n \\n \\t\\t// L S R \\n \\t\\t// /--------------------------\\\\ \\n \\t\\t//\\t ||------------------------|| \\n \\t\\t// || [][] || \\n \\t\\t// || [] [] || \\n \\t\\t// || [] [] || \\n \\t\\t// || || \\n \\t\\t// || || \\n \\t\\t// || || \\n \\t\\t// || || \\n \\t\\t// || || \\n \\t\\t// || [] [] || \\n \\t\\t// || [] [] || \\n \\t\\t// || [][] || \\n \\t\\t// ||------------------------|| \\n \\t\\t// \\\\--------------------------/ \\n \\t\\t// \\n \\t\\t// ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ \\n \\n \\t\\tctrlThresh = .2; // the point at which we want to sense joystick action \\n \\t\\trecip = 1-ctrlThresh; \\t\\t // = 0.8 \\n \\n \\t\\trightAxis = rightStick.getRawAxis(1);\\t\\t\\t\\t// right joystick, y (up/down) axis\\n \\t\\t\\n \\t\\t//System.out.println(\\\"\\\"+rightAxis);\\n \\t\\tstrafeAxis = rightStick.getRawAxis(0);\\t\\t\\t\\t// right joystick, x (left/right) axis; this is \\n \\t\\t\\t\\t\\t\\t\\t\\t\\t\\t\\t\\t\\t\\t\\t/// arbitrary and could have been the left stick\\n \\t\\trotateAxis = rightStick.getRawAxis(4);\\t\\t\\t\\t\\t// left joystick, y axis\\n \\n \\t\\trightDir = rightAxis/Math.abs(rightAxis);\\t\\t\\t// forward or backward (+1 or -1)\\n \\t\\tstrafeDir = strafeAxis/Math.abs(strafeAxis); \\t// \\t\\t\\t'' \\n \\t\\trotateDir = rotateAxis/Math.abs(rotateAxis); // \\t\\t\\t'' \\n \\n \\t\\tright = 0; // right input formatted for range of detected values [0.2,1] \\n \\t\\trotate = 0; // left input formatted \\n \\t\\tstrafe = 0; // strafe input formatted \\n \\n \\t\\tif(Math.abs(rightAxis) > ctrlThresh) \\t// user moved stick beyond threshold \\n \\t\\t{right = (rightAxis-ctrlThresh*rightDir)/recip;} // format right: scale back, set direction, proportion it \\n \\t\\tif(Math.abs(strafeAxis) > ctrlThresh) \\n \\t\\t{strafe = (strafeAxis-ctrlThresh*strafeDir)/recip;} // format left... \\n \\t\\tif(Math.abs(rotateAxis) > ctrlThresh) \\n \\t\\t{rotate = (rotateAxis-ctrlThresh*rotateDir)/recip;}\\t\\t// format strafe... \\n \\n \\n \\t\\trightDir = right/Math.abs(right); \\n \\t\\trightPower = (Math.abs(right*mult) + minPower) * rightDir; \\t\\t// re-proportion for power's range, strip direction,\\n\\t\\t\\t\\t\\t\\t\\t\\t\\t\\t\\t\\t\\t\\t\\t\\t\\t\\t\\t/// and then add back threshold and direction. \\n \\t\\trotateDir = rotate/Math.abs(rotate); \\n \\t\\trotatePower = (Math.abs(rotate*mult) + minPower) * rotateDir;\\t\\t\\t// \\t\\t'' \\n \\n \\t\\tstrafeDir = strafe/Math.abs(strafe); \\n \\t\\tstrafePower = (Math.abs(strafe*mult) + minPower) * strafeDir;\\t// \\t\\t'' \\n \\n \\t\\tif(Math.abs(rightPower)>0.2){\\n \\t\\t\\tfrontRight.set(rightPower);\\t\\t\\t\\t\\t\\t// set all the motors with the powers we \\n \\t\\t\\tbackRight.set(rightPower);\\t\\t\\t\\t\\t\\t/// calculated above : drive! \\n \\t\\t\\tfrontLeft.set(-1*rightPower); \\n \\t\\t\\tbackLeft.set(-1*rightPower);\\n \\t\\t}\\n \\t\\telse{\\n \\t\\t\\tfrontRight.set(rotatePower);\\n \\t\\t\\tbackRight.set(rotatePower);\\n \\t\\t\\tfrontLeft.set(rotatePower);\\n \\t\\t\\tbackLeft.set(rotatePower);\\n \\t\\t}\\n \\t\\t\\n// \\t\\tfrontStrafe.set(strafePower); \\n// \\t\\tbackStrafe.set(-1*strafePower); \\n \\n// \\t\\tmyRobot.tankDrive(leftStick, rightStick); \\n \\t\\t \\n \\t\\t// ********** END OF DRIVING CODE ********** \\n \\t\\t//======================================================================= \\n \\t\\t// ************ BEGIN WINCH CODE *********** \\n \\t\\t// We need to code the winch to help raise and lower the elevator \\n \\t\\t// This is just one option between the winch and the lead screw. \\n \\t\\t \\n \\t\\t\\n \\t\\t//second winch test\\n \\t\\t/*\\n \\t\\twinchCount = winchEncoder.get();\\t\\t\\t\\t// get the pulse count from the encoder\\n \\t \\tSystem.out.println(\\\"Count: \\\"+ winchCount);\\t\\t// print the pulse count \\n \\t \\tif(winchCount<240){\\n \\t \\t\\t\\n \\t \\t\\twinchCim1.set(.1);\\n \\t \\t\\twinchCim2.set(.1);\\n \\t \\t}\\n \\t \\telse{\\n \\t \\t\\twinchCim1.set(0);\\n \\t \\t\\twinchCim2.set(0);\\n \\t \\t\\t\\n \\t \\t}\\n \\t if(rightStick.getRawButton(5)) \\n { \\n\\t\\t\\t winchEncoder.reset();// reset the pulse count\\n\\t\\t\\t winchCount = 0;\\n\\t\\t\\t winchCim1.set(0);\\n\\t\\t\\t winchCim2.set(0);\\n\\t\\t\\t \\n } */ //end of second winch test \\n \\t \\t\\n \\t\\t\\n \\t\\t if(rightStick.getRawButton(5)) \\n { \\n \\t\\t\\t //winchEncoder.reset();// reset the pulse count\\n \\tSystem.out.println(\\\"A\\\");\\n \\t winchCim1.set(.5); \\t// set winchCim1 to 0.5 power (upwards) \\n \\t winchCim2.set(.5); \\t\\t\\t\\t\\t\\t\\t// set winchCim2 to 0.5 power\\n \\t\\t\\t \\n } \\n \\t\\telse if(rightStick.getRawButton(4))\\n \\t\\t{\\n \\t\\t\\tSystem.out.println(\\\"B\\\");\\n \\t\\t\\t//winchEncoder.reset();\\t\\t\\t\\t\\t\\t\\t// reset the pulse count\\n \\t \\twinchCim1.set(-.3); // set winchCim1 to -0.5 power (downwards) \\n \\t \\twinchCim2.set(-.3);\\t \\t\\t\\t\\t\\t\\t\\t// set winchCim2 to -0.5 power\\n \\t\\t}\\n \\n \\t \\telse// if(rightStick.getRawButton(2)) \\n { \\n \\t winchCim1.set(0); \\t\\t\\t\\t\\t\\t\\t// set winchCim1 to 0 power (off/stop) \\n \\t winchCim2.set(0);\\t\\t\\t\\t\\t\\t\\t\\t// set winchCim2 to 0 pwoer (off/stop)\\n// \\t winchCount = winchEncoder.get();\\t\\t\\t\\t// get the pulse count from the encoder\\n// \\t System.out.println(\\\"Count: \\\"+ winchCount);\\t\\t// print the pulse count \\n } \\n \\n \\t\\t// ********** END OF WINCH CODE ********** \\n \\t\\t//======================================================================= \\n \\t\\t \\n \\t\\t \\n \\t\\tTimer.delay(0.005);\\t\\t// wait for a motor update time \\n } \\n }\",\n \"@Override\\n public void loop() {\\n\\n if (gamepad1.a && pow >= .01){\\n pow -= .01;\\n }\\n\\n if (gamepad1.b && pow <= .99){\\n pow += .01;\\n }\\n robot.shooter.setPower(pow);\\n\\n telemetry.addData(\\\"Current Shooter Speed: \\\", pow);\\n telemetry.update();\\n\\n //The following code should be for a normal drivetrain.\\n\\n robot.drive360(gamepad1.left_stick_x, -gamepad1.left_stick_y, gamepad1.right_stick_x);\\n\\n if (gamepad1.dpad_down && pow2 >= .01){\\n pow2 -= .01;\\n }\\n\\n if (gamepad1.dpad_up && pow2 <= .99){\\n pow2 += .01;\\n }\\n\\n //End normal drivetrain, the rest of this code is for varying the intake speed.\\n\\n if (gamepad1.right_bumper){\\n robot.intake.setPower(pow2);\\n }\\n else if (gamepad1.left_bumper) {\\n robot.intake.setPower(pow2 * -1);\\n }\\n else {\\n robot.intake.setPower(0);\\n }\\n\\n telemetry.addData(\\\"Current Intake Speed: \\\", pow2);\\n telemetry.update();\\n\\n }\",\n \"public void uncBackwardBoost(final int x, final int y, final int maxX, final int maxY) {\\n new Thread(new Runnable() {\\n @Override\\n public void run() {\\n int count = 0;\\n int centerX = maxX / 2;\\n int centerY = maxY / 2;\\n int finalX = 0, finalY = 0;\\n int time = 3;\\n if (ACTUAL_DIFICULTY == EASY)\\n time = 3;\\n if (ACTUAL_DIFICULTY == MEDIUM)\\n time = 4;\\n if (ACTUAL_DIFICULTY == HARD)\\n time = 6;\\n\\n if (x >= centerX && y < centerY) {//Quadrant 1. x btw 155 and 310. y btw 0 and 155\\n //Go to 3\\n finalX = 0;\\n finalY = maxY;\\n } else if (x < centerX && y < centerY) { //Quadrant 2.\\n //Go to 4\\n finalX = maxX;\\n finalY = maxY;\\n } else if (x < centerX && y >= centerY) { //Quadrant 3.\\n //Go to 1\\n finalX = maxX;\\n finalY = 0;\\n } else if (x >= centerX && y >= centerY) { //Quadrant 4.\\n //Go to 2\\n finalX = 0;\\n finalY = 0;\\n }\\n while (count < time) {\\n\\n drive_control.stopDriving();\\n drive_control.setSpeedScale(MAX_SCALED_SPEED);\\n drive_control.startDriving(getContext(), DriveControl.JOY_STICK);\\n drive_control.driveJoyStick(finalX, finalY);\\n try {\\n Thread.sleep(100);\\n } catch (InterruptedException e) {\\n }\\n count++;\\n }\\n restoreValues();\\n }\\n }).start();\\n }\",\n \"@Override\\n public void loop() {\\n double left;\\n double right;\\n\\n // // Run wheels in tank mode (note: The joystick goes negative when pushed forwards, so negate it)\\n left = -gamepad1.left_stick_y;\\n right = -gamepad1.right_stick_y;\\n \\n // double Target = 0;\\n // robot.rightBack.setTargetPosition((int)Target);\\n // robot.rightBack.setMode(DcMotor.RunMode.RUN_TO_POSITION);\\n\\n rightFront.setPower(left);\\n rightBack.setPower(right);\\n // robot.rightDrive.setPower(right);\\n\\n // // Use gamepad left & right Bumpers to open and close the claw\\n // if (gamepad1.right_bumper)\\n // clawOffset += CLAW_SPEED;\\n // else if (gamepad1.left_bumper)\\n // clawOffset -= CLAW_SPEED;\\n\\n // // Move both servos to new position. Assume servos are mirror image of each other.\\n // clawOffset = Range.clip(clawOffset, -0.5, 0.5);\\n // robot.leftClaw.setPosition(robot.MID_SERVO + clawOffset);\\n // robot.rightClaw.setPosition(robot.MID_SERVO - clawOffset);\\n\\n // Use gamepad buttons to move the arm up (Y) and down (A)\\n // if (gamepad1.y)\\n // armPosition += ARM_SPEED;\\n \\n // if (gamepad1.a)\\n // armPosition -= ARM_SPEED;\\n \\n // armPosition = Range.clip(armPosition, robot.ARM_MIN_RANGE, robot.ARM_MAX_RANGE); \\n \\n\\n // // Send telemetry message to signify robot running;\\n // telemetry.addData(\\\"arm\\\", \\\"%.2f\\\", armPosition);\\n // telemetry.addData(\\\"left\\\", \\\"%.2f\\\", left);\\n // telemetry.addData(\\\"right\\\", \\\"%.2f\\\", right);\\n }\",\n \"@Override\\n public void execute() {\\n //How does one pass the joystick value here? There has to be a better way.\\n driveTrainSubsystem.drive(1.0);\\n\\n\\n //control pneumatics\\n DoubleSolenoid doubleSolenoid = new DoubleSolenoid(1, 2);\\n\\n for(int i =0; i < 30000; i++) {\\n doubleSolenoid.set(Value.kForward);\\n System.out.println(\\\"Solenoid forward\\\");\\n }\\n\\n for(int i =0; i < 30000; i++) {\\n doubleSolenoid.set(Value.kReverse);\\n System.out.println(\\\"Solenoid backward\\\");\\n }\\n\\n\\n System.out.println(\\\"Solenoid off\\\");\\n doubleSolenoid.set(Value.kReverse);\\n\\n }\",\n \"private void configVelocityControl() {\\n //config remote sensors\\n //sets the sensor to be a quad encoder, sets our feedback device to be that sensor\\n m_masterMotor.configSelectedFeedbackSensor(TalonSRXFeedbackDevice.CTRE_MagEncoder_Relative, RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n\\n //zero the encoders on every init\\n zeroEncoder();\\n\\n //sets whether our motor is inverted\\n //this is currently false but can be switched based on testing\\n m_masterMotor.setInverted(RobotMap.LAUNCHER_MASTER_INVERTED);\\n m_masterMotor.setSensorPhase(RobotMap.LAUNCHER_MASTER_INVERTED);\\n\\n //this sets how often we pull data from our sensor\\n m_masterMotor.setStatusFramePeriod(StatusFrame.Status_2_Feedback0, RobotMap.LAUNCHER_FEEDBACK_PERIOD_MS, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n\\n //this configs the deadband for the PID output. Any output with an absolute value less than this will be treated as zero\\n m_masterMotor.configNeutralDeadband(0, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n\\n //this sets the peak output for our motor controller.\\n m_masterMotor.configPeakOutputForward(RobotMap.LAUNCHER_PID_PEAK_OUTPUT, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n //this does the same thing but for the reverse direction\\n m_masterMotor.configPeakOutputReverse(0, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n \\n //sets the period of the velocity sample\\n //effectively this defines the amount of time used to calculate the velocity\\n m_masterMotor.configVelocityMeasurementPeriod(RobotMap.VELOCITY_MEASUREMENT_PERIOD, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n\\n //Sets the number of samples used in the rolling average for calculating velocity\\n m_masterMotor.configVelocityMeasurementWindow(RobotMap.LAUNCHER_VELOCITY_MEASUREMENT_WINDOW, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n \\n //set p, i, d, f values\\n //the zero is the PID slot, in this case it is zero for the primary PID\\n //the launcher has no auxillary or turning PID control\\n m_masterMotor.config_kP(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_P);\\n m_masterMotor.config_kI(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_I);\\n m_masterMotor.config_kD(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_D);\\n m_masterMotor.config_kF(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_F);\\n\\n //this sets the acceptable amount of Integral error, where if the absolute accumulated error exceeds this ammount, it resets to zero\\n //this is designed to prevent the PID from going crazy if we move too far from our target\\n m_masterMotor.config_IntegralZone(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_I_ZONE, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n\\n //sets the max output of the motor specifically within closed loop control\\n m_masterMotor.configClosedLoopPeakOutput(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_PID_PEAK_OUTPUT, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n\\n //this configures an allowable error in closed loop control\\n //any error less than this is treated as zero.\\n m_masterMotor.configAllowableClosedloopError(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_ACCEPTABLE_ERROR, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n\\n //configures the period for closed loop calculations in MS \\n //should be increased if the can bus is haveing issues\\n m_masterMotor.configClosedLoopPeriod(RobotMap.PID_PRIMARY_SLOT, RobotMap.LAUNCHER_CLOSED_LOOP_PERIOD_MS, RobotMap.LAUNCHER_CONFIG_TIMEOUT_MS);\\n\\n //configures ramp speed\\n m_masterMotor.configOpenloopRamp(RobotMap.LAUNCHER_OPEN_LOOP_RAMP_TIME_S);\\n m_masterMotor.configClosedloopRamp(0);\\n\\n //sets our closed loop control to use our primary PID slot\\n m_masterMotor.selectProfileSlot(RobotMap.PID_PRIMARY_SLOT, 0);\\n }\",\n \"private static synchronized void runLiftStageFromJoystick(ArmLiftMotorInfo mtrInfo) { //double stage1JoystickReading, double stage2JoystickReading) {\\r\\n\\t\\t\\tdouble percentOut;\\r\\n\\t\\t\\tsynchronized(armStage1.motorLock) {\\r\\n//\\t\\t\\t\\tsynchronized(armStage2.motorLock) {\\t\\t\\t\\t\\t\\r\\n\\t\\t\\t\\t\\t//joysticks give negative readings when pushed away from you, but we want that action to run\\r\\n\\t\\t\\t\\t\\t//the motors in their forward direction (postive Percent Output values)\\r\\n\\t\\t\\t\\t\\tdouble jsRdg = mtrInfo.jsNamedControl.getEnt().getAnalog();\\r\\n\\t\\t\\t\\t\\tmtrInfo.lastJoystickReading = jsRdg;\\r\\n\\t\\t\\t\\t\\t//squaring makes joysticks easier to use\\r\\n\\t\\t\\t\\t\\tpercentOut = -Math.copySign(jsRdg*jsRdg, jsRdg);\\r\\n\\t\\t\\t\\t\\tif(mtrInfo.operatingMode.equals(OperatingModesE.IDLE)) {mtrInfo.operatingMode = OperatingModesE.JOYSTICK;}\\r\\n\\t\\t\\t\\t\\t\\r\\n\\t\\t\\t\\t\\t//check limit switches, encoders, 'useEncoder' flag, etc. and allow/forbid motion accordingly\\r\\n\\t\\t\\t\\t\\tmtrInfo.handleJoystickPercentOut(percentOut);\\r\\n\\t\\t\\t\\t\\t\\r\\n//\\t\\t\\t\\t}\\r\\n\\t\\t\\t}\\r\\n\\t\\t}\",\n \"@Override\\n public void teleopPeriodic() {\\n\\t\\t/* xbox processing */\\n\\t\\tdouble leftYstick = xbox.getY(Hand.kLeft);\\n\\t\\tboolean buttonA = xbox.getAButton();\\n boolean buttonB = xbox.getBButton();\\n boolean buttonX = xbox.getXButton();\\n boolean buttonY = xbox.getYButton();\\n\\n\\t\\t/* Get Talon/Victor's current output percentage */\\n\\t\\tdouble motorOutput = elevator.getMotorOutputPercent();\\n\\n\\t\\t/* Deadband gamepad */\\n\\t\\tif (Math.abs(leftYstick) < 0.10) {\\n\\t\\t\\t/* Within 10% of zero */\\n\\t\\t\\tleftYstick = 0;\\n }\\n\\n\\t\\t/* Prepare line to print */\\n\\t\\t_sb.append(\\\"\\\\tout:\\\"); _sb.append((int) (motorOutput * 100)); _sb.append(\\\"%\\\"); // Percent\\n\\t\\t_sb.append(\\\"\\\\tpos:\\\"); _sb.append(elevator.getSelectedSensorPosition(0)); _sb.append(\\\"u\\\"); // Native units\\n\\n\\t\\t/**\\n\\t\\t * When button 1 is pressed, perform Position Closed Loop to selected position,\\n\\t\\t * indicated by Joystick position x10, [-10, 10] rotations\\n\\t\\t */\\n\\t\\t//if (!_lastButton1 && buttonA) {\\n if (buttonB) {\\n\\t\\t\\t/* Position Closed Loop */\\n\\t\\t\\t/* 10 Rotations * 4096 u/rev in either direction */\\n\\t\\t\\ttargetPositionRotations = 5000; // 2* 4096; //leftYstick * 10.0 * 4096;\\n\\t\\t\\televator.set(ControlMode.Position, targetPositionRotations);\\n\\t\\t}\\n if (buttonX) {\\n\\t\\t\\t/* Position Closed Loop */\\n\\t\\t\\t/* 10 Rotations * 4096 u/rev in either direction */\\n\\t\\t\\ttargetPositionRotations = 3000; //2* 4096; //leftYstick * 10.0 * 4096;\\n\\t\\t\\televator.set(ControlMode.Position, -targetPositionRotations);\\n\\t\\t}\\n\\n\\t\\t/* When button 2 is held, just straight drive */\\n\\t\\tif (buttonA) {\\n /* Percent Output */\\n\\t\\t elevator.set(ControlMode.PercentOutput, leftYstick);\\n }\\n \\n if (buttonY) {\\n elevator.setSelectedSensorPosition(0); // reset to zero\\n elevator.getSensorCollection().setQuadraturePosition(0, 10);\\n elevator.set(ControlMode.PercentOutput, 0);\\n }\\n// else{\\n //}\\n\\n\\t\\t/* If Talon is in position closed-loop, print some more info */\\n\\t\\tif (elevator.getControlMode() == ControlMode.Position) {\\n /* Append more signals to print when in speed mode. */\\n\\t\\t\\t_sb.append(\\\"\\\\terr:\\\"); _sb.append(elevator.getClosedLoopError(0)); _sb.append(\\\"u\\\");\\t// Native Units\\n\\t\\t\\t_sb.append(\\\"\\\\ttrg:\\\"); _sb.append(targetPositionRotations); _sb.append(\\\"u\\\");\\t// Native Units\\n\\t\\t}\\n\\n\\t\\t/**\\n\\t\\t * Print every ten loops, printing too much too fast is generally bad\\n\\t\\t * for performance.\\n\\t\\t */\\n\\t\\tif (++_loops >= 10) {\\n\\t\\t\\t_loops = 0;\\n\\t\\t\\tSystem.out.println(_sb.toString());\\n\\t\\t}\\n\\n\\t\\t/* Reset built string for next loop */\\n\\t\\t_sb.setLength(0);\\n\\t\\t\\n\\t\\t/* Save button state for on press detect */\\n\\t\\t//_lastButton1 = buttonA;\\n }\",\n \"public void teleopPeriodic() {\\n joystick1X = leftStick.getAxis(Joystick.AxisType.kX);\\n joystick1Y = leftStick.getAxis(Joystick.AxisType.kY);\\n joystick2X = rightStick.getAxis(Joystick.AxisType.kX);\\n joystick2Y = rightStick.getAxis(Joystick.AxisType.kY);\\n \\n mapped1Y = joystick1Y/2 + 0.5;\\n mapped1X = joystick1X/2 + 0.5;\\n mapped2X = joystick2X/2 + 0.5;\\n mapped2Y = joystick2Y/2 + 0.5;\\n \\n X1testServo.set(mapped1X);\\n Y1testServo.set(mapped1Y);\\n X2testServo.set(mapped2X);\\n Y2testServo.set(mapped2Y);\\n }\",\n \"public void snakeUp(){\\r\\n\\t\\tspeedUp();\\r\\n\\t\\tpoints += 100;\\r\\n\\t}\",\n \"public static void main(String[] args) throws InterruptedException {\\n // Create a gamepad\\n JInputJoystick gamepad = new JInputJoystick(Controller.Type.STICK, Controller.Type.GAMEPAD);\\n\\n // Check if a gamepad was found.\\n if (!gamepad.isControllerConnected()){\\n Logger.info(\\\"No gamepad controller found!\\\");\\n System.exit(1);\\n }\\n\\n // Instantiate hardware\\n// Servo.Trim trim = new Servo.Trim(1.5f, 1.5f, 1.3f, 1.7f); // For slow parallax 360 rotation servos\\n Servo.Trim trim = new Servo.Trim(1.5f, 1.5f, 1.28f, 1.72f);\\n try (Servo leftWheelServo = new Servo(leftWheelPin, trim.getMaxPulseWidthMs(), 50, trim);\\n Servo rightWheelServo = new Servo(rightWheelPin, trim.getMinPulseWidthMs(), 50, trim)) {\\n leftWheelServo.setInverted(true);\\n\\n // Set up communication with servo feedback encoders\\n DigisparkFeedbackEncoder digisparkFeedbackEncoder = new DigisparkFeedbackEncoder();\\n ParallaxHallEffectFeedbackSensor leftWheelFeedbackSensor = \\n new ParallaxHallEffectFeedbackSensor(digisparkFeedbackEncoder, ParallaxHallEffectFeedbackSensor.WheelSide.LEFT);\\n ParallaxHallEffectFeedbackSensor rightWheelFeedbackSensor = \\n new ParallaxHallEffectFeedbackSensor(digisparkFeedbackEncoder, ParallaxHallEffectFeedbackSensor.WheelSide.RIGHT);\\n\\n // Set up the operator interface so we can get joystick feedback\\n OperatorInterface operatorInterface = new OperatorInterface(gamepad);\\n\\n // Start the command scheduler\\n SchedulerTask schedulerTask = new SchedulerTask(Scheduler.getInstance());\\n schedulerTask.start();\\n Logger.info(\\\"Robot command scheduler started.\\\");\\n\\n // Instantiate subsystems\\n DriveTrain driveTrain = new DriveTrain(\\n trim, \\n leftWheelServo, \\n rightWheelServo, \\n digisparkFeedbackEncoder,\\n leftWheelFeedbackSensor, \\n rightWheelFeedbackSensor, \\n operatorInterface);\\n\\n while (true) {\\n Thread.sleep(100);\\n }\\n }\\n }\",\n \"@Override\\n\\tpublic void testPeriodic(){\\n\\t\\t//Testing xbox buttons, joysticks and triggers\\n\\t\\tOI.refreshAll();\\n//\\t\\t//System.out.println(\\\"Left Y = \\\" + xbox.LeftStick.Y);\\n//\\t\\t//System.out.println(\\\"Right Y = \\\" + xbox.RightStick.Y);\\n//\\t\\t\\n//\\t\\t\\n//\\t\\tfinal double cpr = 360.0;\\n//\\t\\tfinal double encoder_angular_distance_per_pulse = 2.0*Math.PI / cpr;\\n//\\t\\tfinal double wheel_radius = 2.5; // .564 in (18T 5mm pitch)\\n//\\t\\tfinal double encLinearDistancePerPulse = wheel_radius * encoder_angular_distance_per_pulse; //2.0 * Math.PI / cpr;\\n//\\t\\t\\n//\\t\\tSystem.out.println(enc.getRaw()*encLinearDistancePerPulse);\\n//\\t\\t\\n\\t\\t\\n\\t\\t//System.out.println(gyro.getAngle(MPU6050.Axis.X));\\n\\n\\t //PNEUMATICS\\n\\t //c.setClosedLoopControl(true);\\n\\t //c.setClosedLoopControl(false);\\n\\t}\",\n \"@Override\\n public void loop() {\\n rightArm.setTargetPosition((int)(.125* TICKS_PER_WHEEL_ROTATION*8));\\n leftArm.setTargetPosition((int)(.125* TICKS_PER_WHEEL_ROTATION*8));\\nrightArm.setPower(.6);\\nleftArm.setPower(.6);\\nif(runtime.seconds()>4&& stage==-1){\\n stage++;\\n}\\n// telemetry.addData(\\\"IsAligned\\\" , detector.getAligned()); // Is the bot aligned with the gold mineral?\\n// telemetry.addData(\\\"X Pos\\\" , detector.getXPosition()); // Gold X position.\\n\\n //Point screenpos = detector.getScreenPosition();\\n if(stage==0) {\\n Rect bestRect = detector.getFoundRect();\\n\\n double xPos = bestRect.x + (bestRect.width / 2);\\n\\n if (xPos < alignXMax && xPos > alignXMin) {\\n aligned = true;\\n } else {\\n aligned = false;\\n }\\n telemetry.addData(\\\"aligned \\\", aligned);\\n\\n telemetry.addData(\\\"xpos \\\", xPos);\\n telemetry.addData(\\\"amax \\\", alignXMax);\\n telemetry.addData(\\\"amin \\\", alignXMin);\\n if(!(xPos>0)){\\n rightWheel.setPower(0);\\n leftWheel.setPower(0);\\n telemetry.addLine(\\\"not detected\\\");\\n }\\n else if (xPos > alignXMax) {\\n double power = ((xPos - alignXMax) / scale) * .3 + .4;\\n rightWheel.setPower(power);\\n leftWheel.setPower(-power);\\n telemetry.addData(\\\"powL: \\\", power);\\n telemetry.addLine(\\\"turning left\\\");\\n runtime.reset();\\n } else if (xPos < alignXMin) {\\n double power = ((alignXMin - xPos) / scale) * .3 + .4;\\n rightWheel.setPower(-power);\\n leftWheel.setPower(power);\\n telemetry.addData(\\\"powR: \\\", power);\\n telemetry.addLine(\\\"turning right\\\");\\n runtime.reset();\\n } else {\\n rightWheel.setPower(0);\\n leftWheel.setPower(0);\\n telemetry.addLine(\\\"found\\\");\\n telemetry.addData(\\\"secks: \\\", runtime.seconds());\\n if(runtime.seconds()>.1){\\n runtime.reset();\\n stage++;\\n resetDriveEncoders();\\n }\\n }\\n\\n\\n }\\n else if (stage==1){\\n rightWheel.setTargetPosition(-3*TICKS_PER_WHEEL_ROTATION);\\n leftWheel.setTargetPosition(-3*TICKS_PER_WHEEL_ROTATION);\\n leftWheel.setPower(.5);\\n rightWheel.setPower(.5);\\n if(runtime.seconds()>5){\\n rightWheel.setPower(0);\\n leftWheel.setPower(0);\\n }\\n\\n }\\n\\n\\n telemetry.addData(\\\"stage: \\\", stage);\\n telemetry.update();\\n }\",\n \"private void setZeroPowerBrakes() {\\n //Initialize Mecanum Wheel DC Motor Behavior\\n robot2.DriveRightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);\\n robot2.DriveRightRear.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);\\n robot2.DriveLeftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);\\n robot2.DriveLeftRear.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);\\n }\",\n \"@Override\\n\\tpublic void testPeriodic() {\\n\\t\\tif (testJoystick.getRawButton(3)) {\\n\\t\\t\\tsparkMotor1.set(1.0);\\n\\t\\t\\tsparkMotor0.set(1.0);\\n\\t\\t\\ttestTalon.set(1.0);\\n\\t\\t\\t\\n\\t\\t\\ttalonMotor10.set(ControlMode.PercentOutput, 1.0);\\n\\t\\t\\ttalonMotor11.set(ControlMode.PercentOutput, 1.0);\\n\\t\\t\\ttalonMotor12.set(ControlMode.PercentOutput, 1.0);\\n\\t\\t\\ttalonMotor13.set(ControlMode.PercentOutput, 1.0);\\n\\t\\t\\ttalonMotor14.set(ControlMode.PercentOutput, 1.0);\\n\\t\\t\\ttalonMotor15.set(ControlMode.PercentOutput, 1.0);\\n\\t\\t}\\n\\t\\telse if (testJoystick.getRawButton(2)) {\\n\\t\\t\\tsparkMotor0.set(-1.0);\\n\\t\\t\\tsparkMotor1.set(-1.0);\\n\\t\\t\\ttestTalon.set(-1.0);\\n\\t\\t\\t\\n\\t\\t\\ttalonMotor10.set(ControlMode.PercentOutput, -1.0);\\n\\t\\t\\ttalonMotor11.set(ControlMode.PercentOutput, -1.0);\\n\\t\\t\\ttalonMotor12.set(ControlMode.PercentOutput, -1.0);\\n\\t\\t\\ttalonMotor13.set(ControlMode.PercentOutput, -1.0);\\n\\t\\t\\ttalonMotor14.set(ControlMode.PercentOutput, -1.0);\\n\\t\\t\\ttalonMotor15.set(ControlMode.PercentOutput, -1.0);\\n\\t\\t}\\n\\t\\telse {\\n//\\t\\t\\tsparkMotor0.set(0);\\n\\t\\t\\tsparkMotor1.set(0);\\n\\t\\t\\ttestTalon.set(0);\\n\\t\\t\\t\\n\\t\\t\\ttalonMotor10.set(ControlMode.PercentOutput, 0);\\n\\t\\t\\ttalonMotor11.set(ControlMode.PercentOutput, 0);\\n\\t\\t\\ttalonMotor12.set(ControlMode.PercentOutput, 0);\\n\\t\\t\\ttalonMotor13.set(ControlMode.PercentOutput, 0);\\n\\t\\t\\ttalonMotor14.set(ControlMode.PercentOutput, 0);\\n\\t\\t\\ttalonMotor15.set(ControlMode.PercentOutput, 0);\\n\\t\\t\\t\\n\\t\\t\\ttestSel.set(Value.kForward);\\n\\t\\t}\\n\\t\\t\\n\\t\\tif (testJoystick.getRawButton(7)) {\\n\\t\\t\\ttestSel.set(Value.kForward);\\n\\t\\t\\tSystem.out.println(compressor.getCompressorCurrent());\\n\\t\\t}\\n\\t}\",\n \"public void moveBot(double drive, double rotate, double strafe, double scaleFactor)\\n {\\n double wheelSpeeds[] = new double[4];\\n\\n wheelSpeeds[0] = drive - rotate - strafe; // Right Read\\n wheelSpeeds[1] = drive - rotate + strafe; // Right Front\\n wheelSpeeds[2] = drive + rotate + strafe; // Left Rear\\n wheelSpeeds[3] = drive + rotate - strafe; // Left Front\\n // Find the magnitude of the first element in the array\\n double maxMagnitude = Math.abs(wheelSpeeds[0]);\\n // If any of the other wheel speeds are bigger, save that value in maxMagnitude\\n for (int i = 1; i < wheelSpeeds.length; i++)\\n {\\n double magnitude = Math.abs(wheelSpeeds[i]);\\n if (magnitude > maxMagnitude)\\n {\\n maxMagnitude = magnitude;\\n }\\n }\\n // Normalize all of the magnitudes to below 1\\n if (maxMagnitude > 1.0)\\n {\\n for (int i = 0; i < wheelSpeeds.length; i++)\\n {\\n wheelSpeeds[i] /= maxMagnitude;\\n }\\n }\\n\\n // Compare last wheel speeds to commanded wheel speeds and ramp as necessary\\n for (int i = 0; i < lastwheelSpeeds.length; i++){\\n // If the commanded speed value is more than SPEED_INCREMENT away from the last known wheel speed\\n if (Math.abs(wheelSpeeds[i] - lastwheelSpeeds[i]) > SPEED_INCREMENT){\\n // Set the current wheel speed to the last wheel speed plus speed increment in the signed directin of the difference\\n wheelSpeeds[i] = lastwheelSpeeds[i] + Math.copySign(SPEED_INCREMENT,wheelSpeeds[i] - lastwheelSpeeds[i]);\\n }\\n }\\n\\n // Send the normalized values to the wheels, further scaled by the user\\n rightRearDrive.setPower(wheelSpeeds[0] * scaleFactor);\\n rightFrontDrive.setPower(wheelSpeeds[1] * scaleFactor);\\n leftRearDrive.setPower(wheelSpeeds[2] * scaleFactor);\\n leftFrontDrive.setPower(wheelSpeeds[3] * scaleFactor);\\n\\n // Save the last wheel speeds to assist in ramping\\n for (int i = 0; i < lastwheelSpeeds.length; i++){\\n lastwheelSpeeds[i] = wheelSpeeds[i];\\n }\\n }\",\n \"public void driveJoystick(double x, double y) {\\n\\t\\ty = -y;\\n\\t\\t\\n\\t\\tdouble leftPower;\\n\\t\\tdouble rightPower;\\n\\t\\t\\n\\t\\t// Calculate Power (Drive Train)\\n\\t\\tleftPower = Range.clip(y + x, -1.0, 1.0) ;\\n\\t\\trightPower = Range.clip(y - x, -1.0, 1.0) ;\\n\\t\\t\\n\\t\\tdrive(leftPower, rightPower);\\n\\t\\t\\n\\t\\t/* \\n\\t\\t// Calculate Power (Drive Train)\\n\\t\\tdouble drive = -gamepad1.left_stick_y;\\n\\t\\tdouble turn = gamepad1.right_stick_x;\\n\\t\\tleftPower\\t = Range.clip(drive + turn, -1.0, 1.0) ;\\n\\t\\trightPower = Range.clip(drive - turn, -1.0, 1.0) ;\\n\\t\\t*/\\n\\t}\",\n \"@Override\\r\\n public void loop() {\\r\\n\\r\\n // throttle: left_stick_y ranges from -1 to 1, where -1 is full up, and\\r\\n // 1 is full down\\r\\n // direction: left_stick_x ranges from -1 to 1, where -1 is full left\\r\\n // and 1 is full right\\r\\n\\r\\n double y1 = -gamepad1.left_stick_y;\\r\\n double x1 = gamepad1.left_stick_x;\\r\\n double y2 = -gamepad1.right_stick_y;\\r\\n double x2 = gamepad1.right_stick_x; //This one is for turning\\r\\n\\r\\n double treadStickValueR = 0;\\r\\n double treadStickValueL = 0;\\r\\n\\r\\n boolean leftBumper = gamepad2.left_bumper;\\r\\n boolean rightBumper = gamepad2.right_bumper;\\r\\n\\r\\n boolean aButton = gamepad1.a;\\r\\n boolean bButton = gamepad1.b;\\r\\n\\r\\n /**\\r\\n if (gamepad2.right_bumper) rightBumper = true;\\r\\n else {\\r\\n rightBumper = false;\\r\\n }\\r\\n\\r\\n if (gamepad2.left_bumper) leftBumper = true;\\r\\n else {\\r\\n leftBumper = false;\\r\\n }\\r\\n */\\r\\n\\r\\n double armStickValue = -gamepad2.right_stick_y; //input for raising/lowering arm\\r\\n\\r\\n if (gamepad2.left_trigger != 0) {\\r\\n treadStickValueR = -gamepad2.left_trigger; //input for changing tread speed\\r\\n treadStickValueL = -gamepad2.left_trigger; //input for changing tread speed\\r\\n } else {\\r\\n treadStickValueR = gamepad2.right_trigger; //input for changing tread speed\\r\\n treadStickValueL = gamepad2.right_trigger; //input for changing tread speed\\r\\n }\\r\\n\\r\\n /**\\r\\n boolean dpadUP = gamepad1.dpad_up;\\r\\n boolean dpadDOWN = gamepad1.dpad_down;\\r\\n boolean dpadLEFT = gamepad1.dpad_left;\\r\\n boolean dpadRIGHT = gamepad1.dpad_right;\\r\\n */\\r\\n\\r\\n //On a scale of 1, -1, if it's less than 0.05, then it may be 0 in reality. 12.75 in 255 land\\r\\n if (Math.abs(x1) <= 0.1 * MAX)\\r\\n x1 = 0;\\r\\n if (Math.abs(y1) <= 0.1 * MAX)\\r\\n y1 = 0;\\r\\n if (Math.abs(x2) <= 0.1 * MAX)\\r\\n x2 = 0;\\r\\n if (Math.abs(y2) <= 0.1 * MAX)\\r\\n y2 = 0;\\r\\n\\r\\n if (Math.abs(armStickValue) <= 0.05 * MAX)\\r\\n armStickValue = 0;\\r\\n\\r\\n if (Math.abs(treadStickValueR) <= 0.05 * MAX)\\r\\n treadStickValueR = 0;\\r\\n if (Math.abs(treadStickValueL) <= 0.05 * MAX)\\r\\n treadStickValueL = 0;\\r\\n\\r\\n boolean LeftBumpVal = leftBumper;\\r\\n boolean RightBumpVal = rightBumper;\\r\\n //Decides direction by splitting circle into four quadrants, and assumes that the stick is pushed to the edge of the circle for precision between quadrants\\r\\n //See unit circle to explain why x must be less than or greater than Rt(2)/2\\r\\n\\r\\n if (y1 > 0) //Joystick forwards\\r\\n if (x1 < -(Math.sqrt(2) / 2)) //Moving straight left\\r\\n {\\r\\n FLval = -Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n FRval = Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n BLval = Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n BRval = -Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n\\r\\n FLval = FLval*SPEED_MODIFIER;\\r\\n FRval = FRval*SPEED_MODIFIER;\\r\\n BLval = BLval*SPEED_MODIFIER;\\r\\n BRval = BRval*SPEED_MODIFIER;\\r\\n\\r\\n } else if (x1 > (Math.sqrt(2) / 2)) //Moving right\\r\\n {\\r\\n FLval = Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n FRval = -Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n BLval = -Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n BRval = Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n FLval = FLval*SPEED_MODIFIER;\\r\\n FRval = FRval*SPEED_MODIFIER;\\r\\n BLval = BLval*SPEED_MODIFIER;\\r\\n BRval = BRval*SPEED_MODIFIER;\\r\\n } else //Forwards\\r\\n {\\r\\n FLval = Math.round(Math.abs(y1 * 10)) / 10.0;\\r\\n FRval = Math.round(Math.abs(y1 * 10)) / 10.0;\\r\\n BLval = Math.round(Math.abs(y1 * 10)) / 10.0;\\r\\n BRval = Math.round(Math.abs(y1 * 10)) / 10.0;\\r\\n }\\r\\n else if (y1 < 0) //Stick backwards\\r\\n if (x1 < -(Math.sqrt(2) / 2)) //Straight left\\r\\n {\\r\\n FLval = -Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n FRval = Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n BLval = Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n BRval = -Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n FLval = FLval*SPEED_MODIFIER;\\r\\n FRval = FRval*SPEED_MODIFIER;\\r\\n BLval = BLval*SPEED_MODIFIER;\\r\\n BRval = BRval*SPEED_MODIFIER;\\r\\n } else if (x1 > (Math.sqrt(2) / 2)) //Right\\r\\n {\\r\\n FLval = Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n FRval = -Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n BLval = -Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n BRval = Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n FLval = FLval*SPEED_MODIFIER;\\r\\n FRval = FRval*SPEED_MODIFIER;\\r\\n BLval = BLval*SPEED_MODIFIER;\\r\\n BRval = BRval*SPEED_MODIFIER;\\r\\n } else //Backwards\\r\\n {\\r\\n FLval = -Math.round(Math.abs(y1 * 10)) / 10.0;\\r\\n FRval = -Math.round(Math.abs(y1 * 10)) / 10.0;\\r\\n BLval = -Math.round(Math.abs(y1 * 10)) / 10.0;\\r\\n BRval = -Math.round(Math.abs(y1 * 10)) / 10.0;\\r\\n }\\r\\n else //stick not moved vertically\\r\\n if (x1 > 0) { //Right\\r\\n\\r\\n FLval = Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n FRval = -Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n BLval = -Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n BRval = Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n FLval = FLval*SPEED_MODIFIER;\\r\\n FRval = FRval*SPEED_MODIFIER;\\r\\n BLval = BLval*SPEED_MODIFIER;\\r\\n BRval = BRval*SPEED_MODIFIER;\\r\\n } else if (x1 < 0) { //Left\\r\\n FLval = -Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n FRval = Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n BLval = Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n BRval = -Math.round(Math.abs(x1 * 10)) / 10.0;\\r\\n FLval = FLval*SPEED_MODIFIER;\\r\\n FRval = FRval*SPEED_MODIFIER;\\r\\n BLval = BLval*SPEED_MODIFIER;\\r\\n BRval = BRval*SPEED_MODIFIER;\\r\\n } else { //Stick at origin\\r\\n FLval = 0;\\r\\n FRval = 0;\\r\\n BLval = 0;\\r\\n BRval = 0;\\r\\n }\\r\\n\\r\\n //Right now turning overrides other movement\\r\\n\\r\\n if (x2 != 0) //Turning\\r\\n {\\r\\n FRval = FORWARD_POWER * -(x2 / (Math.abs(x2)));\\r\\n FLval = FORWARD_POWER * (x2 / (Math.abs(x2)));\\r\\n BRval = FORWARD_POWER * -(x2 / (Math.abs(x2)));\\r\\n BLval = FORWARD_POWER * (x2 / (Math.abs(x2)));\\r\\n FLval = FLval*SPEED_MODIFIER;\\r\\n FRval = FRval*SPEED_MODIFIER;\\r\\n BLval = BLval*SPEED_MODIFIER;\\r\\n BRval = BRval*SPEED_MODIFIER;\\r\\n }\\r\\n\\r\\n //For changing tread speed\\r\\n TLval = treadStickValueL;\\r\\n TRval = -treadStickValueR;\\r\\n\\r\\n\\r\\n //For changing arm value\\r\\n armVal = armStickValue;\\r\\n\\r\\n Range.clip(FLval, -CLIP_NUM, CLIP_NUM); //This is to make sure that no STRANGE values somehow get in\\r\\n Range.clip(BLval, -CLIP_NUM, CLIP_NUM);\\r\\n Range.clip(BRval, -CLIP_NUM, CLIP_NUM);\\r\\n Range.clip(FRval, -CLIP_NUM, CLIP_NUM);\\r\\n\\r\\n /*\\r\\n boolean imaniDoesNotCareForHerOwnSafety = gamepad2.a;\\r\\n if ((lastWasForSlow && !imaniDoesNotCareForHerOwnSafety) || (lastWasBackSlow && !gamepad2.y))\\r\\n spikeTime = 0;\\r\\n */\\r\\n\\r\\n FrontRight.setPower(FRval);\\r\\n FrontLeft.setPower(FLval);\\r\\n BackRight.setPower(BRval);\\r\\n BackLeft.setPower(BLval);\\r\\n\\r\\n TreadLeft.setPower(TLval);\\r\\n TreadRight.setPower(TRval);\\r\\n\\r\\n ArmMotor.setPower(armVal);\\r\\n\\r\\n boolean lastResetState = false;\\r\\n boolean curResetState = false;\\r\\n/**\\r\\n // Get a reference to a Modern Robotics gyro object. We use several interfaces\\r\\n // on this object to illustrate which interfaces support which functionality.\\r\\n gyro = hardwareMap.get(IntegratingGyroscope.class, \\\"gyro\\\");\\r\\n modernRoboticsI2cGyro = hardwareMap.get(ModernRoboticsI2cGyro.class, \\\"gyro\\\");\\r\\n gyro = (IntegratingGyroscope) modernRoboticsI2cGyro;\\r\\n // If you're only interested in the IntegratingGyroscope interface, the following will suffice.\\r\\n\\r\\n // A similar approach will work for the Gyroscope interface, if that's all you need.\\r\\n\\r\\n // Start calibrating the gyro. This takes a few seconds and is worth performing\\r\\n // during the initialization phase at the start of each opMode.\\r\\n\\r\\n\\r\\n telemetry.log().add(\\\"Gyro Calibrating. Do Not Move!\\\");\\r\\n modernRoboticsI2cGyro.calibrate();\\r\\n\\r\\n // Wait until the gyro calibration is complete\\r\\n timer.reset();\\r\\n while (modernRoboticsI2cGyro.isCalibrating()) {\\r\\n telemetry.addData(\\\"calibrating\\\", \\\"%s\\\", Math.round(timer.seconds()) % 2 == 0 ? \\\"|..\\\" : \\\"..|\\\");\\r\\n telemetry.update();\\r\\n }\\r\\n\\r\\n telemetry.log().clear();\\r\\n telemetry.log().add(\\\"Gyro Calibrated. Press Start.\\\");\\r\\n telemetry.clear();\\r\\n telemetry.update();\\r\\n\\r\\n // Wait for the start button to be pressed\\r\\n telemetry.log().clear();\\r\\n telemetry.log().add(\\\"Press A & B to reset heading\\\");\\r\\n\\r\\n // If the A and B buttons are pressed just now, reset Z heading.\\r\\n curResetState = (gamepad1.a && gamepad1.b);\\r\\n if (curResetState && !lastResetState) {\\r\\n modernRoboticsI2cGyro.resetZAxisIntegrator();\\r\\n }\\r\\n lastResetState = curResetState;\\r\\n\\r\\n // The raw() methods report the angular rate of change about each of the\\r\\n // three axes directly as reported by the underlying sensor IC.\\r\\n int rawX = modernRoboticsI2cGyro.rawX();\\r\\n int rawY = modernRoboticsI2cGyro.rawY();\\r\\n int rawZ = modernRoboticsI2cGyro.rawZ();\\r\\n int heading = modernRoboticsI2cGyro.getHeading();\\r\\n int integratedZ = modernRoboticsI2cGyro.getIntegratedZValue();\\r\\n\\r\\n // Read dimensionalized data from the gyro. This gyro can report angular velocities\\r\\n // about all three axes. Additionally, it internally integrates the Z axis to\\r\\n // be able to report an absolute angular Z orientation.\\r\\n AngularVelocity rates = gyro.getAngularVelocity(AngleUnit.DEGREES);\\r\\n float zAngle = gyro.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES).firstAngle;\\r\\n\\r\\n // Read administrative information from the gyro\\r\\n int zAxisOffset = modernRoboticsI2cGyro.getZAxisOffset();\\r\\n int zAxisScalingCoefficient = modernRoboticsI2cGyro.getZAxisScalingCoefficient();\\r\\n telemetry.addLine()\\r\\n .addData(\\\"dx\\\", (rates.xRotationRate))\\r\\n .addData(\\\"dy\\\", (rates.yRotationRate))\\r\\n .addData(\\\"dz\\\", \\\"%s deg/s\\\", (rates.zRotationRate));\\r\\n telemetry.addData(\\\"angle\\\", \\\"%s deg\\\", (zAngle));\\r\\n telemetry.addData(\\\"heading\\\", \\\"%3d deg\\\", heading);\\r\\n telemetry.addData(\\\"integrated Z\\\", \\\"%3d\\\", integratedZ);\\r\\n telemetry.addLine()\\r\\n .addData(\\\"rawX\\\", (rawX))\\r\\n .addData(\\\"rawY\\\", (rawY))\\r\\n .addData(\\\"rawZ\\\", (rawZ));\\r\\n telemetry.addLine().addData(\\\"z offset\\\", zAxisOffset).addData(\\\"z coeff\\\", zAxisScalingCoefficient);\\r\\n telemetry.update();\\r\\n **/\\r\\n\\r\\n telemetry.addData(\\\"Front Left: \\\", FLval);\\r\\n telemetry.addData(\\\"Front Right: \\\", FRval);\\r\\n telemetry.addData(\\\"Back Left: \\\", BLval);\\r\\n telemetry.addData(\\\"Back Right: \\\", BRval);\\r\\n telemetry.addData(\\\"Tread Left: \\\", TLval);\\r\\n telemetry.addData(\\\"Tread Right: \\\", TRval);\\r\\n telemetry.addData(\\\"Arm: \\\", armVal);\\r\\n telemetry.addData(\\\"xLeft: \\\", x1);\\r\\n telemetry.addData(\\\"yLeft: \\\", y1);\\r\\n telemetry.addData(\\\"xRight: \\\", x2);\\r\\n }\",\n \"@Override\\n public void loop() {\\n switch (auto) {\\n\\n //Time Function Socks\\n case 0:\\n if (runtime.milliseconds() <= 6250) {\\n robot.hook.setPower(1.0);\\n } else if (runtime.milliseconds() > 6250) {\\n robot.hook.setPower(0);\\n auto++;\\n } else {\\n robot.hook.setPower(0);\\n auto++;\\n }\\n\\n break;\\n\\n case 1 :\\n runtime.reset();\\n auto++;\\n break;\\n\\n\\n case 2:\\n if (runtime.milliseconds() <= 1000) {\\n robot.drive(MovementEnum.RIGHTSTRAFE, 0.5);\\n }\\n else if(runtime.milliseconds() > 1000) {\\n robot.drive(MovementEnum.STOP, 0.0);\\n auto++;\\n }\\n else {robot.drive(MovementEnum.STOP, 0.0);\\n auto++;\\n }\\n break;\\n\\n case 3:\\n runtime.reset();\\n auto++;\\n break;\\n\\n case 4:\\n // if (runtime.milliseconds() >= 12000) {\\n //enable for color sensor here using DogeCV or OpenCV (Preferably DogeCV)\\n /*\\n if (runtime.milliseconds() > 7000) {\\n robot.drive(MovementEnum.RIGHTTURN, 0.65);\\n }\\n auto++;\\n */\\n if (runtime.milliseconds() <= 3000) {\\n robot.drive(MovementEnum.BACKWARD, 1);\\n }\\n else if(runtime.milliseconds() > 3000){ robot.drive(MovementEnum.STOP,0);}\\n else {robot.drive(MovementEnum.STOP,0);}\\n // auto++;\\n\\n\\n break;\\n\\n case 34:\\n if (runtime.milliseconds() <= 10000) {\\n robot.drive(MovementEnum.BACKWARD, 1);\\n }\\n else if(runtime.milliseconds() > 10000)\\n // auto++;\\n break;\\n\\n case 45:\\n if (runtime.milliseconds() > 11000) {\\n robot.claw.setPosition(1);\\n }\\n auto++;\\n break;\\n\\n case 5:\\n if (runtime.milliseconds() > 13000) {\\n robot.drive(MovementEnum.BACKWARD, 1);\\n }\\n break;\\n\\n default: {\\n robot.drive(MovementEnum.STOP, 0);\\n\\n }\\n break;\\n //if gold color (RGB value) is detected return value. G\\n // Go forward, go backwards, and turn left.\\n // Go forward until distance to wall is 6 inches.\\n // Turn 45 degrees, and go forward.\\n // Drop the team marker, then back up into the crater.\\n }\\n\\n }\",\n \"@Test public void lastWins() {\\n\\t\\tfinal String[] args = new String[]{\\\"-speed\\\", \\\"4\\\", \\\"-speed\\\", \\\"8\\\"};\\n\\t\\tfinal CliActuators actuators = parser.parse(args, OPTIONS);\\n\\t\\tAssert.assertEquals(\\\"8\\\", actuators.getActuatorById(\\\"speed\\\").getValue());\\n\\t}\",\n \"public void setPuntosFwd(double value) {\\r\\n this.puntosFwd = value;\\r\\n }\",\n \"public void checkInputs() {\\n\\n gearShift = driveStick.getXButtonReleased();\\n slow = driveStick.getAButtonReleased();\\n\\n manualClimb = driveStick.getBumper(Hand.kLeft) && driveStick.getBumper(Hand.kRight);\\n\\n //climbToggle = driveStick.getBumperReleased(Hand.kLeft);\\n climbToggle = false;\\n climbRelease = driveStick.getStartButton();\\n\\n resetBalls = gunnerStick.getStartButtonReleased();\\n visionShoot = gunnerStick.getBButtonReleased();\\n manualShoot = gunnerStick.getYButton();\\n distShoot = gunnerStick.getAButton();\\n intakeToggle = gunnerStick.getBumperReleased(Hand.kRight);\\n hoodToggle = gunnerStick.getBumperReleased(Hand.kLeft);\\n intakeReverse = gunnerStick.getXButtonReleased();\\n magazineReverse = gunnerStick.getBackButton();\\n\\n\\n //Switch statement to determine controls for the driver\\n switch (driverScheme) {\\n case \\\"Reverse Turning\\\":\\n XSpeed = -driveStick.getY(Hand.kLeft);\\n ZRotation = driveStick.getX(Hand.kRight);\\n break;\\n default:\\n XSpeed = driveStick.getY(Hand.kLeft);\\n ZRotation = -driveStick.getX(Hand.kRight);\\n break;\\n }\\n\\n //Switch statement to determine controls for the gunner\\n switch (gunnerScheme) {\\n case \\\"Fun Mode\\\":\\n\\n discoToggle = gunnerStick.getBackButtonReleased();\\n break;\\n\\n default:\\n\\n // if ((gunnerStick.getTriggerAxis(Hand.kRight) >= 0.75) && (gunnerStick.getTriggerAxis(Hand.kLeft) >= 0.75) && !overriding) {\\n // overrideSafeties = !overrideSafeties;\\n // overriding = true;\\n // } else if ((gunnerStick.getTriggerAxis(Hand.kRight) <= 0.75) && (gunnerStick.getTriggerAxis(Hand.kLeft) <= 0.75)) {\\n // overriding = false;\\n // }\\n\\n break;\\n }\\n }\",\n \"@Override\\n public void robotInit() {\\n m_oi = new OI();\\n m_chooser.setDefaultOption(\\\"Default Auto\\\", new ExampleCommand());\\n // chooser.addOption(\\\"My Auto\\\", new MyAutoCommand());\\n SmartDashboard.putData(\\\"Auto mode\\\", m_chooser);\\n\\n Comp = new Compressor();\\n\\n //ClimbBack = new DoubleSolenoid(PCM_COMP_24V, 0, 1);\\n //ClimbFront = new DoubleSolenoid(PCM_COMP_24V, 2, 3);\\n LegFrontL = new VictorSPX(30);\\n LegFrontR = new Spark(9);\\n LegBackL = new VictorSPX(31);\\n LegBackR = new VictorSPX(32);\\n\\n BackFootMover = new VictorSP(1);\\n FrontFootMover = new Spark(2);\\n //FeetMovers = new SpeedControllerGroup(BackFootMoverFootMover);\\n\\n MainRight = new CANSparkMax(9, MotorType.kBrushless);\\n AltRight = new CANSparkMax(10, MotorType.kBrushless);\\n MainLeft = new CANSparkMax(11, MotorType.kBrushless);\\n AltLeft = new CANSparkMax(12, MotorType.kBrushless);\\n\\n MainRight.setIdleMode(IdleMode.kCoast);\\n AltRight.setIdleMode(IdleMode.kCoast);\\n MainLeft.setIdleMode(IdleMode.kCoast);\\n AltLeft.setIdleMode(IdleMode.kCoast);\\n\\n AltLeft.follow(MainLeft);\\n AltRight.follow(MainRight);\\n\\n Drive = new DifferentialDrive(MainLeft, MainRight);\\n\\n Lifter = new TalonSRX(6);\\n Lifter.setNeutralMode(NeutralMode.Brake);\\n Lifter.enableCurrentLimit(false);\\n /*Lifter.configContinuousCurrentLimit(40);\\n Lifter.configPeakCurrentLimit(50);\\n Lifter.configPeakCurrentDuration(1500);*/\\n //Lifter.configReverseSoftLimitEnable(true);\\n //Lifter.configReverseSoftLimitThreshold(-27000);\\n //Lifter.configForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);\\n //Lifter.configClearPositionOnLimitF(true, 0);\\n Lifter.selectProfileSlot(0, 0);\\n LiftSetpoint = 0;\\n\\n LiftFollower = new TalonSRX(5);\\n LiftFollower.follow(Lifter);\\n LiftFollower.setNeutralMode(NeutralMode.Brake);\\n\\n ArmExtender = new Solenoid(0);\\n ArmOpener = new Solenoid(1);\\n ArmGrippers = new Spark(0);\\n\\n HatchSwitch0 = new DigitalInput(0);\\n HatchSwitch1 = new DigitalInput(1);\\n\\n Accel = new BuiltInAccelerometer(Range.k2G);\\n\\n //Diagnostics = new DiagnosticsLogger();\\n // Uncomment this line to enable diagnostics. Warning: this may\\n // cause the robot to be slower than it is supposed to be because of lag.\\n //Diagnostics.start();\\n\\n xbox = new XboxController(0);\\n joystick = new Joystick(1);\\n \\n LiftRamp = new SRamp();\\n SpeedRamp = new SRamp();\\n\\n NetworkTableInstance nt = NetworkTableInstance.getDefault();\\n\\n VisionTable = nt.getTable(\\\"ChickenVision\\\");\\n TapeDetectedEntry = VisionTable.getEntry(\\\"tapeDetected\\\");\\n TapePitchEntry = VisionTable.getEntry(\\\"tapePitch\\\");\\n TapeYawEntry = VisionTable.getEntry(\\\"tapeYaw\\\");\\n\\n LedTable = nt.getTable(\\\"LedInfo\\\");\\n LedScript = LedTable.getEntry(\\\"CurrentScript\\\");\\n LedScriptArgument = LedTable.getEntry(\\\"ScriptArgument\\\");\\n LedArmsClosed = LedTable.getEntry(\\\"ArmsClosed\\\");\\n\\n UsbCamera cam = CameraServer.getInstance().startAutomaticCapture();\\n cam.setPixelFormat(PixelFormat.kMJPEG);\\n cam.setResolution(320, 240);\\n cam.setFPS(15);\\n \\n\\n LedScript.setString(\\\"ColorWaves\\\");\\n LedScriptArgument.setString(\\\"\\\");\\n\\n limits = new DigitalInput[8];\\n\\n for (int i = 0; i < limits.length; i++) {\\n limits[i] = new DigitalInput(i + 2);\\n }\\n }\",\n \"private boolean loop() throws Exception{\\n\\t\\treadSensors(100);\\r\\n\\t\\tint[] lightBumpReadings = getLightBumps();\\r\\n\\t\\tdriveDirect(300, 300);\\r\\n\\t\\t//driveDirect(500,350);\\r\\n\\t\\t\\r\\n\\t\\tif(lightBumpReadings[0]>0){\\r\\n\\t\\t\\tdriveDirect(175,100);\\r\\n\\t\\t\\tsleep(300);\\r\\n\\t\\t\\t\\r\\n\\t\\t}\\r\\n\\t\\tif(lightBumpReadings[1]>0){\\r\\n\\t\\t\\tdriveDirect(150,100);\\r\\n\\t\\t\\tsleep(300);\\r\\n\\t\\t}\\r\\n\\t\\tif(lightBumpReadings[2]>0){\\r\\n\\t\\t\\tdriveDirect(125,100);\\r\\n\\t\\t\\tsleep(300);\\r\\n\\t\\t}\\r\\n\\t\\tif(lightBumpReadings[3]>0){\\r\\n\\t\\t\\tdriveDirect(100,125);\\r\\n\\t\\t\\tsleep(300);\\r\\n\\t\\t}\\r\\n\\t\\tif(lightBumpReadings[4]>0){\\r\\n\\t\\t\\tdriveDirect(100,150);\\r\\n\\t\\t\\tsleep(300);\\r\\n\\t\\t}\\r\\n\\t\\tif(lightBumpReadings[5]>0){\\r\\n\\t\\t\\tdriveDirect(100,175);\\r\\n\\t\\t\\tsleep(300);\\r\\n\\t\\t}\\r\\n\\t\\t\\r\\n\\t\\tif(lightBumpReadings[2]>0 && lightBumpReadings[3]>0){\\r\\n\\t\\t\\tdriveDirect(0,500);\\r\\n\\t\\t\\tsleep(750);\\r\\n\\t\\t\\tif(lightBumpReadings[2]>0 && lightBumpReadings[3]>0){\\r\\n\\t\\t\\t\\tdriveDirect(0,500);\\r\\n\\t\\t\\t\\tsleep(1500);\\r\\n\\t\\t\\t\\tif(lightBumpReadings[2]>0 && lightBumpReadings[3]>0){\\r\\n\\t\\t\\t\\t\\tdriveDirect(0,500);\\r\\n\\t\\t\\t\\t\\tsleep(750);\\r\\n\\t\\t\\t\\t}else{\\r\\n\\t\\t\\t\\t\\tdriveDirect(300,300);\\r\\n\\t\\t\\t\\t}\\r\\n\\t\\t\\t}else{\\r\\n\\t\\t\\t\\tdriveDirect(300,300);\\r\\n\\t\\t\\t}\\r\\n\\t\\t}\\r\\n\\t\\t\\r\\n\\t\\treturn true;\\r\\n\\t}\",\n \"public void autoUpdate()\\n {\\n if(distanceSensor.checkDistance() < 300 && myRobot.getAutoDrive())\\n {\\n activateDumpSolenoid(forward);\\n myRobot.setAutoDoneTrue();\\n }\\n\\n //closes the ball tray after doing autonomous\\n if(distanceSensor.checkDistance() > 900 && myRobot.getAutoDrive())\\n {\\n activateDumpSolenoid(reverse);\\n }\\n }\",\n \"public void tankDrive() {\\n\\t\\tif (fastBool) {\\n\\t\\t\\tmotorRB.set(joystickRYAxis);\\n\\t\\t\\tmotorRF.set(joystickRYAxis);\\n\\t\\t\\tmotorLB.set(-joystickLYAxis);\\n\\t\\t\\tmotorLF.set(-joystickLYAxis);\\n\\n\\t\\t} else {\\n\\t\\t\\tmotorRB.set(joystickRYAxis/2);\\n\\t\\t\\tmotorRF.set(joystickRYAxis/2);\\n\\t\\t\\tmotorLB.set(-joystickLYAxis/2);\\n\\t\\t\\tmotorLF.set(-joystickLYAxis/2);\\n\\t\\t\\t//System.out.println(strongBad.motorMultiplier);\\n\\t\\t\\t//SmartDashboard.putNumber(\\\"MM2\\\", strongBad.motorMultiplier);\\n\\n\\t\\t}\\n\\t}\",\n \"public void intake(double up_speed, double down_speed) //上面&下面的intake\\n {\\n intake_up.set(ControlMode.PercentOutput, up_speed);\\n intake_down.set(ControlMode.PercentOutput, down_speed);\\n }\",\n \"protected void initialize() {\\n \\ttarget = (int) SmartDashboard.getNumber(\\\"target\\\", 120);\\n \\ttarget = (int) (target * Constants.TICKS_TO_INCHES);\\n\\t\\tRobot.drive.stop();\\n\\t\\tmaxCount = (int) SmartDashboard.getNumber(\\\"max count\\\", 0);\\n\\t\\ttolerance = (int) SmartDashboard.getNumber(\\\"tolerance\\\", 0);\\n\\t\\tRobot.drive.left.motor1.setSelectedSensorPosition(0, Constants.kPIDLoopIdx, Constants.kTimeoutMs);\\n\\t\\tRobot.drive.right.motor1.setSelectedSensorPosition(0, Constants.kPIDLoopIdx, Constants.kTimeoutMs);\\n }\",\n \"private void testRelease()\\n {\\n if(gamepad1.x) {\\n // move to 0 degrees.\\n servoLeft.setPosition(0);\\n //servoRight.setPosition(0);\\n }\\n telemetry.addData(\\\"Servo Left Posit++backInc;ion\\\", servoLeft.getPosition());\\n //telemetry.addData(\\\"Servo Right Position\\\", servoRight.getPosition());\\n }\",\n \"public void gearBoxTest(){\\n\\t\\tif (counter < 6) {\\n\\t\\t\\ttimerTest.start();\\n\\t\\t\\tif (480 >= timerTest.get()) {\\n\\t\\t\\t\\tmotorRB.set(1);\\n\\t\\t\\t\\tmotorRF.set(1);\\n\\t\\t\\t\\tmotorLB.set(1);\\n\\t\\t\\t\\tmotorLF.set(1);\\n\\t\\t\\t}\\n\\t\\t\\telse if (timerTest.get() > 480 && 600 >= timerTest.get()) {\\n\\t\\t\\t\\tmotorRB.set(0);\\n\\t\\t\\t\\tmotorRF.set(0);\\n\\t\\t\\t\\tmotorLB.set(0);\\n\\t\\t\\t\\tmotorLF.set(0);\\n\\t\\t\\t}\\n\\t\\t\\telse if (timerTest.get() > 600) {\\n\\t\\t\\t\\ttimerTest.reset();\\n\\t\\t\\t\\tcounter++;\\n\\t\\t\\t}\\n\\t\\t}\\n\\t}\",\n \"protected void initialize() {\\n \\t starttime = Timer.getFPGATimestamp();\\n \\tthis.startAngle = RobotMap.navx.getAngle();\\n \\tangleorientation.setSetPoint(RobotMap.navx.getAngle());\\n \\t\\n \\tRobotMap.motorLeftTwo.enableControl();\\n \\tRobotMap.motorRightTwo.enableControl();\\n \\tRobotMap.motorLeftTwo.enableControl();\\n \\tRobotMap.motorRightTwo.enableControl();\\n \\n //settting talon control mode\\n \\tRobotMap.motorLeftTwo.changeControlMode(TalonControlMode.MotionMagic);\\t\\t\\n\\t\\tRobotMap.motorLeftOne.changeControlMode(TalonControlMode.Follower);\\t\\n\\t\\tRobotMap.motorRightTwo.changeControlMode(TalonControlMode.MotionMagic);\\t\\n\\t\\tRobotMap.motorRightOne.changeControlMode(TalonControlMode.Follower);\\n\\t\\t//setting peak and nominal output voltage for the motors\\n\\t\\tRobotMap.motorLeftTwo.configPeakOutputVoltage(+12.0f, -12.0f);\\n\\t\\tRobotMap.motorLeftTwo.configNominalOutputVoltage(0.00f, 0.0f);\\n\\t\\tRobotMap.motorRightTwo.configPeakOutputVoltage(+12.0f, -12.0f);\\n\\t\\tRobotMap.motorRightTwo.configNominalOutputVoltage(0.0f, 0.0f);\\n\\t\\t//setting who is following whom\\n\\t\\tRobotMap.motorLeftOne.set(4);\\n\\t\\tRobotMap.motorRightOne.set(3);\\n\\t\\t//setting pid value for both sides\\n\\t//\\tRobotMap.motorLeftTwo.setCloseLoopRampRate(1);\\n\\t\\tRobotMap.motorLeftTwo.setProfile(0);\\n\\t RobotMap.motorLeftTwo.setP(0.000014f);\\n \\tRobotMap.motorLeftTwo.setI(0.00000001);\\n\\t\\tRobotMap.motorLeftTwo.setIZone(0);//325);\\n\\t\\tRobotMap.motorLeftTwo.setD(1.0f);\\n\\t\\tRobotMap.motorLeftTwo.setF(this.fGainLeft+0.014);//0.3625884);\\n\\t\\tRobotMap.motorLeftTwo.setAllowableClosedLoopErr(0);//300);\\n\\t\\t\\n\\t RobotMap.motorRightTwo.setCloseLoopRampRate(1);\\n\\t RobotMap.motorRightTwo.setProfile(0);\\n\\t\\tRobotMap.motorRightTwo.setP(0.000014f);\\n\\t\\tRobotMap.motorRightTwo.setI(0.00000001);\\n\\t\\tRobotMap.motorRightTwo.setIZone(0);//325);\\n\\t\\tRobotMap.motorRightTwo.setD(1.0f);\\n\\t\\tRobotMap.motorRightTwo.setF(this.fGainRight);// 0.3373206);\\n\\t\\tRobotMap.motorRightTwo.setAllowableClosedLoopErr(0);//300);\\n\\t\\t\\n\\t\\t//setting Acceleration and velocity for the left\\n\\t\\tRobotMap.motorLeftTwo.setMotionMagicAcceleration(125);\\n\\t\\tRobotMap.motorLeftTwo.setMotionMagicCruiseVelocity(250);\\n\\t\\t//setting Acceleration and velocity for the right\\n\\t\\tRobotMap.motorRightTwo.setMotionMagicAcceleration(125);\\n\\t\\tRobotMap.motorRightTwo.setMotionMagicCruiseVelocity(250);\\n\\t\\t//resets encoder position to 0\\t\\t\\n\\t\\tRobotMap.motorLeftTwo.setEncPosition(0);\\n\\t\\tRobotMap.motorRightTwo.setEncPosition(0);\\n\\t //Set Allowable error for the loop\\n\\t\\tRobotMap.motorLeftTwo.setAllowableClosedLoopErr(300);\\n\\t\\tRobotMap.motorRightTwo.setAllowableClosedLoopErr(300);\\n\\t\\t\\n\\t\\t//sets desired endpoint for the motors\\n RobotMap.motorLeftTwo.set(motionMagicEndPoint);\\n RobotMap.motorRightTwo.set(-motionMagicEndPoint );\\n \\t\\n }\",\n \"private void updateMotors() {\\n\\t\\t//Pass filtered values to ChopperStatus.\\n\\t\\tmStatus.setMotorFields(mMotorSpeed);\\n\\t\\tString logline = Long.toString(System.currentTimeMillis()) + \\\" \\\" + mMotorSpeed[0] + \\\" \\\" + mMotorSpeed[1] + \\\" \\\" + mMotorSpeed[2] + \\\" \\\" + mMotorSpeed[3] + \\\"\\\\n\\\";\\n\\t\\ttry {\\n\\t\\t\\tif (logfile != null) {\\n\\t\\t\\t\\tlogfile.write(logline);\\n\\t\\t\\t\\tlogfile.flush();\\n\\t\\t\\t}\\n\\t\\t}\\n\\t\\tcatch (IOException e) {\\n\\t\\t\\t//Log.e(TAG, \\\"Cannot write to logfile\\\");\\n\\t\\t}\\n\\t\\t//Pass motor values to motor controller!\\n\\t\\tMessage msg = Message.obtain();\\n\\t\\tmsg.what = SEND_MOTOR_SPEEDS;\\n\\t\\tmsg.obj = mMotorSpeed;\\n\\t\\tmBt.sendMessageToHandler(msg);\\n\\t\\t//Log.i(TAG, \\\"Guidance sending message.\\\");\\n\\t\\t\\n\\t}\",\n \"@Override\\n public void loop() {\\n\\n //double armRot = robot.Pivot.getPosition();\\n\\n double deadzone = 0.2;\\n\\n double trnSpdMod = 0.5;\\n\\n float xValueRight = gamepad1.right_stick_x;\\n float yValueLeft = -gamepad1.left_stick_y;\\n\\n xValueRight = Range.clip(xValueRight, -1, 1);\\n yValueLeft = Range.clip(yValueLeft, -1, 1);\\n\\n // Pressing \\\"A\\\" opens and closes the claw\\n if (gamepad1.a) {\\n\\n if (robot.Claw.getPosition() < 0.7)\\n while(gamepad1.a){\\n robot.Claw.setPosition(1);}\\n else if (robot.Claw.getPosition() > 0.7)\\n while(gamepad1.a){\\n robot.Claw.setPosition(0.4);}\\n else\\n while(gamepad1.a)\\n robot.Claw.setPosition(1);\\n }\\n\\n // Pressing \\\"B\\\" changes the wrist position\\n if (gamepad1.b) {\\n\\n if (robot.Wrist.getPosition() == 1)\\n while(gamepad1.b)\\n robot.Wrist.setPosition(0.5);\\n else if (robot.Wrist.getPosition() == 0.5)\\n while(gamepad1.b)\\n robot.Wrist.setPosition(1);\\n else\\n while(gamepad1.b)\\n robot.Wrist.setPosition(1);\\n }\\n\\n // Turn left/right, overrides forward/back\\n if (Math.abs(xValueRight) > deadzone) {\\n\\n robot.FL.setPower(xValueRight * trnSpdMod);\\n robot.FR.setPower(-xValueRight * trnSpdMod);\\n robot.BL.setPower(xValueRight * trnSpdMod);\\n robot.BR.setPower(-xValueRight * trnSpdMod);\\n\\n\\n } else {//Forward/Back On Solely Left Stick\\n if (Math.abs(yValueLeft) > deadzone) {\\n robot.FL.setPower(yValueLeft);\\n robot.FR.setPower(yValueLeft);\\n robot.BL.setPower(yValueLeft);\\n robot.BR.setPower(yValueLeft);\\n }\\n robot.FL.setPower(0);\\n robot.FR.setPower(0);\\n robot.BL.setPower(0);\\n robot.BR.setPower(0);\\n }\\n\\n\\n telemetry.addData(\\\"Drive Encoder Ticks\\\", robot.FL.getCurrentPosition());\\n telemetry.addData(\\\"Winch Encoder Ticks\\\", robot.Winch.getCurrentPosition());\\n telemetry.addData(\\\"ColorArm Position\\\", robot.ColorArm.getPosition());\\n telemetry.addData(\\\"Wrist Position\\\", robot.Wrist.getPosition());\\n telemetry.addData(\\\"Claw Position\\\", robot.Claw.getPosition());\\n telemetry.addData(\\\"Grip Position\\\", robot.Grip.getPosition());\\n telemetry.addData(\\\"Color Sensor Data Red\\\", robot.Color.red());\\n telemetry.addData(\\\"Color Sensor Data Blue\\\", robot.Color.blue());\\n\\n /*\\n\\n // This is used for an Omniwheel base\\n\\n // Group a is Front Left and Rear Right, Group b is Front Right and Rear Left\\n float a;\\n float b;\\n float turnPower;\\n if(!gamepad1.x) {\\n if (Math.abs(xValueRight) <= deadzone && Math.abs(yValueRight) <= deadzone) {\\n // And is used here because both the y and x values of the right stick should be less than the deadzone\\n\\n a = Range.clip(yValueLeft + xValueLeft, -1, 1);\\n b = Range.clip(yValueLeft - xValueLeft, -1, 1);\\n\\n\\n robot.FL.setPower(a);\\n robot.FR.setPower(b);\\n robot.BL.setPower(b);\\n robot.BR.setPower(a);\\n\\n telemetry.addData(\\\"a\\\", \\\"%.2f\\\", a);\\n telemetry.addData(\\\"b\\\", \\\"%.2f\\\", b);\\n\\n } else if (Math.abs(xValueRight) > deadzone || Math.abs(yValueRight) > deadzone) {\\n\\n // Or is used here because only one of the y and x values of the right stick needs to be greater than the deadzone\\n turnPower = Range.clip(xValueRight, -1, 1);\\n\\n robot.FL.setPower(-turnPower);\\n robot.FR.setPower(turnPower);\\n robot.BL.setPower(-turnPower);\\n robot.BR.setPower(turnPower);\\n\\n } else {\\n\\n robot.FL.setPower(0);\\n robot.FR.setPower(0);\\n robot.BL.setPower(0);\\n robot.BR.setPower(0);\\n }\\n\\n } else {\\n\\n if (Math.abs(xValueRight) <= deadzone && Math.abs(yValueRight) <= deadzone) {\\n\\n // And is used here because both the y and x values of the right stick should be less than the deadzone\\n a = Range.clip(yValueLeft + xValueLeft, -0.6f, 0.6f);\\n b = Range.clip(yValueLeft - xValueLeft, -0.6f, 0.6f);\\n\\n\\n robot.FL.setPower(a);\\n robot.FR.setPower(b);\\n robot.BL.setPower(b);\\n robot.BR.setPower(a);\\n\\n telemetry.addData(\\\"a\\\", \\\"%.2f\\\", a);\\n telemetry.addData(\\\"b\\\", \\\"%.2f\\\", b);\\n\\n } else if (Math.abs(xValueRight) > deadzone || Math.abs(yValueRight) > deadzone) {\\n\\n // Or is used here because only one of the y and x values of the right stick needs to be greater than the deadzone\\n turnPower = Range.clip(xValueRight, -1, 1);\\n\\n robot.FL.setPower(-turnPower);\\n robot.FR.setPower(turnPower);\\n robot.BL.setPower(-turnPower);\\n robot.BR.setPower(turnPower);\\n\\n } else {\\n\\n robot.FL.setPower(0);\\n robot.FR.setPower(0);\\n robot.BL.setPower(0);\\n robot.BR.setPower(0);\\n }\\n }\\n\\n\\n if (gamepad1.dpad_up) {\\n\\n robot.Swing.setPower(.6);\\n\\n } else if (gamepad1.dpad_down) {\\n\\n robot.Swing.setPower(-.6);\\n\\n } else {\\n\\n robot.Swing.setPower(0);\\n }\\n\\n if(gamepad1.a){\\n\\n robot.Claw.setPosition(.4);\\n\\n } else if(gamepad1.b){\\n\\n robot.Claw.setPosition(0);\\n }\\n\\n if(gamepad1.left_bumper) {\\n\\n robot.Pivot.setPosition(armRot+0.0005);\\n\\n } else if(gamepad1.right_bumper) {\\n\\n robot.Pivot.setPosition(armRot-0.0005);\\n\\n } else{\\n\\n robot.Pivot.setPosition(armRot);\\n }\\n\\n telemetry.addData(\\\"position\\\", position);\\n\\n */\\n\\n /*\\n * Code to run ONCE after the driver hits STOP\\n */\\n }\",\n \"public static void tick() {\\n/* */ try {\\n/* 540 */ if (!NEIConfig.isEnabled()) {\\n/* */ return;\\n/* */ }\\n/* */ \\n/* 544 */ for (Widget widget : controlWidgets)\\n/* */ {\\n/* 546 */ widget.update(gui);\\n/* */ }\\n/* */ }\\n/* 549 */ catch (Exception exception) {\\n/* */ \\n/* 551 */ NEIUtils.reportException(exception);\\n/* 552 */ NEIConfig.setEnabled(false);\\n/* */ } \\n/* */ }\",\n \"public void move() {\\n\\t\\t\\tRandom rand = new Random();//random number generator\\n\\t\\t\\tint value = rand.nextInt(500000);//there is a 1 in 500000 chance there will be a new powerup every frame.\\n\\t\\t\\tif (value==0) {//if the value is 0\\n\\t\\t\\t\\tRandom ran = new Random();//make a random number generator and a power up vairable\\n\\t\\t\\t\\tPowerUp currentPowerUp = null;\\n\\t\\t\\t\\tint type = ran.nextInt(3);//switch the 1 for the amount of types made.\\n\\t\\t\\t\\tif (type==0) {//add the powerup depending on the random number. There are 3 types\\n\\t\\t\\t\\t\\tcurrentPowerUp = new PowerUp(healthPowerUp, 0);//this adds a life\\n\\t\\t\\t\\t}\\n\\t\\t\\t\\telse if (type==1) {\\n\\t\\t\\t\\t\\tcurrentPowerUp = new PowerUp(longPowerUp, 1);//this makes the slider wider\\n\\t\\t\\t\\t} else if (type==2) {\\n\\t\\t\\t\\t\\tcurrentPowerUp = new PowerUp(bonusPointsPowerUp, 2);//this just adds points\\n\\t\\t\\t\\t}\\n\\t\\t\\t\\t\\t\\n\\t\\t\\t\\t//set x and y\\n\\t\\t\\t\\t//make a random x\\n\\t\\t\\t\\tint newX = ran.nextInt(401) - 201 + GamePlay.getScreenWidth()/2; //-200 to 200 variance from center\\n\\t\\t\\t\\tint newY = ran.nextInt(201) - 101 + GamePlay.getScreenHeight()/4;//-100 to 100 variance from the 25% of top distance line.\\n\\t\\t\\t\\tif (currentPowerUp!=null) {\\n\\t\\t\\t\\t\\tcurrentPowerUp.setX(newX);\\n\\t\\t\\t\\t\\tcurrentPowerUp.setY(newY);\\n\\t\\t\\t\\t\\tpowerUps.add(currentPowerUp);//add the powerups to an array list\\n\\t\\t\\t\\t} else {\\n\\t\\t\\t\\t\\tSystem.out.println(\\\"PowerUp error.\\\");//if the variable is null, something went wrong.\\n\\t\\t\\t\\t}\\n\\t\\t\\t}\\n\\t\\t\\t\\n\\t\\t\\t//move all powerUps down by ball speed\\n\\t\\t\\tfor (PowerUp power: powerUps) {\\n\\t\\t\\t\\tpower.setY(power.getY() + ballSpeed);\\n\\t\\t\\t}\\n\\t\\t\\t\\n\\t\\t\\t//check if the powerups are off the screen. remove if they are. \\n\\t\\t\\tfor (int r = powerUps.size()-1; r>=0; r--) {\\n\\t\\t\\t\\tif (powerUps.get(r).getY() > GamePlay.getScreenHeight()-h) {\\n\\t\\t\\t\\t\\tpowerUps.remove(r);\\n\\t\\t\\t\\t}\\n\\t\\t\\t}\\n\\t\\t\\t\\n\\t\\t\\t\\n\\t\\t\\t\\n\\t\\t\\t\\n\\t\\t\\t//death of a ball\\n\\t\\t\\tif (ball.getY()>GamePlay.getScreenHeight() && pause==false) {\\n\\t\\t\\t\\tdeath();\\n\\t\\t\\t}\\n\\t\\t\\t\\n\\t\\t\\t//no bricks left\\n\\t\\t\\tif (blocks.size()==0) {\\n\\t\\t\\t\\t//you leveled up!\\n\\t\\t\\t\\tlevelUp();\\n\\t\\t\\t}\\n\\t\\t\\t\\n\\t\\t\\t\\n\\t\\t\\t//wall collision check for ball\\n\\t\\t\\t//right wall\\n\\t\\t\\tif (ball.rightCollide(GamePlay.getScreenWidth())) {//seperated for later use if wanted.\\n\\t\\t\\t\\tballVX*=-1;\\n\\t\\t\\t} else if (ball.leftCollide(0)) {//left wall\\n\\t\\t\\t\\tballVX*=-1;\\n\\t\\t\\t}\\n\\t\\t\\t\\n\\t\\t\\tif (ball.topCollide(0)) {//top wall\\n\\t\\t\\t\\tballVY*=-1;\\n\\t\\t\\t} //dont check bottom wall because that is the death of a ball.\\n\\t\\t\\t\\n\\t\\t\\t//collision with the slider.\\n\\t\\t\\tif (ball.getRect().intersects(slider.getRect()) && ball.getY()+ball.getHeight() <= slider.getY()+ballSpeed) {//intersected bool needed\\n\\t\\t\\t\\tballVY*=-1;\\n\\t\\t\\t\\tballVX+=sliderVX;//add the slider velocity to the ball velocity, giving user some control over angle. \\n\\t\\t\\t\\t\\n\\t\\t\\t}\\n\\t\\t\\t\\n\\t\\t\\t//collision with the powerups\\n\\t\\t\\t\\n\\t\\t\\tfor (int a = powerUps.size()-1; a>=0; a--) {//iterate thrpough the powerups\\n\\t\\t\\t\\tPowerUp power = powerUps.get(a);\\n\\t\\t\\t\\tif (power.getRect().intersects(slider.getRect())) {//if the powerups rect intersects, the slider caught it. Remove from screen\\n\\t\\t\\t\\t\\t//THIS MEANS THEY CAUGHT THE POWERUP\\n\\t\\t\\t\\t\\tif (power.getType()==\\\"HEALTH\\\" && power.getIntersected()==false) {\\n\\t\\t\\t\\t\\t\\tpower.setIntersected(true);\\n\\t\\t\\t\\t\\t\\tif (lives<5)\\n\\t\\t\\t\\t\\t\\t\\tlives+=1;//add a life up to 5\\n\\t\\t\\t\\t\\t\\tpowerUps.remove(a);\\n\\t\\t\\t\\t\\t} else if (power.getType()==\\\"LONG\\\" && power.getIntersected()==false) {\\n\\t\\t\\t\\t\\t\\tpower.setIntersected(true);\\n\\t\\t\\t\\t\\t\\textended = true;//extended flag to say the slider is extended. extend the slider's width by the adjust amount preset globally\\n\\t\\t\\t\\t\\t\\tslider.resize(slider.getWidth()+adjust, slider.getHeight());\\n\\t\\t\\t\\t\\t\\tslider.setX(slider.getX()-adjust/2);\\n\\t\\t\\t\\t\\t\\textendTimer.restart();//restart the entend timer\\n\\t\\t\\t\\t\\t\\tpowerUps.remove(a);\\n\\t\\t\\t\\t\\t} else if (power.getType()==\\\"BONUS\\\" && power.getIntersected()==false) {\\n\\t\\t\\t\\t\\t\\tpower.setIntersected(true);\\n\\t\\t\\t\\t\\t\\tscore+=100;//add a 100 points.\\n\\t\\t\\t\\t\\t\\tpowerUps.remove(a);\\n\\t\\t\\t\\t\\t}\\n\\t\\t\\t\\t}\\n\\t\\t\\t}\\n\\t\\t\\t\\n\\t\\t\\t//collision with blocks\\n\\t\\t\\t\\n\\t\\t\\tboolean changed = false;//this is a flag to see if any collisions occured this frame\\n\\t\\t\\tfor (Block block:blocks) {\\n\\t\\t\\t\\tRectangle r = block.getRect();\\t\\t\\n\\t\\t\\t\\tif (r.intersects(ball.getRect())) {//if the rects intersected, something hit something. However, we don't know from what direction\\n\\t\\t\\t\\t\\t//since the vy is always going to be by 1, we can check if it is equal. There is no multiples to deal with. \\n\\t\\t\\t\\t\\t\\n\\t\\t\\t\\t\\t//this checks if it was colliding from the bottom. Check the bottom edge of block and top of the ball\\n\\t\\t\\t\\t\\tif (ball.getY() + 2 >= block.getBottom() && ball.getY() -2 <= block.getBottom() && ball.getIntersected()==false) {\\n\\t\\t\\t\\t\\t\\t//bottom collision\\n\\t\\t\\t\\t\\t\\tballVY*=-1;//reflect back\\n\\t\\t\\t\\t\\t\\tscore += block.downColor();//change the color, adjust score\\n\\t\\t\\t\\t\\t\\tball.setIntersected(true);//set the intersected flag so it will not trigger again for the same stimuli\\n\\t\\t\\t\\t\\t\\tball.setY(ball.getY() + ballVY);//set the y to remove the ball from collision\\n\\t\\t\\t\\t\\t\\tchanged=true;//set the changed flag to true\\n\\t\\t\\t\\t\\t\\thitSound.play();//play a sound\\n\\t\\t\\t\\t\\t\\t\\n\\t\\t\\t\\t\\t} else if (ball.getY() + ball.getHeight() + 2 >=block.getTop() && ball.getY() + ball.getHeight() -2 <=block.getTop() && ball.getIntersected()==false) {\\n\\t\\t\\t\\t\\t\\t//this checks if it was colliding on the top. Check bottom edge of ball and top of block.\\n\\t\\t\\t\\t\\t\\tballVY*=-1;//reflect back\\n\\t\\t\\t\\t\\t\\tscore += block.downColor();//change the color, adjust score\\n\\t\\t\\t\\t\\t\\tball.setIntersected(true);//set the intersected flag so it will not trigger again for the same stimuli\\n\\t\\t\\t\\t\\t\\tball.setY(ball.getY() + ballVY);//set the y to remove the ball from collision\\n\\t\\t\\t\\t\\t\\tchanged=true;//set the changed flag to true\\n\\t\\t\\t\\t\\t\\thitSound.play();//play a sound\\n\\t\\t\\t\\t\\t}\\n\\t\\t\\t\\t\\t\\n\\t\\t\\t\\t\\tif (changed==false && ball.getIntersected()==false) {\\n\\t\\t\\t\\t\\t\\t//this must mean it is on the left or right\\n\\t\\t\\t\\t\\t\\t//it doesn't matter which one, the change is the exact same!\\n\\t\\t\\t\\t\\t\\tballVX*=-1;//flip the x direction\\n\\t\\t\\t\\t\\t\\tscore+=block.downColor();//change color, adjust score\\n\\t\\t\\t\\t\\t\\tball.setIntersected(true);//set the intersected flag\\n\\t\\t\\t\\t\\t\\tball.setX(ball.getX() + ballVX);\\n\\t\\t\\t\\t\\t\\tchanged=true;//set the changed flag\\n\\t\\t\\t\\t\\t\\thitSound.play();//play the sound\\n\\t\\t\\t\\t\\t}\\n\\t\\t\\t\\t\\t\\n\\t\\t\\t\\t\\t\\n\\t\\t\\t\\t\\t}\\n\\t\\t\\t}//end the for.\\n\\t\\t\\tif (changed==false) {//if no changes, reset the flag.\\n\\t\\t\\t\\tball.setIntersected(false);\\n\\t\\t\\t}\\n\\t\\t\\t\\n\\t\\t\\t\\n\\t\\t\\t\\n\\t\\t\\t//move everything as per velocity\\n\\t\\t\\tif (slider.getX() > 10 && sliderVX<0) {\\n\\t\\t\\t\\tslider.setX(slider.getX() + sliderVX*ballSpeed*2);//the slider can move twice as fast as the ball.\\n\\t\\t\\t} else if ((slider.getX()+slider.getWidth()) < GamePlay.getScreenWidth()-10 && sliderVX>0) {\\n\\t\\t\\t\\tslider.setX(slider.getX() + sliderVX*ballSpeed*2);\\n\\t\\t\\t}\\n\\t\\t\\tif (ready) {\\n\\t\\t\\t\\tball.setX(ball.getX() + ballVX);\\n\\t\\t\\t\\tball.setY(ball.getY() + ballVY);\\n\\t\\t\\t}\\n\\t\\t\\t\\n\\t\\t\\t\\n\\t\\t}\",\n \"void nearingTheWallBefore(){\\n robot.absgyroRotation(0, \\\"absolute\\\");\\n\\n //alligning with the wall before going for the toy\\n while(robot.leftDistanceSensor.getDistance(DistanceUnit.CM) > 15 && !isStopRequested()){\\n if(robot.leftDistanceSensor.getDistance(DistanceUnit.CM) < 30)\\n robot.mecanumMovement(0, .3, 0);\\n else\\n robot.mecanumMovement(0, .7, 0);\\n\\n telemetry.addLine(\\\"Distance from sensor: \\\" + robot.leftDistanceSensor.getDistance(DistanceUnit.CM));\\n telemetry.update();\\n }\\n robot.mecanumMovement(0, 0, 0);\\n\\n robot.absgyroRotation(45, \\\"absolute\\\");\\n }\",\n \"public void update1() {\\n\\n if(gamepad1.a)\\n aCount1++;\\n else\\n aCount1 = 0;\\n if(aCount1 == DEBOUNCING_NUMBER_OF_SAMPLES)\\n aToggle1 = !aToggle1;\\n\\n if(gamepad1.b)\\n bCount1++;\\n else\\n bCount1 = 0;\\n if(bCount1 == DEBOUNCING_NUMBER_OF_SAMPLES)\\n bToggle1 = !bToggle1;\\n\\n if(gamepad1.x)\\n xCount1++;\\n else\\n xCount1 = 0;\\n if(xCount1 == DEBOUNCING_NUMBER_OF_SAMPLES)\\n xToggle1 = !xToggle1;\\n\\n if(gamepad1.y)\\n yCount1++;\\n else\\n yCount1 = 0;\\n if(yCount1 == DEBOUNCING_NUMBER_OF_SAMPLES)\\n yToggle1 = !yToggle1;\\n\\n if(gamepad1.dpad_down)\\n dpadDownCount1++;\\n else\\n dpadDownCount1 = 0;\\n if(dpadDownCount1 == DEBOUNCING_NUMBER_OF_SAMPLES)\\n dpadDownToggle1 = !dpadDownToggle1;\\n\\n if(gamepad1.dpad_up)\\n dpadUpCount1++;\\n else\\n dpadUpCount1 = 0;\\n if(dpadUpCount1 == DEBOUNCING_NUMBER_OF_SAMPLES)\\n dpadUpToggle1 = !dpadUpToggle1;\\n\\n if(gamepad1.left_bumper)\\n leftBumperCount1++;\\n else\\n leftBumperCount1 = 0;\\n if(leftBumperCount1 == DEBOUNCING_NUMBER_OF_SAMPLES)\\n leftBumperToggle1 = !leftBumperToggle1;\\n\\n if(gamepad1.right_bumper)\\n rightBumperCount1++;\\n else\\n rightBumperCount1 = 0;\\n if(rightBumperCount1 == DEBOUNCING_NUMBER_OF_SAMPLES)\\n rightBumperToggle1 = !rightBumperToggle1;\\n\\n if(gamepad1.left_stick_button)\\n leftStick1++;\\n else\\n leftStick1 = 0;\\n if(leftStick1 == DEBOUNCING_NUMBER_OF_SAMPLES)\\n leftStickToggle1 = !leftStickToggle1;\\n\\n if(gamepad1.right_stick_button)\\n rightStick1++;\\n else\\n rightStick1 = 0;\\n if(rightStick1 == DEBOUNCING_NUMBER_OF_SAMPLES)\\n rightStickToggle1 = !rightStickToggle1;\\n\\n if(gamepad2.left_stick_button)\\n leftStick2++;\\n else\\n leftStick2 = 0;\\n if(leftStick2 == DEBOUNCING_NUMBER_OF_SAMPLES)\\n leftStickToggle2 = !leftStickToggle2;\\n\\n if(gamepad2.right_stick_button)\\n rightStick2++;\\n else\\n rightStick2 = 0;\\n if(rightStick2 == DEBOUNCING_NUMBER_OF_SAMPLES)\\n rightStickToggle2 = !rightStickToggle2;\\n\\n }\",\n \"@Override\\npublic void teleopPeriodic() {\\nm_robotDrive.arcadeDrive(m_stick.getRawAxis(5)* (-0.5), m_stick.getRawAxis(4)*0.5);\\n}\",\n \"public void loop() {\\n\\n // robot.leftClamp.setPosition(((gamepad2.left_stick_y / 2) + .5));\\n // robot.rightClamp.setPosition(((gamepad2.right_stick_y / 2) + .5));\\n\\n if(gamepad2.a){\\n robot.rightClamp.setPosition(0);\\n robot.leftClamp.setPosition(1);\\n }\\n else if(gamepad2.b){\\n robot.rightClamp.setPosition(.275);\\n robot.leftClamp.setPosition(.775);\\n }\\n\\n\\n }\",\n \"public void configVelocityControl() {\\n leftDrive.configTeleopVelocity();\\n rightDrive.configTeleopVelocity();\\n }\",\n \"public void teleopPeriodic() {\\n \\t//driveTrain.setInputSpeed(xbox.getAxisLeftY(), xbox.getAxisRightY());\\n \\t\\n \\tdriveTrain.print();\\n \\t\\n \\t// funcao PID\\n \\tif (xbox.getButtonX()) {\\n\\t\\t\\tbotaoapertado = true;\\n\\t\\t} else if (xbox.getButtonY()) {\\n\\t\\t\\tbotaoapertado = false;\\n\\t\\t\\tdriveTrain.start();\\n\\t\\t\\tdriveTrain.setSetPoint(0, 0);\\n\\t\\t}\\n \\tif (botaoapertado) {\\n \\t\\tdriveTrain.setSetPoint(100, 100);\\n\\t\\t}\\n \\t\\n }\",\n \"protected void execute() \\n {\\n if(Robot.isClimbEnabled)\\n if(Math.abs(Robot.oi.driverJoystick.getLeftStickRaw_Y())>0.1) //we only want to drive fwd, never reverse\\n Robot.monkeyBarIntakeWheels.driveIntakeAll((Math.abs(Robot.oi.driverJoystick.getLeftStickRaw_Y()+.2)) + 0.15);\\n else\\n Robot.monkeyBarIntakeWheels.driveIntakeAll(0.07); //always drive wheels in climb mode\\n else\\n Robot.monkeyBarIntakeWheels.driveIntakeAll(0.6*Robot.oi.getMonkeyBarIntakeJoystickValue());\\n }\",\n \"public void adjustShooterAngleManual() {\\n\\n // If the driver pushes the Square Button on the PS4 Controller,\\n // set the worm drive motors to go backwards (lower it).\\n if (PS4.getRawButton(PS4_X_BUTTON) == true) {\\n\\n wormDriveMotors.set(-0.2);\\n\\n // If the driver pushes the Triangle Button on the PS4 Controller,\\n // set the worm drive motors to go forwards (raise it up).\\n } else if (PS4.getRawButton(PS4_SQUARE_BUTTON) == true) {\\n\\n wormDriveMotors.set(0.4);\\n }\\n\\n // If the driver is an idiot and is pressing BOTH the Square Button AND the\\n // Triangle Button at the same time, OR (||) if the driver is pushing neither\\n // button, set the motor speed to 0.\\n else if (((PS4.getRawButton(PS4_X_BUTTON) == true) && (PS4.getRawButton(PS4_SQUARE_BUTTON) == true))\\n || ((PS4.getRawButton(PS4_X_BUTTON) == false) && (PS4.getRawButton(PS4_SQUARE_BUTTON) == false))) {\\n\\n wormDriveMotors.set(0);\\n }\\n\\n }\",\n \"void enablePWM(double initialDutyCycle);\",\n \"private void controlLift()\\n {\\n if (gamepad1.dpad_up) {\\n liftMotor.setPower(-0.5);\\n } else if (gamepad1.dpad_down) {\\n liftMotor.setPower(0.5);\\n } else {++backInc;\\n liftMotor.setPower(0);\\n }\\n }\",\n \"public void autoScoreBottomCenterPeg() {\\n getRobotDrive().goForward(-.5); //Speed at which to back up\\n Timer.delay(1); //Time to continue backing up\\n getRobotDrive().stop(); //Stop backing up\\n arm.armJag.set(.4); //Speed to lower arm *may need to be inverted*\\n Timer.delay(.5); //Time to lower arm\\n arm.grabTube(true); //Opens the claw to release Ub3r Tube\\n getRobotDrive().goForward(-.5); //Speed at which to back up again\\n arm.armJag.set(.3); //Lowers arm safely to ground.\\n\\n }\",\n \"void think() {\\n //get the output of the neural network\\n decision = brain.output(vision);\\n\\n if (decision[0] > 0.8) {//output 0 is boosting\\n boosting = true;\\n } else {\\n boosting = false;\\n }\\n if (decision[1] > 0.8) {//output 1 is turn left\\n spin = -0.08f;\\n } else {//cant turn right and left at the same time\\n if (decision[2] > 0.8) {//output 2 is turn right\\n spin = 0.08f;\\n } else {//if neither then dont turn\\n spin = 0;\\n }\\n }\\n //shooting\\n if (decision[3] > 0.8) {//output 3 is shooting\\n shoot();\\n }\\n }\",\n \"public Indexer() {\\n motor = new CANSparkMax(RobotMap.INDEX_MOTOR, MotorType.kBrushless);\\n motorPid = motor.getPIDController();\\n motorEnc = motor.getEncoder();\\n\\n motorEnc.setVelocityConversionFactor(1);\\n motorEnc.setPositionConversionFactor(1);\\n\\n motorEnc.setPosition(0);\\n\\n motorPid.setIZone(200);\\n motorPid.setOutputRange(-1, 1);\\n\\n motorPid.setP(Constants.INDEXER_P);\\n motorPid.setI(Constants.INDEXER_I);\\n motorPid.setD(Constants.INDEXER_D);\\n motorPid.setFF(Constants.INDEXER_FF);\\n\\n motorPid.setSmartMotionMaxAccel(10000, 0);\\n motorPid.setSmartMotionAccelStrategy(AccelStrategy.kTrapezoidal, 0);\\n motorPid.setSmartMotionMaxVelocity(MAX_VEL, 0);\\n // motorPid.setSmartMotionMinOutputVelocity(100, 0);\\n motorPid.setSmartMotionAllowedClosedLoopError(0.5, 0);\\n\\n motor.setIdleMode(IdleMode.kBrake);\\n\\n input1 = new DigitalInput(RobotMap.LIMIT_PORT_1);\\n input2 = new DigitalInput(RobotMap.LIMIT_PORT_2);\\n input3 = new DigitalInput(RobotMap.LIMIT_PORT_3);\\n input5 = new DigitalInput(RobotMap.LIMIT_PORT_5);\\n inputDecrement = new DigitalInput(RobotMap.LIMIT_PORT_DECREMENT);\\n\\n var tab = Shuffleboard.getTab(\\\"Indexer\\\");\\n tab.addNumber(\\\"Motor Speed\\\", motorEnc::getVelocity);\\n // tab.addNumber(\\\"Position\\\", motorEnc::getPosition);\\n tab.addNumber(\\\"Num Balls\\\", () -> numBalls);\\n tab.addBoolean(\\\"Beam Break 1\\\", input1::get);\\n tab.addBoolean(\\\"Beam Break 2\\\", input2::get);\\n tab.addBoolean(\\\"Beam Break 3\\\", input3::get);\\n // tab.addBoolean(\\\"Beam Break 4\\\", input4::get);\\n tab.addBoolean(\\\"Beam Break 5\\\", input5::get);\\n\\n var matchTab = Shuffleboard.getTab(\\\"Match\\\");\\n matchTab.addNumber(\\\"Num Balls\\\", this::getNumBalls);\\n matchTab.addBoolean(\\\"5 Balls\\\", () -> getNumBalls() >= 5);\\n\\n new Thread(() -> {\\n boolean wasRead = false;\\n while (true) {\\n if (inputDecrement.get() && !wasRead) {\\n wasRead = true;\\n } else if (!inputDecrement.get() && wasRead) {\\n decrementBall();\\n wasRead = false;\\n }\\n try {\\n Thread.sleep(5);\\n } catch (InterruptedException e) {\\n }\\n }\\n }).start();\\n }\",\n \"public void joystickDeadZone() {\\n\\t\\tif (joystickLXAxis <= 0.075 && joystickLXAxis >= -0.075) {\\n\\t\\t\\tjoystickLXAxis = 0;\\n\\t\\t} if (joystickLYAxis <= 0.075 && joystickLYAxis >= -0.075) {\\n\\t\\t\\tjoystickLYAxis = 0;\\n\\t\\t}\\n\\t\\tif (joystickRXAxis <= 0.075 && joystickRXAxis >= -0.075) {\\n\\t\\t\\tjoystickRXAxis = 0;\\n\\t\\t} if (joystickRYAxis <= 0.075 && joystickRYAxis >= -0.075) {\\n\\t\\t\\tjoystickRYAxis = 0;\\n\\t\\t}\\n\\t}\",\n \"public void tensionRangeCheck(){\\n if(motor.get() < 0){\\n if(Bottom_Limit_Switch.get() | tenPot.pidGet()> tenPotMAX ){\\n motor.set(0.0);\\n }\\n }else if(motor.get() > 0){\\n if(Top_Limit_Switch.get() | tenPot.pidGet()< tenPotMIN){\\n motor.set(0.0);\\n }\\n }\\n }\",\n \"@Override\\n public void loop() {\\n\\n // Right wheels will be controlled by the right stick\\n // Left wheels will be controlled by the left stick\\n float rightWheels = gamepad1.right_stick_y;\\n float leftWheels = gamepad1.left_stick_y;\\n\\n // write the values to the motors\\n setRightMotors(rightWheels);\\n setLeftMotors(leftWheels);\\n\\n //When dino arms are open\\n if (gamepad2.left_bumper){\\n openDinoArms();\\n }\\n\\n //When dino arms are closed\\n if (gamepad2.right_bumper){\\n closeDinoArms();\\n }\\n\\n //When ball channel is open\\n if (gamepad2.b) {\\n openBallChannel();\\n } else {\\n //When ball channel is closed\\n closeBallChannel();\\n }\\n\\n //When the deflector is raised\\n if (gamepad2.y) {\\n openDeflector();\\n }\\n else {\\n stopDeflector();\\n }\\n\\n //When deflector is lowered\\n if (gamepad2.a) {\\n closeDeflector();\\n }\\n else {\\n stopDeflector();\\n }\\n\\n //When ball is shooting\\n if (gamepad2.x) {\\n shootBalls();\\n }\\n else{\\n stopShootBalls();\\n }\\n\\n //When collector is collecting balls\\n if (gamepad1.right_trigger>0){\\n collectorForward();\\n }\\n else {\\n stopCollector();\\n }\\n\\n //When collector is spitting balls out\\n if (gamepad1.left_trigger>0){\\n collectorBackward();\\n }\\n else{\\n stopCollector();\\n }\\n }\",\n \"public void operatorControl() {\\n \\tmyRobot.setSafetyEnabled(true);\\n while (isOperatorControl() && isEnabled()) {\\n \\tdouble x = stick2.getRawAxis(0);\\n \\tdouble y = stick2.getRawAxis(1);\\n \\tdouble rot = stick.getRawAxis(0);\\n \\tSmartDashboard.putNumber(\\\"x1\\\", x);\\n SmartDashboard.putNumber(\\\"y1\\\", y);\\n SmartDashboard.putNumber(\\\"rot1\\\", rot);\\n \\tif(Math.abs(x) < .2)\\n \\t\\tx = 0;\\n \\tif(Math.abs(y) < .2)\\n \\t\\ty = 0;\\n \\tif(Math.abs(rot) < .2)\\n \\t\\trot = 0;\\n \\tmyRobot.mecanumDrive_Cartesian(x*-1, y*-1,rot*-1, gyro.getAngle());\\n double current1 = pdp.getCurrent(0);\\n double current2 = pdp.getCurrent(13);\\n double current3 = pdp.getCurrent(15);\\n double current4 = pdp.getCurrent(12);\\n SmartDashboard.putNumber(\\\"Front Left current\\\", current1);\\n SmartDashboard.putNumber(\\\"back Left current\\\", current2);\\n SmartDashboard.putNumber(\\\"Front right current\\\", current3);\\n SmartDashboard.putNumber(\\\"back right current\\\", current4);\\n SmartDashboard.putNumber(\\\"x\\\", x);\\n SmartDashboard.putNumber(\\\"y\\\", y);\\n SmartDashboard.putNumber(\\\"rot\\\", rot);\\n SmartDashboard.putNumber(\\\"Gyro\\\", gyro.getAngle());\\n \\tTimer.delay(0.005);\\t\\t// wait for a motor update time\\n }\\n }\",\n \"public void up() {\\n\\t\\tmotor1.set( Constants.CLAW_MOTOR_SPEED );\\n\\t\\t}\",\n \"@Override\\n\\tprotected void initialize() {\\n\\t\\t//hookMotor1.configPeakCurrentDuration(9000, 10000);\\n\\t\\t//hookMotor1.configPeakCurrentLimit(40, 10000);\\n\\t\\t//hookMotor2.configPeakCurrentDuration(9000, 10000);\\n\\t\\t//hookMotor2.configPeakCurrentLimit(40, 10000);\\n\\t\\thookMotor1.enableCurrentLimit(false);\\n\\t\\thookMotor2.enableCurrentLimit(false);\\n\\n\\t\\t//first move joint2 forward to release hook\\n//\\t\\tRobot.joint2Cmd = new Joint2Cmd(RobotMap.jointEncoder2.getRaw(), -1647, 1000);\\n//\\t\\tRobot.joint2Cmd.start();\\n\\t\\t\\n\\t\\thookMotor1.set(ControlMode.PercentOutput, -1.0);\\n\\t\\thookMotor2.set(ControlMode.PercentOutput, -1.0);\\n\\t\\tstepCnt = 0;\\n\\t\\tSystem.out.println(\\\"start climbing\\\");\\n\\t}\",\n \"void disablePWM();\",\n \"@Override\\n public void teleopPeriodic() {\\n double x = xcontroller2.getX(Hand.kLeft);\\n //double y = xcontroller1.getTriggerAxis(Hand.kRight) - xcontroller1.getTriggerAxis(Hand.kLeft);\\n // For testing just use left joystick. Use trigger axis code for GTA Drive/\\n double y = -xcontroller2.getY(Hand.kLeft);\\n double z = xcontroller2.getX(Hand.kRight);\\n double yaw = imu.getAngleZ();\\n RobotDT.driveCartesian(x, y, 0, 0);\\n \\n\\n // After you spin joystick R3 press A button to reset gyro angle\\n if (xcontroller1.getAButtonPressed()) {\\n imu.reset();\\n }\\n \\n if (xcontroller2.getBButtonPressed()){\\n mGPM.goSpongeHatch();\\n }\\n\\n if (xcontroller2.getXButtonPressed()){\\n mGPM.goPineHome();\\n \\n }\\n\\n\\n /** \\n * If Bumpers are pressed then Cargo Intake Motor = -1 for Intake \\n *if Triggers are pressed set value to 1 for Outtake\\n *If triggers are released set value to 0*/\\n if(xcontroller2.getBumperPressed(Hand.kLeft) && xcontroller2.getBumperPressed(Hand.kRight)) {\\n mGPM.setCargoMotor(-1);\\n } else if((xcontroller2.getTriggerAxis(Hand.kLeft) >0.75) && (xcontroller2.getTriggerAxis(Hand.kRight) >0.75)) {\\n mGPM.setCargoMotor(1);\\n } else{\\n mGPM.setCargoMotor(0);\\n }\\n }\",\n \"public void commonPeriodic()\\n {\\n double d1LeftJoystick = driver1.getAxis(driver1.LAxisUD);\\n double d1RightJoystick = driver1.getAxis(driver1.RAxisUD);\\n\\n double d2LeftJoystick = driver2.getAxis(driver2.LAxisUD);\\n double d2RightJoystick = driver2.getAxis(driver2.RAxisUD);\\n\\n // -------------------- DRIVER 1\\n\\n driveTrain.drive(d1LeftJoystick * speedModifier, d1RightJoystick * speedModifier);\\n\\n // driver1 controls ramp\\n // press start and select together to deploy\\n if(driver1.down(driver1.Start) && driver1.down(driver1.Select))\\n {\\n ramp.deploy();\\n hatchArm.fingerGrab();\\n }\\n else\\n {\\n ramp.undeploy();\\n }\\n\\n // driver 1 can double speed by holding L2\\n //driveTrain.fastSpeed = driver1.down(driver1.L2);\\n if(driver1.pressed(driver1.A))\\n {\\n driveTrain.slowSpeed = !driveTrain.slowSpeed;\\n System.out.println(\\\"Fast speed toggled to: \\\" + driveTrain.slowSpeed);\\n }\\n\\n //drive straight\\n if(driver1.down(driver1.L1))\\n {\\n driveTrain.set_right_motors(speedModifier);\\n }\\n if(driver1.down(driver1.R1))\\n {\\n driveTrain.set_left_motors(speedModifier);\\n }\\n\\n // flip drive orientation\\n if(driver1.pressed(driver1.Select))\\n {\\n driveTrain.flip_orientation();\\n \\n if(driveTrain.isFacingForward())\\n {\\n camServForward.setSource(camFront);\\n //camServReverse.setSource(camBack);\\n // camBack.free();\\n // camFront.close();\\n // camFront = CameraServer.getInstance().startAutomaticCapture(0);\\n // camBack = CameraServer.getInstance().startAutomaticCapture(1);\\n }\\n else\\n {\\n camServForward.setSource(camBack);\\n //camServReverse.setSource(camFront);\\n // camBack.close();\\n // camFront.close();\\n // camFront = CameraServer.getInstance().startAutomaticCapture(1);\\n // camBack = CameraServer.getInstance().startAutomaticCapture(0);\\n }\\n }\\n\\n\\n // -------------------- DRIVER 2\\n\\n\\n // up is out\\n // down is in\\n // (when it's negated)\\n cargoArm.spinBallMotor(-1 * d2LeftJoystick * 0.9);\\n\\n // control hatch placement pistons\\n if(driver2.pressed(driver2.A))\\n {\\n hatchArm.pushPistons();\\n }\\n else if (driver2.released(driver2.A))\\n {\\n hatchArm.retractPistons();\\n }\\n\\n // open/close hatch grabber arms\\n if(driver2.pressed(driver2.B))\\n {\\n hatchArm.toggleGrabber();\\n }\\n\\n if(driver2.pressed(driver2.Select))\\n {\\n //cargoArm.toggleArmLock();\\n hatchArm.toggleFinger();\\n }\\n\\n // extend/de-extend cargo hand\\n if(driver2.pressed(driver2.Start))\\n {\\n cargoArm.toggleHand();\\n }\\n\\n // button 7: L2\\n // button 8: R2\\n // L2 will reverse the finger\\n // R2 will rotate it forward\\n if(driver2.down(driver2.L1))\\n {\\n hatchArm.rotateFinger(1);\\n }\\n else\\n {\\n if(driver2.down(driver2.L2))\\n {\\n hatchArm.rotateFinger(-1);\\n }\\n else\\n {\\n hatchArm.rotateFinger(0);\\n }\\n }\\n\\n \\n // button 5: L1\\n // button 6: R1\\n // L1 will move the hatch arm one way\\n // R1 will move it the other way\\n if(driver2.down(driver2.R1))\\n {\\n hatchArm.rotateArm(-1 * speedModifier);// * 0.75);\\n }\\n else\\n {\\n if(driver2.down(driver2.R2))\\n {\\n hatchArm.rotateArm(1 * speedModifier);// * 0.75);\\n }\\n else\\n {\\n hatchArm.rotateArm(0);\\n }\\n }\\n\\n \\n // button 1: x\\n // button 4: y\\n // button 1 will move the ball arm one way\\n // button 4 will move it the other way\\n if(driver2.down(driver2.X))\\n {\\n //cargoArm.requestMove(-1 * speedModifier);\\n cargoArm.rotateArm(-1);\\n //cargoArm.solArmBrake.set(false);\\n }\\n else\\n {\\n if(driver2.down(driver2.Y))\\n {\\n //cargoArm.requestMove(2 * speedModifier);\\n cargoArm.rotateArm(1);\\n //cargoArm.solArmBrake.set(false);\\n }\\n else\\n {\\n //cargoArm.rotateArm(cargoArm.getArmCalculation());\\n //cargoArm.solArmBrake.set(true);\\n cargoArm.rotateArm(0);\\n }\\n }\\n if(driver2.released(driver2.X) || driver2.released(driver2.Y))\\n {\\n //cargoArm.setArmTarget(cargoArm.currentPosition());\\n //cargoArm.solArmBrake.set(true);\\n cargoArm.rotateArm(0);\\n }\\n\\n if(driver2.dpad(driver2.Up))\\n {\\n cargoArm.setArmUp();\\n }\\n if(driver2.dpad(driver2.Down))\\n {\\n cargoArm.setArmDown();\\n }\\n if(driver2.dpad(driver2.Left))\\n {\\n cargoArm.setArmMid();\\n }\\n if(driver2.dpad(driver2.Right))\\n {\\n cargoArm.setArmLow();\\n }\\n\\n if(driver2.pressed(driver2.LThumb))\\n {\\n cargoArm.armLockEnabled = !cargoArm.armLockEnabled;\\n \\n }\\n if(driver2.pressed(driver2.RThumb))\\n {\\n cargoArm.toggleBrake();\\n }\\n\\n\\n // allow move-to calculations to occur\\n hatchArm.periodic();\\n cargoArm.periodic();\\n }\",\n \"@Override\\n public void run() {\\n while (!stop) {\\n /**change the variable that controls the speed of the chassis using the bumpers*/\\n if (gamepad1.right_bumper) {\\n v = 1;\\n } else if (gamepad1.left_bumper) {\\n v = 2;\\n }\\n /**getting the gamepad joystick values*/\\n forward = gamepad1.left_stick_y;\\n right = -gamepad1.left_stick_x;\\n clockwise = gamepad1.right_stick_x;\\n\\n /**calculating the power for motors */\\n df = forward + clockwise - right;\\n ss = -forward + clockwise + right;\\n sf = -forward + clockwise - right;\\n ds = forward + clockwise + right;\\n\\n /**normalising the power values*/\\n max = abs(sf);\\n if (abs(df) > max) {\\n max = abs(df);\\n }\\n if (abs(ss) > max) {\\n max = abs(ss);\\n }\\n if (abs(ds) > max) {\\n max = abs(ds);\\n }\\n if (max > 1) {\\n sf /= max;\\n df /= max;\\n ss /= max;\\n ds /= max;\\n }\\n /** setting the speed of the chassis*/\\n if (v == 1) {\\n POWER(df / 5, sf / 5, ds / 5, ss / 5);\\n } else if (v == 2) {\\n POWER(df, sf, ds, ss);\\n }\\n }\\n }\",\n \"private void driveForwardTimer()\\r\\n\\t{\\r\\n\\t\\tif(timer.get() < Config.Auto.timeDriveForward){\\r\\n\\t\\t\\tdrive.setSpeed(0, 0, Config.Auto.driveForwardSpeed, Config.Auto.driveForwardSpeed);\\r\\n\\t\\t\\tSystem.out.println(timer.get());}\\r\\n\\t\\t\\r\\n\\t\\telse\\r\\n\\t\\t{\\r\\n\\t\\t\\tdrive.setSpeed(0, 0, 0, 0);\\r\\n\\t\\t\\tautoStep++;\\r\\n\\t\\t}\\r\\n\\t}\",\n \"public void loop()\\n {\\n double rightPower, leftPower;\\n double gearRatio = gamepad1.right_bumper ? 0.7 : 0.2;\\n // If right_bumper is down, the gearRatio is 0.7. Otherwise, the gearRatio is 0.3\\n \\n rightPower = gearRatio * gamepad1.left_stick_y;\\n leftPower = gearRatio * gamepad1.right_stick_y;\\n \\n leftpower = Range.clip(leftpower, -1, 1); //gamepad controllers have a value of 1 when you push it to its maximum foward\\n rightpower = Range.clip(rightpower, -1, 1); //limiting the range of each power, min first then max\\n \\n motorR.setPower(rightPower);\\n motroL.setPower(leftPower);\\n \\n telemetry.addData(\\\"Gear Ratio \\\", gearRatio);\\n telemetry.addData(\\\"Right Power \\\", rightPower);\\n telemetry.addData(\\\"Left Power \\\", leftPower);\\n \\n \\n }\",\n \"public void teleopPeriodic() {\\r\\n //Driving\\r\\n if (driveChooser.getSelected().equals(\\\"tank\\\")){\\r\\n if (joystickChooser.getSelected().equals(\\\"two\\\")){\\r\\n drive.tankDrive(leftJoystick.getY(), rightJoystick.getY());\\r\\n } \\r\\n else {\\r\\n drive.tankDrive(manipulator.getY(), manipulator.getThrottle());\\r\\n }\\r\\n }\\r\\n if (driveChooser.getSelected().equals(\\\"arcade1\\\")){\\r\\n if (joystickChooser.getSelected().equals(\\\"two\\\")){\\r\\n drive.arcadeDrive(leftJoystick.getY(), leftJoystick.getX());\\r\\n } \\r\\n else {\\r\\n drive.arcadeDrive(manipulator.getY(), manipulator.getX());\\r\\n }\\r\\n }\\r\\n if (driveChooser.getSelected().equals(\\\"arcade2\\\")){\\r\\n if (joystickChooser.getSelected().equals(\\\"two\\\")){\\r\\n drive.arcadeDrive(leftJoystick.getY(), rightJoystick.getX());\\r\\n }\\r\\n else{\\r\\n drive.arcadeDrive(manipulator.getY(), manipulator.getTwist());\\r\\n }\\r\\n }\\r\\n \\r\\n //Shooting\\r\\n if (shootButton1.get()||shootButton2.get()){\\r\\n frontShooter.set(-1);\\r\\n backShooter.set(1);\\r\\n }\\r\\n else{\\r\\n frontShooter.set(0);\\r\\n backShooter.set(0); \\r\\n }\\r\\n if (transportButton1.get()||transportButton2.get()){\\r\\n transport.set(-1);\\r\\n }\\r\\n else{\\r\\n transport.set(0); \\r\\n }\\r\\n \\r\\n //Intake\\r\\n if (intakeButton1.get()||intakeButton2.get()){\\r\\n //intakeA.set(-1);BROKEN\\r\\n intakeB.set(-1);\\r\\n }\\r\\n else{\\r\\n intakeA.set(0);\\r\\n intakeB.set(0); \\r\\n }\\r\\n \\r\\n //Turret\\r\\n if (toggleTurretButton.get()){\\r\\n turret.set(leftJoystick.getX());\\r\\n }\\r\\n else{\\r\\n turret.set(manipulator.getX());\\r\\n }\\r\\n }\",\n \"@Override\\r\\n\\tpublic void autonomous() {\\n\\r\\n\\t\\tint autoMode = -1;\\r\\n\\t\\t\\r\\n\\t\\tif (!switch1.get() && !switch2.get() && !switch3.get()) {\\r\\n\\t\\t\\t//if all the switches are off\\r\\n\\t\\t\\tautoMode = 0;\\r\\n\\t\\t} else if (switch1.get() && !switch2.get() && !switch3.get()) {\\r\\n\\t\\t\\tautoMode = 1;\\r\\n\\t\\t} else if (!switch1.get() && switch2.get() && !switch3.get()) {\\r\\n\\t\\t\\tautoMode = 2;\\r\\n\\t\\t} else if (switch1.get() && switch2.get() && !switch3.get()) {\\r\\n\\t\\t\\tautoMode = 3;\\r\\n\\t\\t}\\r\\n\\r\\n\\t\\tautotime.start();\\r\\n\\r\\n\\t\\t// double[] wheelSpeeds = new double[2];\\r\\n\\t\\t// double[] startCoords = {0, 0, Math.PI / 2};\\r\\n\\t\\t// double[] endCoords = {0, 1, Math.PI / 2};\\r\\n\\t\\t// AutoPath pathAuto = new AutoPath(startCoords, endCoords,\\r\\n\\t\\t// ahrs.getAngle());\\r\\n\\t\\t//\\r\\n\\t\\t// int i = 0;\\r\\n\\t\\t// boolean successfullyGrabbedRectangles = false;\\r\\n\\t\\t\\r\\n\\t\\tboolean shotGear = false;\\r\\n\\t\\t//boolean hasBackedUp = false;\\r\\n\\t\\twhile (isAutonomous() && isEnabled()) {\\r\\n\\t\\t\\t// auto.drive(autoMode);\\r\\n\\r\\n\\t\\t\\t// while(autotime.get() < 3) {\\r\\n\\t\\t\\t// drive.drive(-0.9, -0.9);\\r\\n\\t\\t\\t// }\\r\\n\\r\\n\\t\\t\\t// grab the current switch status\\r\\n\\r\\n\\t\\t\\tswitch (autoMode) {\\r\\n\\t\\t\\tcase 0:\\r\\n\\t\\t\\t\\t//Mark: Drive forward\\r\\n\\r\\n\\t\\t\\t\\tif (autotime.get() < 3) {\\r\\n\\t\\t\\t\\t\\tdrive.drive(-0.9, -0.9);\\r\\n\\t\\t\\t\\t}\\r\\n\\t\\t\\t\\tbreak;\\r\\n\\t\\t\\tcase 1:\\r\\n\\t\\t\\t\\t// Mark: Drive Forward, NO turning, and shoot gear onto peg\\r\\n\\r\\n\\t\\t\\t\\tif (autotime.get() < 3) {\\r\\n\\t\\t\\t\\t\\tdrive.drive(-0.75, -0.75);\\r\\n\\t\\t\\t\\t} else if(!shotGear) {\\r\\n\\t\\t\\t\\t\\t// shoot the gear onto the peg\\r\\n\\t\\t\\t\\t\\tgearOutput.autoOutput();\\r\\n\\t\\t\\t\\t\\tshotGear = true;\\r\\n\\t\\t\\t\\t}else if(autotime.get() < 3.67) {\\r\\n\\t\\t\\t\\t\\tdrive.drive(0.50, 0.50);\\r\\n\\t\\t\\t\\t}else{\\r\\n\\t\\t\\t\\t\\tdrive.drive(0,0);\\r\\n\\t\\t\\t\\t}\\r\\n\\r\\n\\t\\t\\t\\tbreak;\\r\\n\\t\\t\\tcase 2:\\r\\n\\t\\t\\t\\t//Mark: start LEFT of center, drive forward, turn -60 degrees, drive forward, shoot gear on peg\\r\\n\\t\\t\\t\\tif (autotime.get() < 2) {\\r\\n\\t\\t\\t\\t\\tdrive.drive(-0.75, -0.75);\\r\\n\\t\\t\\t\\t} else if (autotime.get() < 2.5) {\\r\\n\\t\\t\\t\\t\\tdrive.drive(1, 0);\\r\\n\\t\\t\\t\\t}else if(autotime.get() < 3.5) { \\r\\n\\t\\t\\t\\t\\tdrive.drive(-.75,-.75);\\r\\n\\t\\t\\t\\t} else if (!shotGear) {\\r\\n\\t\\t\\t\\t\\tgearOutput.autoOutput();\\r\\n\\t\\t\\t\\t\\tshotGear = true;\\r\\n\\t\\t\\t\\t}else if(autotime.get() < 4.5) {\\r\\n\\t\\t\\t\\t\\tdrive.drive(0.75, 0.75);\\r\\n\\t\\t\\t\\t}else{\\r\\n\\t\\t\\t\\t\\tdrive.drive(0,0);\\r\\n\\t\\t\\t\\t}\\r\\n\\t\\t\\t\\tbreak;\\r\\n\\t\\t\\tcase 3:\\r\\n\\t\\t\\t\\t//Mark: start RIGHT of center, drive forward, turn 60 degrees, drive forward, shoot gear on peg\\r\\n\\t\\t\\t\\tif (autotime.get() < 2) {\\r\\n\\t\\t\\t\\t\\tdrive.drive(-0.75, -0.75);\\r\\n\\t\\t\\t\\t} else if (autotime.get() < 2.25) {\\r\\n\\t\\t\\t\\t\\tdrive.drive(0, 1);\\r\\n\\t\\t\\t\\t}else if(autotime.get() < 4) { \\r\\n\\t\\t\\t\\t\\tdrive.drive(-.75,-.75);\\r\\n\\t\\t\\t\\t} else if (!shotGear) {\\r\\n\\t\\t\\t\\t\\tgearOutput.autoOutput();\\r\\n\\t\\t\\t\\t\\tshotGear = true;\\r\\n\\t\\t\\t\\t}else if(autotime.get() < 4.5) {\\r\\n\\t\\t\\t\\t\\tdrive.drive(0.75, 0.75);\\r\\n\\t\\t\\t\\t}else{\\r\\n\\t\\t\\t\\t\\tdrive.drive(0,0);\\r\\n\\t\\t\\t\\t}\\r\\n\\t\\t\\t\\tbreak;\\r\\n\\t\\t\\tdefault:\\r\\n\\t\\t\\t\\tbreak;\\r\\n\\t\\t\\t}\\r\\n\\r\\n\\t\\t\\t// if(!successfullyGrabbedRectangles) {\\r\\n\\t\\t\\t// Rectangle[] targets = grabRectangles();\\r\\n\\t\\t\\t//\\r\\n\\t\\t\\t//// System.out.println(\\\"-----\\\");\\r\\n\\t\\t\\t//// for(Rectangle r : testing) {\\r\\n\\t\\t\\t//// System.out.println(r.getArea());\\r\\n\\t\\t\\t//// }\\r\\n\\t\\t\\t//// System.out.println(\\\"-----\\\");\\r\\n\\t\\t\\t//\\r\\n\\t\\t\\t// if(targets[0].getArea() == 0) {\\r\\n\\t\\t\\t// //since grabRectangles returns 1 rectangle with area of 0, so if\\r\\n\\t\\t\\t// one of the area's\\r\\n\\t\\t\\t// //equals 0, then it was a failed response\\r\\n\\t\\t\\t// successfullyGrabbedRectangles = false;\\r\\n\\t\\t\\t// }else{\\r\\n\\t\\t\\t//\\r\\n\\t\\t\\t// successfullyGrabbedRectangles = true;\\r\\n\\t\\t\\t//\\r\\n\\t\\t\\t// //call auto path to get the wheel speeds from the rectangle\\r\\n\\t\\t\\t// pathAuto.makeNewPath(targets[0].getWidth(),\\r\\n\\t\\t\\t// targets[1].getWidth(), targets[0].getXPos() - 240,\\r\\n\\t\\t\\t// targets[1].getXPos() - 240, ahrs.getAngle());\\r\\n\\t\\t\\t// //drive.drive(wheelSpeeds[0], wheelSpeeds[1]);\\r\\n\\t\\t\\t//\\r\\n\\t\\t\\t// }\\r\\n\\t\\t\\t// }else{\\r\\n\\t\\t\\t// //drive.drive(0,0);\\r\\n\\t\\t\\t//\\r\\n\\t\\t\\t// double[] wheelSpeedsFromPath = pathAuto.getWheelSpeeds(.4); //the\\r\\n\\t\\t\\t// .4 doesn't mean anything at all; Beitel is just weird :^)\\r\\n\\t\\t\\t// drive.drive(wheelSpeedsFromPath[0], wheelSpeedsFromPath[1]);\\r\\n\\t\\t\\t// //System.out.println(\\\"Left:\\\" + wheelSpeedsFromPath[0]);\\r\\n\\t\\t\\t// //System.out.println(\\\"Right: \\\" + wheelSpeedsFromPath[1]);\\r\\n\\t\\t\\t// }\\r\\n\\r\\n\\t\\t}\\r\\n\\t\\t\\r\\n\\t}\",\n \"public void autonomousPeriodic() {\\n //Scheduler.getInstance().run();\\n /** if(autoLoopCounter < 100) { //Checks to see if the counter has reached 100 yet\\n myRobot.drive(-0.5, 0.0); //If the robot hasn't reached 100 packets yet, the robot is set to drive forward at half speed, the next line increments the counter by 1\\n autoLoopCounter++;\\n } else {\\n myRobot.drive(0.0, 0.0); //If the robot has reached 100 packets, this line tells the robot to stop\\n }*/\\n }\",\n \"public void start(){\\n tuningParams = new HashMap<>();\\n running = true;\\n int valsListIndex = 0;\\n Gamepad gamepad1 = FTCUtilities.getOpMode().gamepad1;\\n Switch upSwitch = new Switch();\\n Switch downSwitch = new Switch();\\n\\n\\n for(String name: params.keySet()){\\n tuningParams.put(name,0.0);\\n }\\n\\n while (running){\\n for(String name : paramNames){\\n String output = \\\"\\\";\\n\\n output += name;\\n output += \\\": \\\";\\n output += Double.toString(tuningParams.get(name));\\n if(paramNames.get(valsListIndex).equals(name)){\\n output += \\\"<---\\\"; // Indicator so that we know which value we're editing\\n }\\n\\n FTCUtilities.addLine(output);\\n }\\n\\n if(gamepad1.dpad_up) {\\n if (upSwitch.flip()) {\\n if (valsListIndex >= 1) {\\n valsListIndex -= 1;\\n } else {\\n valsListIndex = paramNames.size() - 1; //wrap to top\\n }\\n }\\n } else if(gamepad1.dpad_down){\\n if (downSwitch.flip()) {\\n if (valsListIndex < paramNames.size() - 1) {\\n valsListIndex += 1;\\n } else {\\n valsListIndex = 0; // wrap around to 0\\n }\\n }\\n } else {\\n String currentValKey = paramNames.get(valsListIndex);\\n double currentValDouble = tuningParams.get(currentValKey);\\n currentValDouble += gamepad1.right_trigger * params.get(currentValKey);\\n currentValDouble -= gamepad1.left_trigger * params.get(currentValKey);\\n tuningParams.put(currentValKey, currentValDouble);\\n }\\n FTCUtilities.updateOpLogger();\\n\\n if (gamepad1.x) {\\n stop();\\n }\\n }\\n }\",\n \"public void run() {\\n \\t//System.out.println(\\\"In Run \\\" + currentPoint + \\\" \\\" + profile.length);\\n \\tif(currentPoint == profile.length) return;\\n \\tdouble[] profilePoint = profile[currentPoint];\\n \\tdouble leftPos = profilePoint[0];\\n \\tdouble leftVel = profilePoint[1];\\n \\tdouble rightPos = profilePoint[2];\\n \\tdouble rightVel = profilePoint[3];\\n \\tdouble heading = profilePoint[4];\\n \\tdouble leftError = leftPos-Robot.sensors.getLeftPosition();\\n \\tdouble rightError = rightPos-Robot.sensors.getRightPosition();\\n \\tdouble correction = kAngle * (heading - Robot.sensors.getHeading());\\n \\t\\n \\t\\n \\tcurrentPoint++;\\n \\t\\n \\tdouble leftPower = leftVel / vmax + (kP * (leftError)) - correction;\\n \\tdouble rightPower = rightVel / vmax + (kP * (rightError)) + correction;\\n \\t\\n \\tleftPower = leftPower > 1 ? 1 : leftPower;\\n \\trightPower = rightPower > 1 ? 1 : rightPower;\\n \\t\\n \\tleftPower = leftPower < -1 ? -1 : leftPower;\\n \\trightPower = rightPower < -1 ? -1 : rightPower;\\n \\t\\n \\tRobot.drive.setPower(leftPower, rightPower);\\n \\t\\n \\tlong currentTime = System.currentTimeMillis();\\n \\tlong elapsedTime = currentTime - lastTime;\\n \\tif(elapsedTime < minElapsedTime) minElapsedTime = elapsedTime;\\n \\tif(elapsedTime > maxElapsedTime) maxElapsedTime = elapsedTime;\\n \\tlastTime = currentTime;\\n \\tif(currentPoint == profile.length) {\\n \\t\\tstopNotifier();\\n \\t}\\n }\",\n \"public void execute () {\\n // Gets values of Xbox joysticks from RobotContainer\\n leftSpeed = robotcontainer.getXboxAxis(Constants.XBOX_LEFT_Y);\\n rightSpeed = robotcontainer.getXboxAxis(Constants.XBOX_RIGHT_Y);\\n\\n if (Math.abs(leftSpeed) > Constants.DRV_DEADZONE || Math.abs(rightSpeed) > Constants.DRV_DEADZONE) {\\n drive.drivePercentOutput(leftSpeed, rightSpeed);\\n } \\n\\n }\",\n \"public void approachTargetWithVision() {\\n final double STEER_P = 0.005; \\n final double DRIVE_P = 0.05; \\n final double DESIRED_TARGET_AREA = 4; // Area of the target when the robot reaches the wall\\n final double MAX_DRIVE = 0.75; // Simple speed limit so we don't drive too fast\\n final double STEER_I = 0.005;\\n final double DRIVE_I = 0.0;\\n final double STEER_D = 0.02;\\n final double xError;\\n final double aError;\\n double DRIVE_INTEGRAL = 0;\\n\\n \\n\\n double tv = NetworkTableInstance.getDefault().getTable(\\\"limelight\\\").getEntry(\\\"tv\\\").getDouble(0);\\n double tx = NetworkTableInstance.getDefault().getTable(\\\"limelight\\\").getEntry(\\\"tx\\\").getDouble(0);\\n double ta = NetworkTableInstance.getDefault().getTable(\\\"limelight\\\").getEntry(\\\"ta\\\").getDouble(0);\\n xError = tx;\\n aError = (DESIRED_TARGET_AREA - ta);\\n // SmartDashboard.putNumber(\\\"TA\\\", ta);\\n // SmartDashboard.putNumber(\\\"TA Error\\\", aError);\\n SmartDashboard.putNumber(\\\"TX Error\\\", xError);\\n STEER_INTEGRAL = STEER_INTEGRAL + (xError*0.02);\\n DRIVE_INTEGRAL = DRIVE_INTEGRAL + (aError * 0.02);\\n STEER_DERIVATIVE = (xError - STEER_ERROR_PRIOR)/0.02;\\n SmartDashboard.putNumber(\\\"Integral\\\", STEER_INTEGRAL);\\n SmartDashboard.putNumber(\\\"Derivative\\\", STEER_DERIVATIVE);\\n SmartDashboard.putNumber(\\\"TA\\\", ta);\\n\\n\\n if (tv < 1.0) {\\n m_LimelightHasValidTarget = false;\\n drive_cmd = 0.0;\\n steer_cmd = 0.0;\\n } else {\\n m_LimelightHasValidTarget = true;\\n // Start with proportional steering\\n steer_cmd = (xError * STEER_P) + (STEER_INTEGRAL * STEER_I) + (STEER_DERIVATIVE * STEER_D);\\n\\n // try to drive forward until the target area reaches our desired area\\n drive_cmd = (aError * DRIVE_P) + (DRIVE_INTEGRAL * DRIVE_I);\\n // don't let the robot drive too fast into the goal\\n if (drive_cmd > MAX_DRIVE){\\n drive_cmd = MAX_DRIVE;\\n }\\n }\\n\\n Robot.driveTrain.setLeftMotors(-drive_cmd - steer_cmd);\\n Robot.driveTrain.setRightMotors(-drive_cmd + steer_cmd);\\n\\n STEER_ERROR_PRIOR = xError;\\n\\n }\",\n \"public void setBoulderLockOff(){\\r\\n\\t\\tservoTarget = Constants.BALL_HOLDER_RETRACTED;\\r\\n\\t}\",\n \"@Override\\r\\n public int paddleSpeed() {\\r\\n return 5;\\r\\n }\",\n \"@Override\\n\\tpublic void robotInit() {\\n\\t\\tdt = new DriveTrain();\\n\\t\\t//Initialize drive Talons\\n\\t\\tRobotMap.vspLeft = new WPI_TalonSRX(RobotMap.dtLeft);\\n\\t\\tRobotMap.vspRight = new WPI_TalonSRX(RobotMap.dtRight);\\n\\t\\t//Initialize drive slave Victors\\n\\t\\t//RobotMap.slaveLeft = new WPI_VictorSPX(RobotMap.slaveDriveLeft);\\n\\t\\t//RobotMap.slaveRight = new WPI_VictorSPX(RobotMap.slaveDriveRight);\\n\\t\\t//Set drive slaves to follower mode\\n\\t\\t//RobotMap.slaveLeft.follow(RobotMap.vspLeft);\\n\\t\\t//RobotMap.slaveRight.follow(RobotMap.vspRight);\\n\\t\\t//Initialize drive train\\n\\t\\tRobotMap.rd = new DifferentialDrive(RobotMap.vspLeft, RobotMap.vspRight);\\n\\t\\t//Initialize drive joystick\\n\\t\\tRobotMap.stick = new Joystick(RobotMap.joystickPort);\\n\\t\\t//Disabled drive safety\\n\\t\\tRobotMap.vspLeft.setSafetyEnabled(false);\\n\\t\\tRobotMap.vspRight.setSafetyEnabled(false);\\n\\t\\tRobotMap.rd.setSafetyEnabled(false);\\n\\t\\t//Initialize lift Talon\\n\\t\\tRobotMap.liftTalon = new WPI_TalonSRX(5);\\n\\t\\t//Initialize operator controller\\n\\t\\tRobotMap.controller = new Joystick(RobotMap.controllerPort);\\n\\t\\t//Initialize intake Victors\\n\\t\\tRobotMap.intakeVictorLeft = new WPI_VictorSPX(RobotMap.intakeMaster);\\n\\t\\tRobotMap.intakeVictorRight = new WPI_VictorSPX(RobotMap.intakeSlave);\\n\\t\\t//Set right intake Victor to follow left intake Victor\\n\\t\\tRobotMap.intakeVictorRight.follow(RobotMap.intakeVictorLeft);\\n\\t\\t\\n\\t\\tRobotMap.climberVictorLeft = new WPI_VictorSPX(RobotMap.climberLeftAddress);\\n\\t\\tRobotMap.climberVictorRight = new WPI_VictorSPX(RobotMap.climberRightAddress);\\n\\t\\t\\n\\t\\tRobotMap.climberVictorRight.follow(RobotMap.climberVictorLeft);\\n\\t\\t\\n\\t\\tRobotMap.piston = new DoubleSolenoid(RobotMap.inChannel, RobotMap.outChannel);\\n\\t\\t\\n\\t\\tRobotMap.intakeLifter = new WPI_VictorSPX(2);\\n\\t\\t\\n\\t\\tRobotMap.liftTalon = new WPI_TalonSRX(RobotMap.liftTalonAddress);\\n\\t\\t\\n\\t\\tautoChooser = new SendableChooser();\\n\\t\\tautoChooser.addDefault(\\\"Drive to baseline\\\" , new DriveToBaseline());\\n\\t\\tautoChooser.addObject(\\\"Null auto\\\", new NullAuto());\\n\\t\\tautoChooser.addObject(\\\"Switch from right\\\", new SwitchFromRight());\\n\\t\\tautoChooser.addObject(\\\"Switch from left\\\", new SwitchFromLeft());\\n\\t\\tautoChooser.addObject(\\\"PID from left\\\", new PIDfromLeft());\\n\\t\\tautoChooser.addObject(\\\"PID from right\\\", new PIDfromRight());\\n\\t\\tautoChooser.addObject(\\\"Scale from right\\\", new ScaleAutoRight());\\n\\t\\tautoChooser.addObject(\\\"Scale from left\\\", new ScaleAutoLeft());\\n\\t\\tautoChooser.addObject(\\\"PID tester\\\", new PIDTESTER());\\n\\t\\tautoChooser.addObject(\\\"Joe use this one\\\", new leftOnly());\\n\\t\\tSmartDashboard.putData(\\\"Autonomous mode chooser\\\", autoChooser);\\n\\t\\t\\n\\t\\t//RobotMap.liftVictor.follow(RobotMap.climberTalon);\\n\\t\\t\\n\\t\\tRobotMap.vspLeft.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0, 0);\\n\\t\\tRobotMap.vspRight.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0, 0);\\n\\t\\t\\n\\t\\tRobotMap.intakeLifted = new DigitalInput(1);\\n\\t\\tRobotMap.isAtTop = new DigitalInput(2);\\n\\t\\tRobotMap.isAtBottom = new DigitalInput(0);\\n\\t\\t\\n\\t\\tRobotMap.vspLeft.configVelocityMeasurementPeriod(VelocityMeasPeriod.Period_100Ms, 1);\\n\\t\\tRobotMap.vspRight.configVelocityMeasurementWindow(64, 1); \\n\\t\\t\\n\\t\\toi = new OI();\\n\\t}\"\n]","isConversational":false},"negative_scores":{"kind":"list like","value":["0.58998287","0.55651885","0.54832953","0.5410491","0.5373911","0.5329498","0.5262923","0.52456945","0.5201236","0.5184931","0.5178085","0.5165147","0.5156968","0.5095432","0.50953484","0.5092505","0.50649095","0.5038094","0.5025455","0.501059","0.50000924","0.50000155","0.49838147","0.49799362","0.49684358","0.49478707","0.49417666","0.4936416","0.4926736","0.49263713","0.49160933","0.4911264","0.48854658","0.4870678","0.48617736","0.4860925","0.4856305","0.48557168","0.48362732","0.4827729","0.4818262","0.48177263","0.4798359","0.4797731","0.4796032","0.47914803","0.4785416","0.47764137","0.47583795","0.47575963","0.4757268","0.47555318","0.4753003","0.47469875","0.47257444","0.47255266","0.47174805","0.47139055","0.47092167","0.4707987","0.47078452","0.4707298","0.4701629","0.46935427","0.4680715","0.46799913","0.46759638","0.46716768","0.46693045","0.4656202","0.46527505","0.46299252","0.4628794","0.46285415","0.46270338","0.46207973","0.46091482","0.46052018","0.4604537","0.45935193","0.45931962","0.45923162","0.45919508","0.45915192","0.459015","0.45869258","0.4582629","0.45813155","0.45678878","0.4557811","0.4553496","0.4547317","0.45469612","0.4542888","0.45412016","0.45393026","0.4536216","0.45353168","0.4535006","0.45309713"],"string":"[\n \"0.58998287\",\n \"0.55651885\",\n \"0.54832953\",\n \"0.5410491\",\n \"0.5373911\",\n \"0.5329498\",\n \"0.5262923\",\n \"0.52456945\",\n \"0.5201236\",\n \"0.5184931\",\n \"0.5178085\",\n \"0.5165147\",\n \"0.5156968\",\n \"0.5095432\",\n \"0.50953484\",\n \"0.5092505\",\n \"0.50649095\",\n \"0.5038094\",\n \"0.5025455\",\n \"0.501059\",\n \"0.50000924\",\n \"0.50000155\",\n \"0.49838147\",\n \"0.49799362\",\n \"0.49684358\",\n \"0.49478707\",\n \"0.49417666\",\n \"0.4936416\",\n \"0.4926736\",\n \"0.49263713\",\n \"0.49160933\",\n \"0.4911264\",\n \"0.48854658\",\n \"0.4870678\",\n \"0.48617736\",\n \"0.4860925\",\n \"0.4856305\",\n \"0.48557168\",\n \"0.48362732\",\n \"0.4827729\",\n \"0.4818262\",\n \"0.48177263\",\n \"0.4798359\",\n \"0.4797731\",\n \"0.4796032\",\n \"0.47914803\",\n \"0.4785416\",\n \"0.47764137\",\n \"0.47583795\",\n \"0.47575963\",\n \"0.4757268\",\n \"0.47555318\",\n \"0.4753003\",\n \"0.47469875\",\n \"0.47257444\",\n \"0.47255266\",\n \"0.47174805\",\n \"0.47139055\",\n \"0.47092167\",\n \"0.4707987\",\n \"0.47078452\",\n \"0.4707298\",\n \"0.4701629\",\n \"0.46935427\",\n \"0.4680715\",\n \"0.46799913\",\n \"0.46759638\",\n \"0.46716768\",\n \"0.46693045\",\n \"0.4656202\",\n \"0.46527505\",\n \"0.46299252\",\n \"0.4628794\",\n \"0.46285415\",\n \"0.46270338\",\n \"0.46207973\",\n \"0.46091482\",\n \"0.46052018\",\n \"0.4604537\",\n \"0.45935193\",\n \"0.45931962\",\n \"0.45923162\",\n \"0.45919508\",\n \"0.45915192\",\n \"0.459015\",\n \"0.45869258\",\n \"0.4582629\",\n \"0.45813155\",\n \"0.45678878\",\n \"0.4557811\",\n \"0.4553496\",\n \"0.4547317\",\n \"0.45469612\",\n \"0.4542888\",\n \"0.45412016\",\n \"0.45393026\",\n \"0.4536216\",\n \"0.45353168\",\n \"0.4535006\",\n \"0.45309713\"\n]","isConversational":false},"document_score":{"kind":"string","value":"0.59259015"},"document_rank":{"kind":"string","value":"0"}}},{"rowIdx":120993,"cells":{"query":{"kind":"string","value":"private static String prevStg2StatusStr = \"\";"},"document":{"kind":"string","value":"public static void runArm() {\r\n\t\t\tsynchronized(ArmClawInfo.clawLock) {\r\n\t\t\t\tsynchronized(armStage1.motorLock) {\r\n//\t\t\t\t\tsynchronized(armStage2.motorLock) {\r\n\t\t\t\t\t\tPrtYn flag = PrtYn.N;\r\n\t\t\t\t\t\tif(Tm744Opts.isInSimulationMode()) { flag = PrtYn.Y; }\r\n\t\t\t\t\t\tString stg1StatusStr;\r\n//\t\t\t\t\t\tString stg2StatusStr;\r\n\t\t\t\t\t\tDsNamedControlsEntry ent = armStage1.jsNamedControl.getEnt();\r\n\t\t\t\t\t\tdouble jsRdg = ent.getAnalog();\r\n\t\t\t\t\t\tif(Math.abs(jsRdg)>0.1) {\r\n\t\t\t\t\t\t\tint junk = 5; //good breakpoint\r\n\t\t\t\t\t\t}\r\n\t\t\t\t\t\tstg1StatusStr = stageStatusStr(armStage1);\r\n//\t\t\t\t\t\tstg2StatusStr = stageStatusStr(armStage2);\r\n\t\t\t\t\t\tif( ! (stg1StatusStr.equals(prevStg1StatusStr) )) { //&& stg2StatusStr.equals(prevStg2StatusStr))) {\r\n\t\t\t\t\t\t\tP.println(flag, \"(A)stg1: \" + stg1StatusStr);\r\n//\t\t\t\t\t\t\tP.println(flag, \"(A)stg2: \" + stg2StatusStr);\r\n\t\t\t\t\t\t\tprevStg1StatusStr = stg1StatusStr;\r\n//\t\t\t\t\t\t\tprevStg2StatusStr = stg2StatusStr;\r\n\t\t\t\t\t\t}\r\n//\t\t\t\t\t\tTmSdMgr.putString(SdKeysE.KEY_ARM_STAGE1_OPERATING_MODE, armStage1.operatingMode.name());\r\n\t\t\t\t\t\tswitch(armStage1.operatingMode) {\r\n\t\t\t\t\t\tcase JOYSTICK:\r\n\t\t\t\t\t\t\trunLiftStageFromJoystick(armStage1);\r\n\t\t\t\t\t\t\tif(true) {\r\n\t\t\t\t\t\t\t\t//nearTop and nearBottom methods check useEncoder flag\r\n\t\t\t\t\t\t\t\tif(armStage1.isMotorPercentOutMovingUpRapidly() && armStage1.isEncoderNearTop()) {\r\n\t\t\t\t\t\t\t\t\tArmServices.idleAllLiftMotors();\r\n\t\t\t\t\t\t\t\t}\r\n\t\t\t\t\t\t\t\tif(armStage1.isMotorPercentOutMovingDownRapidly() && armStage1.isEncoderNearBottom()) {\r\n\t\t\t\t\t\t\t\t\tArmServices.idleAllLiftMotors();\r\n\t\t\t\t\t\t\t\t}\r\n\t\t\t\t\t\t\t}\r\n\t\t\t\t\t\t\tbreak;\r\n\t\t\t\t\t\tcase SERVO:\r\n\t\t\t\t\t\t\tif(armStage1.useEncoder || m_tds.isEnabledAutonomous()) {\r\n\t\t\t\t\t\t\t\trunStageInServoMode(armStage1, Cnst.ARM_STAGE1_ENCODER_ADJUSTMENT_COUNT);\r\n\t\t\t\t\t\t\t} else {\r\n\t\t\t\t\t\t\t\tarmStage1.operatingMode = ArmOperate.OperatingModesE.JOYSTICK;\r\n\t\t\t\t\t\t\t}\r\n\t\t\t\t\t\t\tbreak;\r\n\t\t\t\t\t\tcase IDLE:\r\n\t\t\t\t\t\tcase STOPPED:\r\n\t\t\t\t\t\tdefault:\r\n\t\t\t\t\t\t\t//assume 'request' methods set the motors to the appropriate values\r\n\t\t\t\t\t\t\tbreak;\t\t\t\t\t\r\n\t\t\t\t\t\t}\t\r\n\r\n\t\t\t\t\t\tstg1StatusStr = stageStatusStr(armStage1);\r\n\t\t\t\t\t\t//\t\t\t\t\t\tstg2StatusStr = stageStatusStr(armStage2);\r\n\t\t\t\t\t\tif( ! (stg1StatusStr.equals(prevStg1StatusStr) )) { //&& stg2StatusStr.equals(prevStg2StatusStr))) {\r\n\t\t\t\t\t\t\tP.println(flag, \"(B)stg1: \" + stg1StatusStr);\r\n\t\t\t\t\t\t\t//\t\t\t\t\t\t\tP.println(flag, \"(B)stg2: \" + stg2StatusStr);\r\n\t\t\t\t\t\t\tprevStg1StatusStr = stg1StatusStr;\r\n\t\t\t\t\t\t\t//\t\t\t\t\t\t\tprevStg2StatusStr = stg2StatusStr;\r\n\t\t\t\t\t\t}\r\n\r\n\t\t\t\t\t\tif(m_tds.isEnabledAutonomous()) {\r\n\t\t\t\t\t\t\tswitch(ArmClawInfo.clawCurrentState) {\r\n\t\t\t\t\t\t\tcase BY_JOYSTICK:\r\n\t\t\t\t\t\t\t\tif(m_tds.isEnabledAutonomous()) {\r\n\t\t\t\t\t\t\t\t\tdouble percOut = 0.0;\r\n\t\t\t\t\t\t\t\t\tArmClawInfo.clawMtrLeft.set(ControlMode.PercentOutput, percOut);\r\n\t\t\t\t\t\t\t\t\tArmClawInfo.clawMtrRight.set(ControlMode.PercentOutput, -percOut);\r\n\t\t\t\t\t\t\t\t} \r\n\t\t\t\t\t\t\t\telse if(m_tds.isEnabledTeleop()) {\r\n\t\t\t\t\t\t\t\t\tdouble joystickRdg = DsNamedControlsE.ARM_CLAW_RUN_WITH_JOYSTICK_INPUT.getEnt().getAnalog();\r\n\t\t\t\t\t\t\t\t\tif(joystickRdg == 0.0) {} //just a good debug breakpoint\r\n\r\n\t\t\t\t\t\t\t\t\t//squaring makes joysticks easier to use\r\n\t\t\t\t\t\t\t\t\tdouble percOut = - Math.copySign(joystickRdg*joystickRdg, joystickRdg);\r\n\t\t\t\t\t\t\t\t\tArmClawInfo.clawMtrLeft.set(ControlMode.PercentOutput, percOut);\r\n\t\t\t\t\t\t\t\t\tArmClawInfo.clawMtrRight.set(ControlMode.PercentOutput, -percOut);\r\n\t\t\t\t\t\t\t\t}\r\n\t\t\t\t\t\t\t\tbreak;\r\n\t\t\t\t\t\t\tcase GRABBING:\r\n\t\t\t\t\t\t\tcase RELEASING:\r\n\t\t\t\t\t\t\tcase OFF:\r\n\t\t\t\t\t\t\t\t//assume 'request' methods set the motors to the appropriate values\r\n\t\t\t\t\t\t\t\tbreak;\r\n\t\t\t\t\t\t\tdefault:\r\n\t\t\t\t\t\t\t\tbreak;\r\n\t\t\t\t\t\t\t}\r\n\t\t\t\t\t\t} else {\r\n\t\t\t\t\t\t\trunArmClawLiftWheelsTeleop();\r\n\t\t\t\t\t\t}\r\n\t\t\t\t\t\tpostLimitSwitchRdgsToSd();\r\n\t\t\t\t\t\t//\t\t\t\t\t} //sync for stg2\r\n\t\t\t\t} //sync for stg1\r\n\t\t\t} // sync claw\r\n\t\t}"},"metadata":{"kind":"string","value":"{\n \"objective\": {\n \"self\": [],\n \"paired\": [],\n \"triplet\": [\n [\n \"query\",\n \"document\",\n \"negatives\"\n ]\n ]\n }\n}"},"negatives":{"kind":"list like","value":["protected String getStatus()\n { return call_state; \n }","private String getServiceCurrentStatus(String csStatChng) {\r\n\t\t\t\t\r\n\t\tchar serviceStatus;\r\n\t\tString serviceStatusStr = \"\";\t\t\t\t\r\n\t\t\r\n\t\tif (csStatChng != null) {\r\n\t\t\tserviceStatus = csStatChng.charAt(csStatChng.length()-1);\r\n\t\t\tif (serviceStatus == ACTIVATE_STATE){\r\n\t\t\t\tserviceStatusStr = \"Ativado\";\r\n\t\t\t} else if (serviceStatus == SUSPENSE_STATE) {\r\n\t\t\t\tserviceStatusStr = \"Suspenso\";\r\n\t\t\t} else {\r\n\t\t\t\tserviceStatusStr = \"Desativado\";\r\n\t\t\t}\t\t\t\r\n\t\t}\t\r\n\t\t\r\n\t\treturn serviceStatusStr;\r\n\t}","public String getStatusString() {\n String str = \"\";\n switch (actualStep) {\n case wait: { str = \"WAIT\"; break; }\n case press: { str = \"PRESS\"; break; }\n case hold: { str = \"HOLD\"; break; }\n case release: { str = \"RELEASE\"; break; }\n }\n return str;\n }","String getSwstatus();","java.lang.String getStatus();","java.lang.String getStatus();","java.lang.String getStatus();","java.lang.String getStatus();","private String changestatus(String string) {\n\t\tString changestatustemp;\r\n\t\tif (string.equals(\"0\")) {\r\n\t\t\tchangestatustemp = \"1\";\r\n\t\t} else {\r\n\t\t\tchangestatustemp = \"0\";\r\n\t\t}\r\n\t\treturn changestatustemp;\r\n\t}","private String changestatus(String string) {\n\t\tString changestatustemp;\r\n\t\tif (string.equals(\"0\")) {\r\n\t\t\tchangestatustemp = \"1\";\r\n\t\t} else {\r\n\t\t\tchangestatustemp = \"0\";\r\n\t\t}\r\n\t\treturn changestatustemp;\r\n\t}","public state getStatus(){\n return this.st;\n }","@Override\n\t\t\t\tpublic StringBuilder getStatus() {\n\t\t\t\t\treturn new StringBuilder();\n\t\t\t\t}","public abstract String currentStatus();","protected String status() {\n if (!hasStarted() && !hasRun()) {\n return \" not run yet\";\n } else if (hasStarted() && !hasRun()) {\n return \" failed to run\";\n } else if (!hasStarted() && hasRun()) {\n return \" ILLEGAL STATE\";\n } else if (exceptionThrown == null) {\n return \" returned: \" + StringsPlume.toStringAndClass(retval);\n } else {\n return \" threw: \" + exceptionThrown;\n }\n }","public String getStatus()\n \t{\n \t\treturn m_strStatus;\n \t}","String getOldStatusId();","String status();","String status();","String getStatus();","String getStatus();","String getStatus();","String getStatus();","String getStatus();","public synchronized String getStatus(){\n\t\treturn status;\n\t}","public String getCurrentStatusMessage()\n {\n return currentStatusMessage;\n }","public String toString() {\r\n\treturn \"batch image builder for:\\n\\tnew state: \"/*nonNLS*/ + getNewState();\r\n}","public void notifyStateChange(String str) {\n out.println(str); \n }","@DISPID(38)\r\n\t// = 0x26. The runtime will prefer the VTID if present\r\n\t@VTID(37)\r\n\tjava.lang.String lastInstanceStatus();","private void getStatus() {\n\t\t\n\t}","String getStatusMessage( );","public String calculateStatus(){\n\t\tHashMap<String,String> SubSystemsStatus = this.SubsystemStatus.getSubSystemsStatus();\n\t\tString SubSystemList[] = this.SubsystemStatus.getSubsystems();\n\t\tint SHUTDOWN = 0, OPERATIONAL = 0, STARTING1 = 0, STARTING2 = 0, STOPPING = 0;\n\t\tfor(String subsystem : SubSystemList){\n\t\t\tString status = SubSystemsStatus.get(subsystem);\n\t\t\t//System.out.println(\"subsystem \" + subsystem + \" status \" + status);\n\t\t\tif (status != null) {\n\t\t\t\tif (status.equalsIgnoreCase(\"UNAVAILABLE\")) {\n\t\t\t\treturn \"UNAVAILABLE\";\n\t\t\t\t}else if (status.equalsIgnoreCase(\"ERROR\")) {\n\t\t\t\t\treturn \"ERROR\";\n\t\t\t\t} else if (status.equalsIgnoreCase(\"SHUTDOWN\")) {\n\t\t\t\t\tSHUTDOWN++;\n\t\t\t\t} else if (status.equalsIgnoreCase(\"OPERATIONAL\")) {\n\t\t\t\t\tOPERATIONAL++;\n\t\t\t\t}\n\n\t\t\t\tif (status.equalsIgnoreCase(\"ONLINE\")\n\t\t\t\t\t\t|| status.equalsIgnoreCase(\"OPERATIONAL\")) {\n\t\t\t\t\tSTARTING1++;\n\t\t\t\t} else if (status.equalsIgnoreCase(\"INITIALIZING_PASS1\")\n\t\t\t\t\t\t|| status.equalsIgnoreCase(\"INITIALIZING_PASS2\")\n\t\t\t\t\t\t|| status.equalsIgnoreCase(\"SHUTDOWN\")\n\t\t\t\t\t\t|| status.equalsIgnoreCase(\"ONLINE\")\n\t\t\t\t\t\t|| status.equalsIgnoreCase(\"OPERATIONAL\")) {\n\t\t\t\t\tSTARTING2++;\n\t\t\t\t} else if (status.equalsIgnoreCase(\"SHUTTINGDOWN_PASS1\")\n\t\t\t\t\t\t|| status.equalsIgnoreCase(\"PRESHUTDOWN\")\n\t\t\t\t\t\t|| status.equalsIgnoreCase(\"SHUTTINGDOWN_PASS2\")\n\t\t\t\t\t\t|| status.equalsIgnoreCase(\"SHUTDOWN\")\n\t\t\t\t\t\t|| status.equalsIgnoreCase(\"OPERATIONAL\")) {\n\t\t\t\t\tSTOPPING++;\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\t\tif(SHUTDOWN == SubSystemList.length){\n\t\t\treturn \"SHUTDOWN\";\n\t\t}else if(OPERATIONAL == SubSystemList.length){\n\t\t\treturn \"OPERATIONAL\";\n\t\t}else if(STARTING1 == SubSystemList.length || STARTING2 == SubSystemList.length){\n\t\t\treturn \"STARTING\";\n\t\t}else if(STOPPING == SubSystemList.length){\n\t\t\treturn \"STOPPING\";\n\t\t}else {\n\t\t\treturn \"TRANSITING\";\n\t\t}\n\t}","public String getSTATUS() {\r\n return STATUS;\r\n }","public String getSTATUS() {\r\n return STATUS;\r\n }","public String getSTATUS() {\r\n return STATUS;\r\n }","public String getSTATUS() {\r\n return STATUS;\r\n }","public String getSTATUS() {\r\n return STATUS;\r\n }","@DISPID(6)\r\n\t// = 0x6. The runtime will prefer the VTID if present\r\n\t@VTID(12)\r\n\tjava.lang.String lastInstanceStatus();","java.lang.String getState();","public void setgetStatus()\r\n\t{\r\n\t\tthis.status = 'S';\r\n\t}","private String getTstatStatusMessage() {\n\n String thStatusMsg = null;\n WebElement modeDialog = getElement(getDriver(), By.cssSelector(MODEL_DIALOG), TINY_TIMEOUT);\n if (modeDialog.isDisplayed()) {\n WebElement modeMessage = getElementBySubElement(getDriver(), modeDialog,\n By.className(ERROR_MODEBOX), TINY_TIMEOUT);\n thStatusMsg = getElementBySubElement(getDriver(), modeMessage,\n By.className(MODEL_LABEL), TINY_TIMEOUT).getText();\n setLogString(\"Location status message:\" + thStatusMsg, true, CustomLogLevel.HIGH);\n }\n return thStatusMsg;\n }","@Override\n\tpublic String getStateString() {\n\t\treturn null;\n\t}","String getPrevMoves() {\n return this.prevMoves;\n }","public java.lang.String getOrderStatus(){\n return localOrderStatus;\n }","String getStatusMessage();","public String printState(){\n if (this.state.equals(\"unstarted\")) return \"unstarted 0\";\n\n else if (this.state.equals(\"terminated\")) return \"terminated 0\";\n else if (this.state.equals(\"blocked\")) {\n return String.format(\"blocked %d\", ioBurstTime);\n }\n else if (this.state.equals(\"ready\")) {\n if (remainingCPUBurstTime !=null){\n return String.format(\"ready %d\", remainingCPUBurstTime);\n }\n return \"ready 0\";\n }\n\n else if (this.state.equals(\"running\")){\n return String.format(\"running %d\", cpuBurstTime);\n }\n\n else return \"Something went wrong.\";\n }","public java.lang.String getOtherStatus() {\n\treturn otherStatus;\n}","public String getStateString()\n {\n return stateString;\n }","public String getSwstatus() {\n Object ref = swstatus_;\n if (!(ref instanceof String)) {\n com.google.protobuf.ByteString bs =\n (com.google.protobuf.ByteString) ref;\n String s = bs.toStringUtf8();\n swstatus_ = s;\n return s;\n } else {\n return (String) ref;\n }\n }","public String getXmlChangedState() {\n String msg = \"<change_object_state idobj=\\\"\" + codObjeto + \"\\\" \";\n msg += \" status=\\\"\" + status + \"\\\" tag=\\\"\" + tag + \"\\\" \";\n msg += \" flagInventario=\\\"\" + flagInventario + \"\\\" \";\n msg += \" codUser=\\\"\" + codUser + \"\\\"\";\n msg += \" posx=\\\"\" + posX + \"\\\" posY=\\\"\" + posY + \"\\\">\";\n msg += \"</change_object_state>\";\n return msg;\n \n }","@Override\r\n public void status(String strVar)\r\n {\r\n System.out.println(strVar);\r\n }","public final String getStatusAsString() {\n\t\tif ( m_status >= 0 && m_status < _fileStates.length)\n\t\t\treturn _fileStates[m_status];\n\t\treturn \"Unknown\";\n\t}","protected String getGPIBStatus() {\n\n // check for errors\n if ( (m_ibsta.getValue() & ERR) != 0) {\n // return the GPIB Status because an error occurred\n int err = m_iberr.getValue();\n\n // make a nice String with the GPIB Status\n String str = String.format(Locale.US, \"GPIB Status: ibsta = 0x%x; iberr = %d (%s)\\n\",\n m_ibsta.getValue(), err,\n (err<ErrorMnemonic.length ? ErrorMnemonic[err] : \"Error number not recognized\"));\n\n // log event\n m_Logger.finer(str);\n //m_Comm_Logger.finer(str);\n\n return str;\n } else {\n // return an empty String\n return \"\";\n }\n }","public String getNewStateName() {\n\t\tstateCounter.getAndIncrement();\n\t\tString state = makeStateName(stateCounter.get(), false);\n\t\treturn state;\n\t}","public java.lang.String getCurr2() {\n\treturn curr2;\n}","public String getSwstatus() {\n Object ref = swstatus_;\n if (ref instanceof String) {\n return (String) ref;\n } else {\n com.google.protobuf.ByteString bs =\n (com.google.protobuf.ByteString) ref;\n String s = bs.toStringUtf8();\n swstatus_ = s;\n return s;\n }\n }","public String getOdlOpenflowStatus2() throws SnmpStatusException;","com.polytech.spik.protocol.SpikMessages.StatusChanged getStatusChanged();","public int getState() {\n\treturn com.hps.july.dictionary.APPStates.EDITSTRG;\n}","public String getStCodeStS() {\n return stCodeStS;\n }","public String getStatus(){\r\n\t\treturn status;\r\n\t}","public abstract String getNodeStatusVariableName();","private javax.swing.JLabel getTxtStatus() {\r\n\t\tif (txtStatus == null) {\r\n\t\t\ttxtStatus = new javax.swing.JLabel();\r\n\t\t\ttxtStatus.setName(\"txtStatus\");\r\n\t\t\ttxtStatus.setText(\"Initializing...\");\r\n\t\t\ttxtStatus.setHorizontalAlignment(javax.swing.SwingConstants.LEFT);\r\n\t\t\ttxtStatus.setHorizontalTextPosition(javax.swing.SwingConstants.LEFT);\r\n\t\t\ttxtStatus.setPreferredSize(new java.awt.Dimension(800,18));\r\n\t\t}\r\n\t\treturn txtStatus;\r\n\t}","public String getState() { return state; }","public String getEventWatchingGoingStatus() {\n\t\treturn eventWatchingGoingStatus;\n\t}","public java.lang.String getOldValues_description(){\n return localOldValues_description;\n }","public String getState()\n {\n \treturn state;\n }","@Basic\n\tpublic String getPrevMove() {\n\t\treturn prev_move;\n\t}","@Override\n\tpublic String toString() {\n\t\treturn String.format(\"[%s,%s,%d,%s] \", sensorType.toString(),status.toString(),pin,lastValue.isPresent()?lastValue.get():\"NOT UPDATED YET\");\n\t}","public String getNewState() {\n\t\treturn this.newState;\n\t}","public String getStatus() { return status; }","public String getNewState()\n\t{\n\t\treturn (UUID.randomUUID().toString());\n\t}","public String getStateString()\r\n\t{\r\n\t\treturn stateString;\r\n\t}","public final String cur_modstate_string () {\n\t\treturn get_modstate_as_string (modstate);\n\t}","public java.lang.String getCurr1() {\n\treturn curr1;\n}","String getProgressString();","@DISPID(15)\n\t// = 0xf. The runtime will prefer the VTID if present\n\t@VTID(25)\n\tjava.lang.String status();","public String getState(){\n return state;\n }","protected void changeStatus(String state)\n { call_state=state;\n printLog(\"state: \"+call_state,Log.LEVEL_MEDIUM); \n }","public void updateStatus(String s1)\n {\n s = s1;\n notifyObservers();\n }","public java.lang.CharSequence getStatus() {\n return status;\n }","public String getState() {\n\t\treturn this.state_rep;\n\t}","protected boolean statusIs(String state)\n { return call_state.equals(state); \n }","private static String getStatus(Task task) {\n Status myStatus = task.getStatus();\n if (myStatus == Status.UP_NEXT) {\n return \"UP_NEXT\";\n } else if (myStatus == Status.IN_PROGRESS) {\n return \"IN_PROGRESS\";\n } else {\n return myStatus.toString();\n }\n }","String getCurrentState() {\n return context.getString(allStates[currentIdx]);\n }","public String getWorking_status() {\n return working_status;\n }","public String getStatus () {\r\n return status;\r\n }","public java.lang.CharSequence getStatus() {\n return status;\n }","private String getStatusMessage() {\n\t\treturn (m_isTestPassed == true) ? \" successfully...\" : \" with failures...\";\n\t}","private void setLblStatus(String s){\n\t\tlblState.setText(s);\n\t}","String getState();","String getState();","String getState();","public String getStatus() {\n return isDone ? \"1\" : \"0\";\n }","public String getCurrLexeme()\n {\n return myCurrLexeme;\n }","public String getState()\n {\n return null;\n }","public java.lang.String getStatus () {\r\n\t\treturn status;\r\n\t}","public java.lang.String getState () {\n\t\treturn state;\n\t}","public String getState() {\n StringBuilder builder = new StringBuilder();\n //builder.append(muteMusic.getBackground().getLevel());\n //builder.append(',');\n builder.append(muteClicked);\n builder.append(',');\n builder.append(gameOver);\n builder.append(',');\n builder.append(wordsDetectedByUser.size());\n builder.append(',');\n for(int i =0;i<wordsDetectedByUser.size();i++)\n { builder.append(wordsDetectedByUser.get(i));\n builder.append(',');}\n builder.append(notValidWord);\n builder.append(',');\n // m1Handler.removeCallbacks(m1Runnable);\n mHandler.removeCallbacks(mRunnable);\n builder.append(phaseTwo);\n builder.append(',');\n builder.append(currentScore); //storing current score\n builder.append(',');\n builder.append(t); //storing timer state\n builder.append(',');\n Object a[] = DoneTiles.toArray();\n builder.append(a.length);\n builder.append(',');\n for(int i=0;i<a.length;i++) {\n builder.append(a[i].toString());\n builder.append(',');\n }\n builder.append(mLastLarge);\n builder.append(',');\n builder.append(mLastSmall);\n builder.append(',');\n for (int large = 0; large < 9; large++) {\n for (int small = 0; small < 9; small++) {\n builder.append(mSmallTiles[large][small].getOwner().name());\n builder.append(',');\n builder.append((((Button)mSmallTiles[large][small].getView()).getText()).toString());\n builder.append(',');\n //Log.d(DoneTiles);\n }\n }\n return builder.toString();\n }","public String getStatus(){\n\n //returns the value of the status field\n return this.status;\n }","String provisioningState();","void transStatus()\r\n\t{\r\n\t\ttry\r\n\t\t{\r\n\t\t\tif(passenger != null && status.equals(\"soon\"))\r\n\t\t\t{\r\n\t\t\t\tService s_temp = new Service(passenger);\r\n\t\t\t\tdes = passenger.loc;\r\n\t\t\t\tmakeService(loc.i*80+loc.j,des.i*80+des.j);\r\n\t\t\t\tstatus = \"stop\";\r\n\t\t\t\tThread.sleep(1000);\r\n\t\t\t\tstatus = \"serve\";\r\n\t\t\t\tdes = passenger.des;\r\n\t\t\t\ts_temp.path.add(loc);\r\n\t\t\t\tmakeService(loc.i*80+loc.j,des.i*80+des.j,s_temp.path);\r\n\t\t\t\tstatus = \"stop\";\r\n\t\t\t\tThread.sleep(1000);\r\n\t\t\t\tcredit += 3;\r\n\t\t\t\tser_times += 1;\r\n\t\t\t\tservices.add(s_temp);\r\n\t\t\t\t//refresh:\r\n\t\t\t\tstatus = \"wait\";\r\n\t\t\t\tpassenger = null;\r\n\t\t\t}\r\n\t\t}\r\n\t\tcatch(Exception e)\r\n\t\t{\r\n\t\t\tSystem.out.println(\"Sorry to catch Exception!\");\r\n\t\t}\r\n\t}"],"string":"[\n \"protected String getStatus()\\n { return call_state; \\n }\",\n \"private String getServiceCurrentStatus(String csStatChng) {\\r\\n\\t\\t\\t\\t\\r\\n\\t\\tchar serviceStatus;\\r\\n\\t\\tString serviceStatusStr = \\\"\\\";\\t\\t\\t\\t\\r\\n\\t\\t\\r\\n\\t\\tif (csStatChng != null) {\\r\\n\\t\\t\\tserviceStatus = csStatChng.charAt(csStatChng.length()-1);\\r\\n\\t\\t\\tif (serviceStatus == ACTIVATE_STATE){\\r\\n\\t\\t\\t\\tserviceStatusStr = \\\"Ativado\\\";\\r\\n\\t\\t\\t} else if (serviceStatus == SUSPENSE_STATE) {\\r\\n\\t\\t\\t\\tserviceStatusStr = \\\"Suspenso\\\";\\r\\n\\t\\t\\t} else {\\r\\n\\t\\t\\t\\tserviceStatusStr = \\\"Desativado\\\";\\r\\n\\t\\t\\t}\\t\\t\\t\\r\\n\\t\\t}\\t\\r\\n\\t\\t\\r\\n\\t\\treturn serviceStatusStr;\\r\\n\\t}\",\n \"public String getStatusString() {\\n String str = \\\"\\\";\\n switch (actualStep) {\\n case wait: { str = \\\"WAIT\\\"; break; }\\n case press: { str = \\\"PRESS\\\"; break; }\\n case hold: { str = \\\"HOLD\\\"; break; }\\n case release: { str = \\\"RELEASE\\\"; break; }\\n }\\n return str;\\n }\",\n \"String getSwstatus();\",\n \"java.lang.String getStatus();\",\n \"java.lang.String getStatus();\",\n \"java.lang.String getStatus();\",\n \"java.lang.String getStatus();\",\n \"private String changestatus(String string) {\\n\\t\\tString changestatustemp;\\r\\n\\t\\tif (string.equals(\\\"0\\\")) {\\r\\n\\t\\t\\tchangestatustemp = \\\"1\\\";\\r\\n\\t\\t} else {\\r\\n\\t\\t\\tchangestatustemp = \\\"0\\\";\\r\\n\\t\\t}\\r\\n\\t\\treturn changestatustemp;\\r\\n\\t}\",\n \"private String changestatus(String string) {\\n\\t\\tString changestatustemp;\\r\\n\\t\\tif (string.equals(\\\"0\\\")) {\\r\\n\\t\\t\\tchangestatustemp = \\\"1\\\";\\r\\n\\t\\t} else {\\r\\n\\t\\t\\tchangestatustemp = \\\"0\\\";\\r\\n\\t\\t}\\r\\n\\t\\treturn changestatustemp;\\r\\n\\t}\",\n \"public state getStatus(){\\n return this.st;\\n }\",\n \"@Override\\n\\t\\t\\t\\tpublic StringBuilder getStatus() {\\n\\t\\t\\t\\t\\treturn new StringBuilder();\\n\\t\\t\\t\\t}\",\n \"public abstract String currentStatus();\",\n \"protected String status() {\\n if (!hasStarted() && !hasRun()) {\\n return \\\" not run yet\\\";\\n } else if (hasStarted() && !hasRun()) {\\n return \\\" failed to run\\\";\\n } else if (!hasStarted() && hasRun()) {\\n return \\\" ILLEGAL STATE\\\";\\n } else if (exceptionThrown == null) {\\n return \\\" returned: \\\" + StringsPlume.toStringAndClass(retval);\\n } else {\\n return \\\" threw: \\\" + exceptionThrown;\\n }\\n }\",\n \"public String getStatus()\\n \\t{\\n \\t\\treturn m_strStatus;\\n \\t}\",\n \"String getOldStatusId();\",\n \"String status();\",\n \"String status();\",\n \"String getStatus();\",\n \"String getStatus();\",\n \"String getStatus();\",\n \"String getStatus();\",\n \"String getStatus();\",\n \"public synchronized String getStatus(){\\n\\t\\treturn status;\\n\\t}\",\n \"public String getCurrentStatusMessage()\\n {\\n return currentStatusMessage;\\n }\",\n \"public String toString() {\\r\\n\\treturn \\\"batch image builder for:\\\\n\\\\tnew state: \\\"/*nonNLS*/ + getNewState();\\r\\n}\",\n \"public void notifyStateChange(String str) {\\n out.println(str); \\n }\",\n \"@DISPID(38)\\r\\n\\t// = 0x26. The runtime will prefer the VTID if present\\r\\n\\t@VTID(37)\\r\\n\\tjava.lang.String lastInstanceStatus();\",\n \"private void getStatus() {\\n\\t\\t\\n\\t}\",\n \"String getStatusMessage( );\",\n \"public String calculateStatus(){\\n\\t\\tHashMap<String,String> SubSystemsStatus = this.SubsystemStatus.getSubSystemsStatus();\\n\\t\\tString SubSystemList[] = this.SubsystemStatus.getSubsystems();\\n\\t\\tint SHUTDOWN = 0, OPERATIONAL = 0, STARTING1 = 0, STARTING2 = 0, STOPPING = 0;\\n\\t\\tfor(String subsystem : SubSystemList){\\n\\t\\t\\tString status = SubSystemsStatus.get(subsystem);\\n\\t\\t\\t//System.out.println(\\\"subsystem \\\" + subsystem + \\\" status \\\" + status);\\n\\t\\t\\tif (status != null) {\\n\\t\\t\\t\\tif (status.equalsIgnoreCase(\\\"UNAVAILABLE\\\")) {\\n\\t\\t\\t\\treturn \\\"UNAVAILABLE\\\";\\n\\t\\t\\t\\t}else if (status.equalsIgnoreCase(\\\"ERROR\\\")) {\\n\\t\\t\\t\\t\\treturn \\\"ERROR\\\";\\n\\t\\t\\t\\t} else if (status.equalsIgnoreCase(\\\"SHUTDOWN\\\")) {\\n\\t\\t\\t\\t\\tSHUTDOWN++;\\n\\t\\t\\t\\t} else if (status.equalsIgnoreCase(\\\"OPERATIONAL\\\")) {\\n\\t\\t\\t\\t\\tOPERATIONAL++;\\n\\t\\t\\t\\t}\\n\\n\\t\\t\\t\\tif (status.equalsIgnoreCase(\\\"ONLINE\\\")\\n\\t\\t\\t\\t\\t\\t|| status.equalsIgnoreCase(\\\"OPERATIONAL\\\")) {\\n\\t\\t\\t\\t\\tSTARTING1++;\\n\\t\\t\\t\\t} else if (status.equalsIgnoreCase(\\\"INITIALIZING_PASS1\\\")\\n\\t\\t\\t\\t\\t\\t|| status.equalsIgnoreCase(\\\"INITIALIZING_PASS2\\\")\\n\\t\\t\\t\\t\\t\\t|| status.equalsIgnoreCase(\\\"SHUTDOWN\\\")\\n\\t\\t\\t\\t\\t\\t|| status.equalsIgnoreCase(\\\"ONLINE\\\")\\n\\t\\t\\t\\t\\t\\t|| status.equalsIgnoreCase(\\\"OPERATIONAL\\\")) {\\n\\t\\t\\t\\t\\tSTARTING2++;\\n\\t\\t\\t\\t} else if (status.equalsIgnoreCase(\\\"SHUTTINGDOWN_PASS1\\\")\\n\\t\\t\\t\\t\\t\\t|| status.equalsIgnoreCase(\\\"PRESHUTDOWN\\\")\\n\\t\\t\\t\\t\\t\\t|| status.equalsIgnoreCase(\\\"SHUTTINGDOWN_PASS2\\\")\\n\\t\\t\\t\\t\\t\\t|| status.equalsIgnoreCase(\\\"SHUTDOWN\\\")\\n\\t\\t\\t\\t\\t\\t|| status.equalsIgnoreCase(\\\"OPERATIONAL\\\")) {\\n\\t\\t\\t\\t\\tSTOPPING++;\\n\\t\\t\\t\\t}\\n\\t\\t\\t}\\n\\t\\t}\\n\\t\\tif(SHUTDOWN == SubSystemList.length){\\n\\t\\t\\treturn \\\"SHUTDOWN\\\";\\n\\t\\t}else if(OPERATIONAL == SubSystemList.length){\\n\\t\\t\\treturn \\\"OPERATIONAL\\\";\\n\\t\\t}else if(STARTING1 == SubSystemList.length || STARTING2 == SubSystemList.length){\\n\\t\\t\\treturn \\\"STARTING\\\";\\n\\t\\t}else if(STOPPING == SubSystemList.length){\\n\\t\\t\\treturn \\\"STOPPING\\\";\\n\\t\\t}else {\\n\\t\\t\\treturn \\\"TRANSITING\\\";\\n\\t\\t}\\n\\t}\",\n \"public String getSTATUS() {\\r\\n return STATUS;\\r\\n }\",\n \"public String getSTATUS() {\\r\\n return STATUS;\\r\\n }\",\n \"public String getSTATUS() {\\r\\n return STATUS;\\r\\n }\",\n \"public String getSTATUS() {\\r\\n return STATUS;\\r\\n }\",\n \"public String getSTATUS() {\\r\\n return STATUS;\\r\\n }\",\n \"@DISPID(6)\\r\\n\\t// = 0x6. The runtime will prefer the VTID if present\\r\\n\\t@VTID(12)\\r\\n\\tjava.lang.String lastInstanceStatus();\",\n \"java.lang.String getState();\",\n \"public void setgetStatus()\\r\\n\\t{\\r\\n\\t\\tthis.status = 'S';\\r\\n\\t}\",\n \"private String getTstatStatusMessage() {\\n\\n String thStatusMsg = null;\\n WebElement modeDialog = getElement(getDriver(), By.cssSelector(MODEL_DIALOG), TINY_TIMEOUT);\\n if (modeDialog.isDisplayed()) {\\n WebElement modeMessage = getElementBySubElement(getDriver(), modeDialog,\\n By.className(ERROR_MODEBOX), TINY_TIMEOUT);\\n thStatusMsg = getElementBySubElement(getDriver(), modeMessage,\\n By.className(MODEL_LABEL), TINY_TIMEOUT).getText();\\n setLogString(\\\"Location status message:\\\" + thStatusMsg, true, CustomLogLevel.HIGH);\\n }\\n return thStatusMsg;\\n }\",\n \"@Override\\n\\tpublic String getStateString() {\\n\\t\\treturn null;\\n\\t}\",\n \"String getPrevMoves() {\\n return this.prevMoves;\\n }\",\n \"public java.lang.String getOrderStatus(){\\n return localOrderStatus;\\n }\",\n \"String getStatusMessage();\",\n \"public String printState(){\\n if (this.state.equals(\\\"unstarted\\\")) return \\\"unstarted 0\\\";\\n\\n else if (this.state.equals(\\\"terminated\\\")) return \\\"terminated 0\\\";\\n else if (this.state.equals(\\\"blocked\\\")) {\\n return String.format(\\\"blocked %d\\\", ioBurstTime);\\n }\\n else if (this.state.equals(\\\"ready\\\")) {\\n if (remainingCPUBurstTime !=null){\\n return String.format(\\\"ready %d\\\", remainingCPUBurstTime);\\n }\\n return \\\"ready 0\\\";\\n }\\n\\n else if (this.state.equals(\\\"running\\\")){\\n return String.format(\\\"running %d\\\", cpuBurstTime);\\n }\\n\\n else return \\\"Something went wrong.\\\";\\n }\",\n \"public java.lang.String getOtherStatus() {\\n\\treturn otherStatus;\\n}\",\n \"public String getStateString()\\n {\\n return stateString;\\n }\",\n \"public String getSwstatus() {\\n Object ref = swstatus_;\\n if (!(ref instanceof String)) {\\n com.google.protobuf.ByteString bs =\\n (com.google.protobuf.ByteString) ref;\\n String s = bs.toStringUtf8();\\n swstatus_ = s;\\n return s;\\n } else {\\n return (String) ref;\\n }\\n }\",\n \"public String getXmlChangedState() {\\n String msg = \\\"<change_object_state idobj=\\\\\\\"\\\" + codObjeto + \\\"\\\\\\\" \\\";\\n msg += \\\" status=\\\\\\\"\\\" + status + \\\"\\\\\\\" tag=\\\\\\\"\\\" + tag + \\\"\\\\\\\" \\\";\\n msg += \\\" flagInventario=\\\\\\\"\\\" + flagInventario + \\\"\\\\\\\" \\\";\\n msg += \\\" codUser=\\\\\\\"\\\" + codUser + \\\"\\\\\\\"\\\";\\n msg += \\\" posx=\\\\\\\"\\\" + posX + \\\"\\\\\\\" posY=\\\\\\\"\\\" + posY + \\\"\\\\\\\">\\\";\\n msg += \\\"</change_object_state>\\\";\\n return msg;\\n \\n }\",\n \"@Override\\r\\n public void status(String strVar)\\r\\n {\\r\\n System.out.println(strVar);\\r\\n }\",\n \"public final String getStatusAsString() {\\n\\t\\tif ( m_status >= 0 && m_status < _fileStates.length)\\n\\t\\t\\treturn _fileStates[m_status];\\n\\t\\treturn \\\"Unknown\\\";\\n\\t}\",\n \"protected String getGPIBStatus() {\\n\\n // check for errors\\n if ( (m_ibsta.getValue() & ERR) != 0) {\\n // return the GPIB Status because an error occurred\\n int err = m_iberr.getValue();\\n\\n // make a nice String with the GPIB Status\\n String str = String.format(Locale.US, \\\"GPIB Status: ibsta = 0x%x; iberr = %d (%s)\\\\n\\\",\\n m_ibsta.getValue(), err,\\n (err<ErrorMnemonic.length ? ErrorMnemonic[err] : \\\"Error number not recognized\\\"));\\n\\n // log event\\n m_Logger.finer(str);\\n //m_Comm_Logger.finer(str);\\n\\n return str;\\n } else {\\n // return an empty String\\n return \\\"\\\";\\n }\\n }\",\n \"public String getNewStateName() {\\n\\t\\tstateCounter.getAndIncrement();\\n\\t\\tString state = makeStateName(stateCounter.get(), false);\\n\\t\\treturn state;\\n\\t}\",\n \"public java.lang.String getCurr2() {\\n\\treturn curr2;\\n}\",\n \"public String getSwstatus() {\\n Object ref = swstatus_;\\n if (ref instanceof String) {\\n return (String) ref;\\n } else {\\n com.google.protobuf.ByteString bs =\\n (com.google.protobuf.ByteString) ref;\\n String s = bs.toStringUtf8();\\n swstatus_ = s;\\n return s;\\n }\\n }\",\n \"public String getOdlOpenflowStatus2() throws SnmpStatusException;\",\n \"com.polytech.spik.protocol.SpikMessages.StatusChanged getStatusChanged();\",\n \"public int getState() {\\n\\treturn com.hps.july.dictionary.APPStates.EDITSTRG;\\n}\",\n \"public String getStCodeStS() {\\n return stCodeStS;\\n }\",\n \"public String getStatus(){\\r\\n\\t\\treturn status;\\r\\n\\t}\",\n \"public abstract String getNodeStatusVariableName();\",\n \"private javax.swing.JLabel getTxtStatus() {\\r\\n\\t\\tif (txtStatus == null) {\\r\\n\\t\\t\\ttxtStatus = new javax.swing.JLabel();\\r\\n\\t\\t\\ttxtStatus.setName(\\\"txtStatus\\\");\\r\\n\\t\\t\\ttxtStatus.setText(\\\"Initializing...\\\");\\r\\n\\t\\t\\ttxtStatus.setHorizontalAlignment(javax.swing.SwingConstants.LEFT);\\r\\n\\t\\t\\ttxtStatus.setHorizontalTextPosition(javax.swing.SwingConstants.LEFT);\\r\\n\\t\\t\\ttxtStatus.setPreferredSize(new java.awt.Dimension(800,18));\\r\\n\\t\\t}\\r\\n\\t\\treturn txtStatus;\\r\\n\\t}\",\n \"public String getState() { return state; }\",\n \"public String getEventWatchingGoingStatus() {\\n\\t\\treturn eventWatchingGoingStatus;\\n\\t}\",\n \"public java.lang.String getOldValues_description(){\\n return localOldValues_description;\\n }\",\n \"public String getState()\\n {\\n \\treturn state;\\n }\",\n \"@Basic\\n\\tpublic String getPrevMove() {\\n\\t\\treturn prev_move;\\n\\t}\",\n \"@Override\\n\\tpublic String toString() {\\n\\t\\treturn String.format(\\\"[%s,%s,%d,%s] \\\", sensorType.toString(),status.toString(),pin,lastValue.isPresent()?lastValue.get():\\\"NOT UPDATED YET\\\");\\n\\t}\",\n \"public String getNewState() {\\n\\t\\treturn this.newState;\\n\\t}\",\n \"public String getStatus() { return status; }\",\n \"public String getNewState()\\n\\t{\\n\\t\\treturn (UUID.randomUUID().toString());\\n\\t}\",\n \"public String getStateString()\\r\\n\\t{\\r\\n\\t\\treturn stateString;\\r\\n\\t}\",\n \"public final String cur_modstate_string () {\\n\\t\\treturn get_modstate_as_string (modstate);\\n\\t}\",\n \"public java.lang.String getCurr1() {\\n\\treturn curr1;\\n}\",\n \"String getProgressString();\",\n \"@DISPID(15)\\n\\t// = 0xf. The runtime will prefer the VTID if present\\n\\t@VTID(25)\\n\\tjava.lang.String status();\",\n \"public String getState(){\\n return state;\\n }\",\n \"protected void changeStatus(String state)\\n { call_state=state;\\n printLog(\\\"state: \\\"+call_state,Log.LEVEL_MEDIUM); \\n }\",\n \"public void updateStatus(String s1)\\n {\\n s = s1;\\n notifyObservers();\\n }\",\n \"public java.lang.CharSequence getStatus() {\\n return status;\\n }\",\n \"public String getState() {\\n\\t\\treturn this.state_rep;\\n\\t}\",\n \"protected boolean statusIs(String state)\\n { return call_state.equals(state); \\n }\",\n \"private static String getStatus(Task task) {\\n Status myStatus = task.getStatus();\\n if (myStatus == Status.UP_NEXT) {\\n return \\\"UP_NEXT\\\";\\n } else if (myStatus == Status.IN_PROGRESS) {\\n return \\\"IN_PROGRESS\\\";\\n } else {\\n return myStatus.toString();\\n }\\n }\",\n \"String getCurrentState() {\\n return context.getString(allStates[currentIdx]);\\n }\",\n \"public String getWorking_status() {\\n return working_status;\\n }\",\n \"public String getStatus () {\\r\\n return status;\\r\\n }\",\n \"public java.lang.CharSequence getStatus() {\\n return status;\\n }\",\n \"private String getStatusMessage() {\\n\\t\\treturn (m_isTestPassed == true) ? \\\" successfully...\\\" : \\\" with failures...\\\";\\n\\t}\",\n \"private void setLblStatus(String s){\\n\\t\\tlblState.setText(s);\\n\\t}\",\n \"String getState();\",\n \"String getState();\",\n \"String getState();\",\n \"public String getStatus() {\\n return isDone ? \\\"1\\\" : \\\"0\\\";\\n }\",\n \"public String getCurrLexeme()\\n {\\n return myCurrLexeme;\\n }\",\n \"public String getState()\\n {\\n return null;\\n }\",\n \"public java.lang.String getStatus () {\\r\\n\\t\\treturn status;\\r\\n\\t}\",\n \"public java.lang.String getState () {\\n\\t\\treturn state;\\n\\t}\",\n \"public String getState() {\\n StringBuilder builder = new StringBuilder();\\n //builder.append(muteMusic.getBackground().getLevel());\\n //builder.append(',');\\n builder.append(muteClicked);\\n builder.append(',');\\n builder.append(gameOver);\\n builder.append(',');\\n builder.append(wordsDetectedByUser.size());\\n builder.append(',');\\n for(int i =0;i<wordsDetectedByUser.size();i++)\\n { builder.append(wordsDetectedByUser.get(i));\\n builder.append(',');}\\n builder.append(notValidWord);\\n builder.append(',');\\n // m1Handler.removeCallbacks(m1Runnable);\\n mHandler.removeCallbacks(mRunnable);\\n builder.append(phaseTwo);\\n builder.append(',');\\n builder.append(currentScore); //storing current score\\n builder.append(',');\\n builder.append(t); //storing timer state\\n builder.append(',');\\n Object a[] = DoneTiles.toArray();\\n builder.append(a.length);\\n builder.append(',');\\n for(int i=0;i<a.length;i++) {\\n builder.append(a[i].toString());\\n builder.append(',');\\n }\\n builder.append(mLastLarge);\\n builder.append(',');\\n builder.append(mLastSmall);\\n builder.append(',');\\n for (int large = 0; large < 9; large++) {\\n for (int small = 0; small < 9; small++) {\\n builder.append(mSmallTiles[large][small].getOwner().name());\\n builder.append(',');\\n builder.append((((Button)mSmallTiles[large][small].getView()).getText()).toString());\\n builder.append(',');\\n //Log.d(DoneTiles);\\n }\\n }\\n return builder.toString();\\n }\",\n \"public String getStatus(){\\n\\n //returns the value of the status field\\n return this.status;\\n }\",\n \"String provisioningState();\",\n \"void transStatus()\\r\\n\\t{\\r\\n\\t\\ttry\\r\\n\\t\\t{\\r\\n\\t\\t\\tif(passenger != null && status.equals(\\\"soon\\\"))\\r\\n\\t\\t\\t{\\r\\n\\t\\t\\t\\tService s_temp = new Service(passenger);\\r\\n\\t\\t\\t\\tdes = passenger.loc;\\r\\n\\t\\t\\t\\tmakeService(loc.i*80+loc.j,des.i*80+des.j);\\r\\n\\t\\t\\t\\tstatus = \\\"stop\\\";\\r\\n\\t\\t\\t\\tThread.sleep(1000);\\r\\n\\t\\t\\t\\tstatus = \\\"serve\\\";\\r\\n\\t\\t\\t\\tdes = passenger.des;\\r\\n\\t\\t\\t\\ts_temp.path.add(loc);\\r\\n\\t\\t\\t\\tmakeService(loc.i*80+loc.j,des.i*80+des.j,s_temp.path);\\r\\n\\t\\t\\t\\tstatus = \\\"stop\\\";\\r\\n\\t\\t\\t\\tThread.sleep(1000);\\r\\n\\t\\t\\t\\tcredit += 3;\\r\\n\\t\\t\\t\\tser_times += 1;\\r\\n\\t\\t\\t\\tservices.add(s_temp);\\r\\n\\t\\t\\t\\t//refresh:\\r\\n\\t\\t\\t\\tstatus = \\\"wait\\\";\\r\\n\\t\\t\\t\\tpassenger = null;\\r\\n\\t\\t\\t}\\r\\n\\t\\t}\\r\\n\\t\\tcatch(Exception e)\\r\\n\\t\\t{\\r\\n\\t\\t\\tSystem.out.println(\\\"Sorry to catch Exception!\\\");\\r\\n\\t\\t}\\r\\n\\t}\"\n]","isConversational":false},"negative_scores":{"kind":"list like","value":["0.6215381","0.62144446","0.615823","0.58919317","0.5878591","0.5878591","0.5878591","0.5878591","0.58757824","0.58757824","0.5826649","0.5826365","0.57497853","0.5745741","0.5729365","0.5713349","0.5702283","0.5702283","0.5692676","0.5692676","0.5692676","0.5692676","0.5692676","0.56802064","0.56715316","0.56528836","0.56382453","0.5634115","0.5633695","0.5591851","0.5585816","0.5578413","0.5578413","0.5578413","0.5578413","0.5578413","0.5565784","0.5538596","0.55347645","0.5527559","0.5505512","0.548737","0.54840827","0.5478176","0.5472804","0.54462194","0.54403675","0.5436635","0.54314536","0.5428468","0.54236954","0.5412456","0.5407903","0.5388","0.53866243","0.53796977","0.53747964","0.5364909","0.53633815","0.53616136","0.5360503","0.53540224","0.5341886","0.5337615","0.5327628","0.53209823","0.53196216","0.5317098","0.5310873","0.5308361","0.530783","0.53073657","0.5301637","0.5300287","0.529657","0.5292194","0.52906483","0.5289163","0.52818143","0.52785","0.52771187","0.527341","0.5271979","0.52624905","0.52621216","0.52610785","0.52596265","0.52585816","0.5256067","0.52519697","0.52519697","0.52519697","0.5247079","0.5243898","0.52417445","0.52303725","0.52244425","0.52225786","0.52132994","0.5210147","0.5208315"],"string":"[\n \"0.6215381\",\n \"0.62144446\",\n \"0.615823\",\n \"0.58919317\",\n \"0.5878591\",\n \"0.5878591\",\n \"0.5878591\",\n \"0.5878591\",\n \"0.58757824\",\n \"0.58757824\",\n \"0.5826649\",\n \"0.5826365\",\n \"0.57497853\",\n \"0.5745741\",\n \"0.5729365\",\n \"0.5713349\",\n \"0.5702283\",\n \"0.5702283\",\n \"0.5692676\",\n \"0.5692676\",\n \"0.5692676\",\n \"0.5692676\",\n \"0.5692676\",\n \"0.56802064\",\n \"0.56715316\",\n \"0.56528836\",\n \"0.56382453\",\n \"0.5634115\",\n \"0.5633695\",\n \"0.5591851\",\n \"0.5585816\",\n \"0.5578413\",\n \"0.5578413\",\n \"0.5578413\",\n \"0.5578413\",\n \"0.5578413\",\n \"0.5565784\",\n \"0.5538596\",\n \"0.55347645\",\n \"0.5527559\",\n \"0.5505512\",\n \"0.548737\",\n \"0.54840827\",\n \"0.5478176\",\n \"0.5472804\",\n \"0.54462194\",\n \"0.54403675\",\n \"0.5436635\",\n \"0.54314536\",\n \"0.5428468\",\n \"0.54236954\",\n \"0.5412456\",\n \"0.5407903\",\n \"0.5388\",\n \"0.53866243\",\n \"0.53796977\",\n \"0.53747964\",\n \"0.5364909\",\n \"0.53633815\",\n \"0.53616136\",\n \"0.5360503\",\n \"0.53540224\",\n \"0.5341886\",\n \"0.5337615\",\n \"0.5327628\",\n \"0.53209823\",\n \"0.53196216\",\n \"0.5317098\",\n \"0.5310873\",\n \"0.5308361\",\n \"0.530783\",\n \"0.53073657\",\n \"0.5301637\",\n \"0.5300287\",\n \"0.529657\",\n \"0.5292194\",\n \"0.52906483\",\n \"0.5289163\",\n \"0.52818143\",\n \"0.52785\",\n \"0.52771187\",\n \"0.527341\",\n \"0.5271979\",\n \"0.52624905\",\n \"0.52621216\",\n \"0.52610785\",\n \"0.52596265\",\n \"0.52585816\",\n \"0.5256067\",\n \"0.52519697\",\n \"0.52519697\",\n \"0.52519697\",\n \"0.5247079\",\n \"0.5243898\",\n \"0.52417445\",\n \"0.52303725\",\n \"0.52244425\",\n \"0.52225786\",\n \"0.52132994\",\n \"0.5210147\",\n \"0.5208315\"\n]","isConversational":false},"document_score":{"kind":"string","value":"0.0"},"document_rank":{"kind":"string","value":"-1"}}},{"rowIdx":120994,"cells":{"query":{"kind":"string","value":"TODO Autogenerated method stub"},"document":{"kind":"string","value":"@Override\r\n\tpublic void sssDoLwTestInit() {\n\r\n\t}"},"metadata":{"kind":"string","value":"{\n \"objective\": {\n \"self\": [],\n \"paired\": [],\n \"triplet\": [\n [\n \"query\",\n \"document\",\n \"negatives\"\n ]\n ]\n }\n}"},"negatives":{"kind":"list like","value":["@Override\r\n\tpublic void comer() \r\n\t{\n\t\t\r\n\t}","@Override\n\tpublic void comer() {\n\t\t\n\t}","@Override\n public void perish() {\n \n }","@Override\r\n\t\t\tpublic void annadir() {\n\r\n\t\t\t}","@Override\n\tpublic void anular() {\n\n\t}","@Override\n\tprotected void getExras() {\n\n\t}","@Override\r\n\tpublic void anularFact() {\n\t\t\r\n\t}","@Override\n\tpublic void entrenar() {\n\t\t\n\t}","@Override\n\tpublic void nadar() {\n\t\t\n\t}","@Override\r\n\tpublic void tires() {\n\t\t\r\n\t}","@Override\r\n\t\t\tpublic void ayuda() {\n\r\n\t\t\t}","@Override\n\tprotected void interr() {\n\t}","@Override\n\tpublic void emprestimo() {\n\n\t}","@Override\r\n\tpublic void bicar() {\n\t\t\r\n\t}","@Override\r\n\tpublic void bicar() {\n\t\t\r\n\t}","@Override\n\tpublic void grabar() {\n\t\t\n\t}","@Override\n\tpublic void gravarBd() {\n\t\t\n\t}","@Override\r\n\tpublic void rozmnozovat() {\n\t}","@Override\r\n\tpublic void dormir() {\n\t\t\r\n\t}","@Override\n protected void getExras() {\n }","@Override\r\n\tpublic void publierEnchere() {\n\t\t\r\n\t}","@Override\n\tpublic void nefesAl() {\n\n\t}","@Override\n\tpublic void ligar() {\n\t\t\n\t}","@Override\n public void func_104112_b() {\n \n }","@Override\n\tprotected void initdata() {\n\n\t}","@Override\n\tpublic void nghe() {\n\n\t}","@Override\n public void function()\n {\n }","@Override\n public void function()\n {\n }","public final void mo51373a() {\n }","@Override\r\n\tpublic void stehReagieren() {\r\n\t\t//\r\n\t}","@Override\n public void inizializza() {\n\n super.inizializza();\n }","@Override\n\tprotected void initData() {\n\t\t\n\t}","@Override\r\n\t\tpublic void init() {\n\t\t\t\r\n\t\t}","@Override\n\tpublic void sacrifier() {\n\t\t\n\t}","@Override\r\n\tprotected void InitData() {\n\t\t\r\n\t}","public void designBasement() {\n\t\t\r\n\t}","@Override\r\n\tprotected void initialize() {\r\n\t\t\r\n\t\t\r\n\t}","public void gored() {\n\t\t\n\t}","@Override\r\n\tprotected void initData() {\n\r\n\t}","@Override\n\tpublic void einkaufen() {\n\t}","@Override\n protected void initialize() {\n\n \n }","public void mo38117a() {\n }","@Override\n\tprotected void getData() {\n\t\t\n\t}","Constructor() {\r\n\t\t \r\n\t }","@Override\r\n\tpublic void dibujar() {\n\t\t\r\n\t}","@Override\r\n\tpublic void dibujar() {\n\t\t\r\n\t}","@Override\n\tpublic void one() {\n\t\t\n\t}","@Override\r\n\tprotected void initData() {\n\t\t\r\n\t}","@Override\r\n\tprotected void initData() {\n\t\t\r\n\t}","@Override\r\n\tprotected void initData() {\n\t\t\r\n\t}","@Override\r\n\tprotected void initData() {\n\t\t\r\n\t}","@Override\r\n\tprotected void initData() {\n\t\t\r\n\t}","@Override\r\n\tprotected void initData() {\n\t\t\r\n\t}","private stendhal() {\n\t}","@Override\n\tprotected void update() {\n\t\t\n\t}","@Override\n\t\t\tpublic void ic() {\n\t\t\t\t\n\t\t\t}","@Override\n\tprotected void initData() {\n\n\t}","@Override\n\tprotected void initData() {\n\n\t}","@Override\n\tpublic void init() {\n\t\t\n\t}","@Override\n\tpublic void init() {\n\t\t\n\t}","@Override\n\tpublic void init() {\n\t\t\n\t}","@Override\n\tpublic void init() {\n\t\t\n\t}","@Override\n\tpublic void init() {\n\t\t\n\t}","@Override\n public void init() {\n\n }","@Override\n\tprotected void initialize() {\n\t\t\n\t}","@Override\n\tprotected void initialize() {\n\t\t\n\t}","@Override\r\n\tpublic void init() {\n\t\t\r\n\t}","@Override\r\n\tpublic void init() {\n\t\t\r\n\t}","@Override\r\n\tpublic void init() {\n\t\t\r\n\t}","@Override\n\tpublic void debite() {\n\t\t\n\t}","@Override\r\n\tpublic void init() {\n\r\n\t}","@Override\r\n\tpublic void init() {\n\r\n\t}","@Override\r\n\tpublic void init() {\n\r\n\t}","public contrustor(){\r\n\t}","@Override\n\tprotected void initialize() {\n\n\t}","@Override\r\n\tpublic void dispase() {\n\r\n\t}","public void mo55254a() {\n }","public void mo55254a() {\n }","public void mo55254a() {\n }","public void mo55254a() {\n }","public void mo55254a() {\n }","public void mo55254a() {\n }","public void mo55254a() {\n }","@Override\n\tpublic void dtd() {\n\t\t\n\t}","@Override\n\tprotected void logic() {\n\n\t}","@Override\n\tprotected void lazyLoad() {\n\t\t\n\t}","public void mo4359a() {\n }","@Override\r\n\tprotected void initialize() {\n\r\n\t}","@Override\n public void memoria() {\n \n }","@Override\n\t\tpublic void method() {\n\t\t\t\n\t\t}","private RepositorioAtendimentoPublicoHBM() {\r\t}","@Override\n protected void initialize() \n {\n \n }","@Override\r\n\tpublic void getProposition() {\n\r\n\t}","@Override\n\tpublic void particular1() {\n\t\t\n\t}","@Override\n\tpublic void init() {\n\n\t}","@Override\n\tpublic void init() {\n\n\t}","@Override\n\tpublic void init() {\n\n\t}","@Override\n protected void prot() {\n }","@Override\r\n\tpublic void init()\r\n\t{\n\t}","@Override\n\tprotected void initValue()\n\t{\n\n\t}","public void mo55254a() {\n }"],"string":"[\n \"@Override\\r\\n\\tpublic void comer() \\r\\n\\t{\\n\\t\\t\\r\\n\\t}\",\n \"@Override\\n\\tpublic void comer() {\\n\\t\\t\\n\\t}\",\n \"@Override\\n public void perish() {\\n \\n }\",\n \"@Override\\r\\n\\t\\t\\tpublic void annadir() {\\n\\r\\n\\t\\t\\t}\",\n \"@Override\\n\\tpublic void anular() {\\n\\n\\t}\",\n \"@Override\\n\\tprotected void getExras() {\\n\\n\\t}\",\n \"@Override\\r\\n\\tpublic void anularFact() {\\n\\t\\t\\r\\n\\t}\",\n \"@Override\\n\\tpublic void entrenar() {\\n\\t\\t\\n\\t}\",\n \"@Override\\n\\tpublic void nadar() {\\n\\t\\t\\n\\t}\",\n \"@Override\\r\\n\\tpublic void tires() {\\n\\t\\t\\r\\n\\t}\",\n \"@Override\\r\\n\\t\\t\\tpublic void ayuda() {\\n\\r\\n\\t\\t\\t}\",\n \"@Override\\n\\tprotected void interr() {\\n\\t}\",\n \"@Override\\n\\tpublic void emprestimo() {\\n\\n\\t}\",\n \"@Override\\r\\n\\tpublic void bicar() {\\n\\t\\t\\r\\n\\t}\",\n \"@Override\\r\\n\\tpublic void bicar() {\\n\\t\\t\\r\\n\\t}\",\n \"@Override\\n\\tpublic void grabar() {\\n\\t\\t\\n\\t}\",\n \"@Override\\n\\tpublic void gravarBd() {\\n\\t\\t\\n\\t}\",\n \"@Override\\r\\n\\tpublic void rozmnozovat() {\\n\\t}\",\n \"@Override\\r\\n\\tpublic void dormir() {\\n\\t\\t\\r\\n\\t}\",\n \"@Override\\n protected void getExras() {\\n }\",\n \"@Override\\r\\n\\tpublic void publierEnchere() {\\n\\t\\t\\r\\n\\t}\",\n \"@Override\\n\\tpublic void nefesAl() {\\n\\n\\t}\",\n \"@Override\\n\\tpublic void ligar() {\\n\\t\\t\\n\\t}\",\n \"@Override\\n public void func_104112_b() {\\n \\n }\",\n \"@Override\\n\\tprotected void initdata() {\\n\\n\\t}\",\n \"@Override\\n\\tpublic void nghe() {\\n\\n\\t}\",\n \"@Override\\n public void function()\\n {\\n }\",\n \"@Override\\n public void function()\\n {\\n }\",\n \"public final void mo51373a() {\\n }\",\n \"@Override\\r\\n\\tpublic void stehReagieren() {\\r\\n\\t\\t//\\r\\n\\t}\",\n \"@Override\\n public void inizializza() {\\n\\n super.inizializza();\\n }\",\n \"@Override\\n\\tprotected void initData() {\\n\\t\\t\\n\\t}\",\n \"@Override\\r\\n\\t\\tpublic void init() {\\n\\t\\t\\t\\r\\n\\t\\t}\",\n \"@Override\\n\\tpublic void sacrifier() {\\n\\t\\t\\n\\t}\",\n \"@Override\\r\\n\\tprotected void InitData() {\\n\\t\\t\\r\\n\\t}\",\n \"public void designBasement() {\\n\\t\\t\\r\\n\\t}\",\n \"@Override\\r\\n\\tprotected void initialize() {\\r\\n\\t\\t\\r\\n\\t\\t\\r\\n\\t}\",\n \"public void gored() {\\n\\t\\t\\n\\t}\",\n \"@Override\\r\\n\\tprotected void initData() {\\n\\r\\n\\t}\",\n \"@Override\\n\\tpublic void einkaufen() {\\n\\t}\",\n \"@Override\\n protected void initialize() {\\n\\n \\n }\",\n \"public void mo38117a() {\\n }\",\n \"@Override\\n\\tprotected void getData() {\\n\\t\\t\\n\\t}\",\n \"Constructor() {\\r\\n\\t\\t \\r\\n\\t }\",\n \"@Override\\r\\n\\tpublic void dibujar() {\\n\\t\\t\\r\\n\\t}\",\n \"@Override\\r\\n\\tpublic void dibujar() {\\n\\t\\t\\r\\n\\t}\",\n \"@Override\\n\\tpublic void one() {\\n\\t\\t\\n\\t}\",\n \"@Override\\r\\n\\tprotected void initData() {\\n\\t\\t\\r\\n\\t}\",\n \"@Override\\r\\n\\tprotected void initData() {\\n\\t\\t\\r\\n\\t}\",\n \"@Override\\r\\n\\tprotected void initData() {\\n\\t\\t\\r\\n\\t}\",\n \"@Override\\r\\n\\tprotected void initData() {\\n\\t\\t\\r\\n\\t}\",\n \"@Override\\r\\n\\tprotected void initData() {\\n\\t\\t\\r\\n\\t}\",\n \"@Override\\r\\n\\tprotected void initData() {\\n\\t\\t\\r\\n\\t}\",\n \"private stendhal() {\\n\\t}\",\n \"@Override\\n\\tprotected void update() {\\n\\t\\t\\n\\t}\",\n \"@Override\\n\\t\\t\\tpublic void ic() {\\n\\t\\t\\t\\t\\n\\t\\t\\t}\",\n \"@Override\\n\\tprotected void initData() {\\n\\n\\t}\",\n \"@Override\\n\\tprotected void initData() {\\n\\n\\t}\",\n \"@Override\\n\\tpublic void init() {\\n\\t\\t\\n\\t}\",\n \"@Override\\n\\tpublic void init() {\\n\\t\\t\\n\\t}\",\n \"@Override\\n\\tpublic void init() {\\n\\t\\t\\n\\t}\",\n \"@Override\\n\\tpublic void init() {\\n\\t\\t\\n\\t}\",\n \"@Override\\n\\tpublic void init() {\\n\\t\\t\\n\\t}\",\n \"@Override\\n public void init() {\\n\\n }\",\n \"@Override\\n\\tprotected void initialize() {\\n\\t\\t\\n\\t}\",\n \"@Override\\n\\tprotected void initialize() {\\n\\t\\t\\n\\t}\",\n \"@Override\\r\\n\\tpublic void init() {\\n\\t\\t\\r\\n\\t}\",\n \"@Override\\r\\n\\tpublic void init() {\\n\\t\\t\\r\\n\\t}\",\n \"@Override\\r\\n\\tpublic void init() {\\n\\t\\t\\r\\n\\t}\",\n \"@Override\\n\\tpublic void debite() {\\n\\t\\t\\n\\t}\",\n \"@Override\\r\\n\\tpublic void init() {\\n\\r\\n\\t}\",\n \"@Override\\r\\n\\tpublic void init() {\\n\\r\\n\\t}\",\n \"@Override\\r\\n\\tpublic void init() {\\n\\r\\n\\t}\",\n \"public contrustor(){\\r\\n\\t}\",\n 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this;\n\t\t\t\tThread thread = new Thread(new Runnable() {\n\t\t\t\t @Override\n\t\t\t\t public void run(){\n\t\t\t\t \ttry {\n\t\t\t\t\t\t\tupdated = Crosstalk.getInstance().refresh(customer);\n\t\t\t\t\t\t} catch (Exception e) {\n\t\t\t\t\t\t\terror = true;\n\t\t\t\t\t\t\tmessage = e.toString();\n\t\t\t\t\t\t}\n\t\t\t\t }\n\t\t\t\t});\n\t\t\t\tthread.start();\n\t\t\t\tasyncid = \"\" + id;\n\t\t\t}\n\t\t} catch (Exception e) {\n\t\t\t// TODO Auto-generated catch block\n\t\t\te.printStackTrace();\n\t\t}\n\t}","@Override\n public void autonomousPeriodic() {\n Scheduler.getInstance().run();\n }","protected void runEachMinute() {\n \n }","@Override\n public void execute() {\n Time.sleep(3000);\n Starting.execute();\n }","@Override\r\n public void robotPeriodic() {\r\n // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled\r\n // commands, running already-scheduled commands, removing finished or interrupted commands,\r\n // and running subsystem periodic() methods. This must be called from the robot's periodic\r\n // block in order for anything in the Command-based framework to work.\r\n CommandScheduler.getInstance().run();\r\n }","@Override\n public void robotPeriodic() {\n // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled\n // commands, running already-scheduled commands, removing finished or interrupted commands,\n // and running subsystem periodic() methods. This must be called from the robot's periodic\n // block in order for anything in the Command-based framework to work.\n CommandScheduler.getInstance().run();\n }","@Override\n public void autonomousPeriodic()\n {\n Scheduler.getInstance().run();\n }","public void autonomousPeriodic() {\r\n Scheduler.getInstance().run();\r\n }","private void scheduleJob() {\n\n }","@Override\n\tpublic void execute() {\n\t\tcmdReceiver.send();\n\t}","public void autonomousPeriodic() {\n Scheduler.getInstance().run();\n }","public void autonomousPeriodic() {\n Scheduler.getInstance().run();\n }","public void autonomousPeriodic() {\n Scheduler.getInstance().run();\n }","public void autonomousPeriodic() {\n Scheduler.getInstance().run();\n }","public void autonomousPeriodic() {\n Scheduler.getInstance().run();\n }","public void autonomousPeriodic() {\n Scheduler.getInstance().run();\n }","protected void run() throws IOException {\n\t\tif (lastTime + interval > Time.now())\n\t\t\treturn;\n\t\texitCode = 0; // reset for next run\n\t\trunCommand();\n\t}","protected void execute() {\n \tclimber.setCLimberSpeed(0);\n }","@Override\n public void teleopPeriodic()\n {\n Scheduler.getInstance().run();\n }","private void doCommand() {\n try {\n TimeUnit.SECONDS.sleep(2L);\n } catch (InterruptedException e) {\n e.printStackTrace();\n }\n }","protected void waitUntilCommandFinished() {\n }","public void autonomousPeriodic() \n {\n Scheduler.getInstance().run();\n }","@Override\n public void teleopPeriodic() {\n Scheduler.getInstance().run();\n \n }","private void schedule() {\n service.scheduleDelayed(task, schedulingInterval);\n isScheduled = true;\n }","public void autonomousPeriodic() {\r\n\t\tScheduler.getInstance().run();\r\n\t}","@Override\n\tpublic void autonomousPeriodic() {\n\t\tScheduler.getInstance().run();\n\t}","@Override\n\tpublic void autonomousPeriodic() {\n\t\tScheduler.getInstance().run();\n\t}","@Override\n\tpublic void autonomousPeriodic() {\n\t\tScheduler.getInstance().run();\n\t}","@Override\n\tpublic void autonomousPeriodic() {\n\t\tScheduler.getInstance().run();\n\t}","@Override\n\tpublic void teleopPeriodic() {\n\t\tScheduler.getInstance().run();\n\t}","@Override\n\tpublic void teleopPeriodic() {\n\t\tScheduler.getInstance().run();\n\t}","@Override\n\tpublic void teleopPeriodic() {\n\t\tScheduler.getInstance().run();\n\t}","@Override\n\tprotected void run() {\n\t\tUtils.executeAndWaitForCommand(this.getHMetisExec());\n\t}","@Override\n\tpublic void autonomousPeriodic() {\n\t\tScheduler.getInstance().run();\t\n\t}","@Override\n public void autonomousPeriodic() {\n \n }","public void intialRun() {\n }","@Override\n public void periodic() {\n UpdateDashboard();\n }","public void teleopPeriodic() {\r\n\t\tScheduler.getInstance().run();\r\n\t}","@Override\n\tprotected void postRun() {\n\n\t}","protected void execute() {\n \t\n \tcurrent_time = System.currentTimeMillis();\n \t\n \tlift.liftDown(LIFT_SPEED);\n }","@Override\n\tpublic void teleopPeriodic() //runs the teleOp part of the code, repeats every 20 ms\n\t{\n\t\tScheduler.getInstance().run(); //has to be here, I think that this is looping the method\n\t\tSmartDashboard.putNumber(\"Encoder Left: \", RobotMap.encoderLeft.getRaw()); //putting the value of the left encoder to the SmartDashboard\n\t\tSmartDashboard.putNumber(\"Encoder Right: \", RobotMap.encoderRight.getRaw()); //putting the value of the right encoder to the smartDashboard\n\t\tSmartDashboard.putNumber(\"Ultrasonic sensor\", ultrasonic.getDistanceIn()); //putting the value of the ultrasonic sensor to the smartDashboard\n//\t\tSmartDashboard.putBoolean(\"allOK\", Robot.driveFar.ultrasonicOK);\n\t\tdriveExecutor.execute(); //running the execute method in driveExecutor\n\t\tgrab.execute(); //running the execute() method in GearGrab_Command (should run without this but this is ensuring us that it is on)\n\t}","public void teleopPeriodic() {\n Scheduler.getInstance().run();\n }","public void teleopPeriodic() {\n Scheduler.getInstance().run();\n }","public void teleopPeriodic() {\n Scheduler.getInstance().run();\n }","public void teleopPeriodic() {\n Scheduler.getInstance().run();\n }","public void run() {\n\t\t\t\tIMSScheduleManager.super.startCron();\r\n\t\t\t\t\r\n\t\t\t}","@Override\n\t\t\tpublic void run() {\n\n\t\t\t}","@Override\n public void autonomousPeriodic() {\n\n }","@Override\n public void autonomousPeriodic() \n {\n Scheduler.getInstance().run();\n log();\n }","@Override\n\tpublic void postRun() {\n\t}","public void autonomousPeriodic() {\n // RobotMap.helmsman.trackPosition();\n Scheduler.getInstance().run();\n }","private void beginSchedule(){\n\t\tDivaApp.getInstance().submitScheduledTask(new RandomUpdater(this), RandomUpdater.DELAY, RandomUpdater.PERIOD);\n\t}","protected void runEachSecond() {\n \n }","@Override\n protected void execute() {\n Robot.toteLifterSubsystem.setEjectorState(EjectorState.EXTENDING, ramper.process(1.0));\n }","protected void execute() {\n\t\t_xboxControllerToRumble.setRumble(_rumbleType, _rumbleValue);\n\t\t_timesRumbled++;\n\t\tSystem.out.println(\"Rumbling \" + _timesRumbled);\n\t}","private void runPeriodic() {\n boolean ok = ScheduledFutureTask.super.runAndReset();\n boolean down = isShutdown();\n // Reschedule if not cancelled and not shutdown or policy allows\n if (ok && !down) {\n updateNextExecutionTime();\n MeasurableScheduler.super.getQueue().add(this);\n }\n // This might have been the final executed delayed\n // task. Wake up threads to check.\n else if (down)\n interruptIdleWorkers();\n }","public void execute() {\n\t\tlaunch();\n\t}","@Override\r\n\t\t\tpublic void run() {\n\t\t\t\t\r\n\t\t\t}","@Override\r\n\t\t\tpublic void run() {\n\t\t\t\t\r\n\t\t\t}","@Override\n\tpublic void run() {\n\t\tif (this.isRunning == true) {\n\t\t\treturn;\n\t\t}\n\t\tthis.isRunning = true;\n\t\t// 写入一条日志\n\t\t\n\t\t// 详细运行参数\n\t\ttry {\n\t\t\tthis.taskRun();\n\t\t} catch (Exception e) {\n\t\t\te.printStackTrace();\n\t\t}\n\t\tthis.isRunning = false;\n\t\tthis.addHistory(new Date());\n\t\tif(this.once) {\n\t\t\tthis.cancel();\n\t\t}\n\t}","@Override\n public void run() {\n systemTurn();\n }","@Override\n public void run() {\n systemTurn();\n }","@Override\n public void run() {\n systemTurn();\n }","@Override\n public void run() {\n systemTurn();\n }","@Override\n public void run() {\n systemTurn();\n }","@Override\n public void run() {\n systemTurn();\n }","@Override\n public void run() {\n systemTurn();\n }","@Override\n public void run() {\n systemTurn();\n }","@Override\n public void run() {\n systemTurn();\n }","@Override\n public void autonomousPeriodic() {\n }","@Override\n public void autonomousPeriodic() {\n }","@Override\n public void autonomousPeriodic() {\n }","@Override\n public void taskStarting() {\n\n }","@Override\n public void teleopPeriodic() {\n Scheduler.getInstance().run();\n log();\n }","@PostConstruct\n public void postConstruct() {\n execService = Executors.newScheduledThreadPool(1);\n scheduledFuture = execService.scheduleAtFixedRate(this, 0, PUSH_REPEAT_DELAY, TimeUnit.MILLISECONDS);\n }","protected void run() {\r\n\t\t//\r\n\t}","@Override\n\tpublic void run() {\n\t\tautomatischDurchAlleRouten();\n\n\t\t\n\t}","public void autonomousPeriodic()\n\t{\n\t\tScheduler.getInstance().run();\n\t}","@Override\n public void execute() {\n if (System.currentTimeMillis() - currentMs >= timeMs) {\n // Delay has passed so initialize object11\n super.initialize();\n }\n }","@Override\n\tprotected void execute() {\n\t\tRobot.collector.setMawOpen(Robot.oi.getCollectorOpen());\n\t\tRobot.collector.setIntakeSpeed(Robot.oi.getCollectorSpeed());\n\t\tRobot.collector.setWristStageOneRetracted(Robot.oi.getWristStageOneRetracted());\n\t\tRobot.collector.setWristStageTwoRetracted(Robot.oi.getWristStageTwoRetracted());\n\t}","protected void execute() {\n \tRobot.chassisSubsystem.shootHighM.set(0.75);\n \tif(timeSinceInitialized() >= 1.25){\n \t\tRobot.chassisSubsystem.liftM.set(1.0);\n \t}\n }","protected void execute() {\n command.start();\n }","@Override\n public void autonomousPeriodic() {\n }","@Override\n public void autonomousPeriodic() {\n\t// updateDiagnostics();9\n\tScheduler.getInstance().run();\n }","@Override\n public void run()\n {\n //Log.d(TAG ,\"==========>Task Run In!\");\n updateDroneLocation();\n }","public void teleopPeriodic()\n\t{\n\t\tScheduler.getInstance().run();\n\t}","public void execute() {\n setExecuted(true);\n }","@Override\n public void teleopPeriodic() {\n\tupdateDiagnostics();\n\tScheduler.getInstance().run();\n }","public void execute() {\n\t\t\n\t\tdrivetrain.updateAnglePID();\n\t\t\n//\t\tif (drivetrain.currentControl()) {\n//\t\t\tdrivetrain.shiftGears();\n//\t\t}\n\t}","protected void execute() {\n\t\tshooter.runShooter(power);\n\t}","@Override\r\n public void run() {}","@SuppressLint(\"InlinedApi\")\n @Override\n public void run() {\n }","protected void execute() {\n \tshooterWheel.shooterWheelSpeedControllerAft.Pause();\n \tshooterWheel.shooterWheelSpeedControllerFwd.Pause();\n \t\n }","@Override\n\t\t\tpublic void run() {\n\t\t\t\t\n\t\t\t}","@Override\n\t\t\tpublic void run() {\n\t\t\t\t\n\t\t\t}","public void run() {\n ui.printStartingMessage();\n boolean isExit = false;\n\n while (!isExit) {\n isExit = parser.determineCommand();\n }\n\n storage.saveToFile(taskList);\n }"],"string":"[\n \"@Override\\n\\t\\tvoid runCommand() {\\n\\t\\t\\ttrigger.execute();\\n\\t\\t}\",\n \"@Override\\n public void run() {\\n schedule();\\n }\",\n \"@Override\\n public void autonomousPeriodic() {\\n \\n Scheduler.getInstance().run();\\n \\n }\",\n \"public void run() {\\n\\t\\texecuteCommand( client, false );\\n\\t}\",\n \"@Override\\n public void periodic() {\\n // This method will be called once per scheduler run\\n }\",\n \"@Override\\n\\tpublic void execute() {\\n\\t\\tsuper.execute();\\n\\n\\t\\t// TBD Needs rewrite for multi tenant\\n\\t\\ttry {\\t\\n\\t\\t\\tif (async == null || !async)\\n\\t\\t\\t\\tupdated = Crosstalk.getInstance().refresh(customer);\\n\\t\\t\\telse {\\n\\t\\t\\t\\tfinal Long id = random.nextLong();\\n\\t\\t\\t\\tfinal ApiCommand theCommand = this;\\n\\t\\t\\t\\tThread thread = new Thread(new Runnable() {\\n\\t\\t\\t\\t @Override\\n\\t\\t\\t\\t public void run(){\\n\\t\\t\\t\\t \\ttry {\\n\\t\\t\\t\\t\\t\\t\\tupdated = Crosstalk.getInstance().refresh(customer);\\n\\t\\t\\t\\t\\t\\t} catch (Exception e) {\\n\\t\\t\\t\\t\\t\\t\\terror = true;\\n\\t\\t\\t\\t\\t\\t\\tmessage = e.toString();\\n\\t\\t\\t\\t\\t\\t}\\n\\t\\t\\t\\t }\\n\\t\\t\\t\\t});\\n\\t\\t\\t\\tthread.start();\\n\\t\\t\\t\\tasyncid = \\\"\\\" + id;\\n\\t\\t\\t}\\n\\t\\t} catch (Exception e) {\\n\\t\\t\\t// TODO Auto-generated catch block\\n\\t\\t\\te.printStackTrace();\\n\\t\\t}\\n\\t}\",\n \"@Override\\n public void autonomousPeriodic() {\\n Scheduler.getInstance().run();\\n }\",\n \"protected void runEachMinute() {\\n \\n }\",\n \"@Override\\n public void execute() {\\n Time.sleep(3000);\\n Starting.execute();\\n }\",\n \"@Override\\r\\n public void robotPeriodic() {\\r\\n // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled\\r\\n // commands, running already-scheduled commands, removing finished or interrupted commands,\\r\\n // and running subsystem periodic() methods. This must be called from the robot's periodic\\r\\n // block in order for anything in the Command-based framework to work.\\r\\n CommandScheduler.getInstance().run();\\r\\n }\",\n \"@Override\\n public void robotPeriodic() {\\n // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled\\n // commands, running already-scheduled commands, removing finished or interrupted commands,\\n // and running subsystem periodic() methods. This must be called from the robot's periodic\\n // block in order for anything in the Command-based framework to work.\\n CommandScheduler.getInstance().run();\\n }\",\n \"@Override\\n public void autonomousPeriodic()\\n {\\n Scheduler.getInstance().run();\\n }\",\n \"public void autonomousPeriodic() {\\r\\n Scheduler.getInstance().run();\\r\\n }\",\n \"private void scheduleJob() {\\n\\n }\",\n \"@Override\\n\\tpublic void execute() {\\n\\t\\tcmdReceiver.send();\\n\\t}\",\n \"public void autonomousPeriodic() {\\n Scheduler.getInstance().run();\\n }\",\n \"public void autonomousPeriodic() {\\n Scheduler.getInstance().run();\\n }\",\n \"public void autonomousPeriodic() {\\n Scheduler.getInstance().run();\\n }\",\n \"public void autonomousPeriodic() {\\n Scheduler.getInstance().run();\\n }\",\n \"public void autonomousPeriodic() {\\n Scheduler.getInstance().run();\\n }\",\n \"public void autonomousPeriodic() {\\n Scheduler.getInstance().run();\\n }\",\n \"protected void run() throws IOException {\\n\\t\\tif (lastTime + interval > Time.now())\\n\\t\\t\\treturn;\\n\\t\\texitCode = 0; // reset for next run\\n\\t\\trunCommand();\\n\\t}\",\n \"protected void execute() {\\n \\tclimber.setCLimberSpeed(0);\\n }\",\n \"@Override\\n public void teleopPeriodic()\\n {\\n Scheduler.getInstance().run();\\n }\",\n \"private void doCommand() {\\n try {\\n TimeUnit.SECONDS.sleep(2L);\\n } catch (InterruptedException e) {\\n e.printStackTrace();\\n }\\n }\",\n \"protected void waitUntilCommandFinished() {\\n }\",\n \"public void autonomousPeriodic() \\n {\\n Scheduler.getInstance().run();\\n }\",\n \"@Override\\n public void teleopPeriodic() {\\n Scheduler.getInstance().run();\\n \\n }\",\n \"private void schedule() {\\n service.scheduleDelayed(task, schedulingInterval);\\n isScheduled = true;\\n }\",\n \"public void autonomousPeriodic() {\\r\\n\\t\\tScheduler.getInstance().run();\\r\\n\\t}\",\n \"@Override\\n\\tpublic void autonomousPeriodic() {\\n\\t\\tScheduler.getInstance().run();\\n\\t}\",\n \"@Override\\n\\tpublic void autonomousPeriodic() {\\n\\t\\tScheduler.getInstance().run();\\n\\t}\",\n \"@Override\\n\\tpublic void autonomousPeriodic() {\\n\\t\\tScheduler.getInstance().run();\\n\\t}\",\n \"@Override\\n\\tpublic void autonomousPeriodic() {\\n\\t\\tScheduler.getInstance().run();\\n\\t}\",\n \"@Override\\n\\tpublic void teleopPeriodic() {\\n\\t\\tScheduler.getInstance().run();\\n\\t}\",\n \"@Override\\n\\tpublic void teleopPeriodic() {\\n\\t\\tScheduler.getInstance().run();\\n\\t}\",\n \"@Override\\n\\tpublic void teleopPeriodic() {\\n\\t\\tScheduler.getInstance().run();\\n\\t}\",\n \"@Override\\n\\tprotected void run() {\\n\\t\\tUtils.executeAndWaitForCommand(this.getHMetisExec());\\n\\t}\",\n \"@Override\\n\\tpublic void autonomousPeriodic() {\\n\\t\\tScheduler.getInstance().run();\\t\\n\\t}\",\n \"@Override\\n public void autonomousPeriodic() {\\n \\n }\",\n \"public void intialRun() {\\n }\",\n \"@Override\\n public void periodic() {\\n UpdateDashboard();\\n }\",\n \"public void teleopPeriodic() {\\r\\n\\t\\tScheduler.getInstance().run();\\r\\n\\t}\",\n \"@Override\\n\\tprotected void postRun() {\\n\\n\\t}\",\n \"protected void execute() {\\n \\t\\n \\tcurrent_time = System.currentTimeMillis();\\n \\t\\n \\tlift.liftDown(LIFT_SPEED);\\n }\",\n \"@Override\\n\\tpublic void teleopPeriodic() //runs the teleOp part of the code, repeats every 20 ms\\n\\t{\\n\\t\\tScheduler.getInstance().run(); //has to be here, I think that this is looping the method\\n\\t\\tSmartDashboard.putNumber(\\\"Encoder Left: \\\", RobotMap.encoderLeft.getRaw()); //putting the value of the left encoder to the SmartDashboard\\n\\t\\tSmartDashboard.putNumber(\\\"Encoder Right: \\\", RobotMap.encoderRight.getRaw()); //putting the value of the right encoder to the smartDashboard\\n\\t\\tSmartDashboard.putNumber(\\\"Ultrasonic sensor\\\", ultrasonic.getDistanceIn()); //putting the value of the ultrasonic sensor to the smartDashboard\\n//\\t\\tSmartDashboard.putBoolean(\\\"allOK\\\", Robot.driveFar.ultrasonicOK);\\n\\t\\tdriveExecutor.execute(); //running the execute method in driveExecutor\\n\\t\\tgrab.execute(); //running the execute() method in GearGrab_Command (should run without this but this is ensuring us that it is on)\\n\\t}\",\n \"public void teleopPeriodic() {\\n Scheduler.getInstance().run();\\n }\",\n \"public void teleopPeriodic() {\\n Scheduler.getInstance().run();\\n }\",\n \"public void teleopPeriodic() {\\n Scheduler.getInstance().run();\\n }\",\n \"public void teleopPeriodic() {\\n Scheduler.getInstance().run();\\n }\",\n \"public void run() {\\n\\t\\t\\t\\tIMSScheduleManager.super.startCron();\\r\\n\\t\\t\\t\\t\\r\\n\\t\\t\\t}\",\n \"@Override\\n\\t\\t\\tpublic void run() {\\n\\n\\t\\t\\t}\",\n \"@Override\\n public void autonomousPeriodic() {\\n\\n }\",\n \"@Override\\n public void autonomousPeriodic() \\n {\\n Scheduler.getInstance().run();\\n log();\\n }\",\n \"@Override\\n\\tpublic void postRun() {\\n\\t}\",\n \"public void autonomousPeriodic() {\\n // RobotMap.helmsman.trackPosition();\\n Scheduler.getInstance().run();\\n }\",\n \"private void beginSchedule(){\\n\\t\\tDivaApp.getInstance().submitScheduledTask(new RandomUpdater(this), RandomUpdater.DELAY, RandomUpdater.PERIOD);\\n\\t}\",\n \"protected void runEachSecond() {\\n \\n }\",\n \"@Override\\n protected void execute() {\\n Robot.toteLifterSubsystem.setEjectorState(EjectorState.EXTENDING, ramper.process(1.0));\\n }\",\n \"protected void execute() {\\n\\t\\t_xboxControllerToRumble.setRumble(_rumbleType, _rumbleValue);\\n\\t\\t_timesRumbled++;\\n\\t\\tSystem.out.println(\\\"Rumbling \\\" + _timesRumbled);\\n\\t}\",\n \"private void runPeriodic() {\\n boolean ok = ScheduledFutureTask.super.runAndReset();\\n boolean down = isShutdown();\\n // Reschedule if not cancelled and not shutdown or policy allows\\n if (ok && !down) {\\n updateNextExecutionTime();\\n MeasurableScheduler.super.getQueue().add(this);\\n }\\n // This might have been the final executed delayed\\n // task. Wake up threads to check.\\n else if (down)\\n interruptIdleWorkers();\\n }\",\n \"public void execute() {\\n\\t\\tlaunch();\\n\\t}\",\n \"@Override\\r\\n\\t\\t\\tpublic void run() {\\n\\t\\t\\t\\t\\r\\n\\t\\t\\t}\",\n \"@Override\\r\\n\\t\\t\\tpublic void run() {\\n\\t\\t\\t\\t\\r\\n\\t\\t\\t}\",\n \"@Override\\n\\tpublic void run() {\\n\\t\\tif (this.isRunning == true) {\\n\\t\\t\\treturn;\\n\\t\\t}\\n\\t\\tthis.isRunning = true;\\n\\t\\t// 写入一条日志\\n\\t\\t\\n\\t\\t// 详细运行参数\\n\\t\\ttry {\\n\\t\\t\\tthis.taskRun();\\n\\t\\t} catch (Exception e) {\\n\\t\\t\\te.printStackTrace();\\n\\t\\t}\\n\\t\\tthis.isRunning = false;\\n\\t\\tthis.addHistory(new Date());\\n\\t\\tif(this.once) {\\n\\t\\t\\tthis.cancel();\\n\\t\\t}\\n\\t}\",\n \"@Override\\n public void run() {\\n systemTurn();\\n }\",\n \"@Override\\n public void run() {\\n systemTurn();\\n }\",\n \"@Override\\n public void run() {\\n systemTurn();\\n }\",\n \"@Override\\n public void run() {\\n systemTurn();\\n }\",\n \"@Override\\n public void run() {\\n systemTurn();\\n }\",\n \"@Override\\n public void run() {\\n systemTurn();\\n }\",\n \"@Override\\n public void run() {\\n systemTurn();\\n }\",\n \"@Override\\n public void run() {\\n systemTurn();\\n }\",\n \"@Override\\n public void run() {\\n systemTurn();\\n }\",\n \"@Override\\n public void autonomousPeriodic() {\\n }\",\n \"@Override\\n public void autonomousPeriodic() {\\n }\",\n \"@Override\\n public void autonomousPeriodic() {\\n }\",\n \"@Override\\n public void taskStarting() {\\n\\n }\",\n \"@Override\\n public void teleopPeriodic() {\\n Scheduler.getInstance().run();\\n log();\\n }\",\n \"@PostConstruct\\n public void postConstruct() {\\n execService = Executors.newScheduledThreadPool(1);\\n scheduledFuture = execService.scheduleAtFixedRate(this, 0, PUSH_REPEAT_DELAY, TimeUnit.MILLISECONDS);\\n }\",\n \"protected void run() {\\r\\n\\t\\t//\\r\\n\\t}\",\n \"@Override\\n\\tpublic void run() {\\n\\t\\tautomatischDurchAlleRouten();\\n\\n\\t\\t\\n\\t}\",\n \"public void autonomousPeriodic()\\n\\t{\\n\\t\\tScheduler.getInstance().run();\\n\\t}\",\n \"@Override\\n public void execute() {\\n if (System.currentTimeMillis() - currentMs >= timeMs) {\\n // Delay has passed so initialize object11\\n super.initialize();\\n }\\n }\",\n \"@Override\\n\\tprotected void execute() {\\n\\t\\tRobot.collector.setMawOpen(Robot.oi.getCollectorOpen());\\n\\t\\tRobot.collector.setIntakeSpeed(Robot.oi.getCollectorSpeed());\\n\\t\\tRobot.collector.setWristStageOneRetracted(Robot.oi.getWristStageOneRetracted());\\n\\t\\tRobot.collector.setWristStageTwoRetracted(Robot.oi.getWristStageTwoRetracted());\\n\\t}\",\n \"protected void execute() {\\n \\tRobot.chassisSubsystem.shootHighM.set(0.75);\\n \\tif(timeSinceInitialized() >= 1.25){\\n \\t\\tRobot.chassisSubsystem.liftM.set(1.0);\\n \\t}\\n }\",\n \"protected void execute() {\\n command.start();\\n }\",\n \"@Override\\n public void autonomousPeriodic() {\\n }\",\n \"@Override\\n public void autonomousPeriodic() {\\n\\t// updateDiagnostics();9\\n\\tScheduler.getInstance().run();\\n }\",\n \"@Override\\n public void run()\\n {\\n //Log.d(TAG ,\\\"==========>Task Run In!\\\");\\n updateDroneLocation();\\n }\",\n \"public void teleopPeriodic()\\n\\t{\\n\\t\\tScheduler.getInstance().run();\\n\\t}\",\n \"public void execute() {\\n setExecuted(true);\\n }\",\n \"@Override\\n public void teleopPeriodic() {\\n\\tupdateDiagnostics();\\n\\tScheduler.getInstance().run();\\n }\",\n \"public void execute() {\\n\\t\\t\\n\\t\\tdrivetrain.updateAnglePID();\\n\\t\\t\\n//\\t\\tif (drivetrain.currentControl()) {\\n//\\t\\t\\tdrivetrain.shiftGears();\\n//\\t\\t}\\n\\t}\",\n \"protected void execute() {\\n\\t\\tshooter.runShooter(power);\\n\\t}\",\n \"@Override\\r\\n public void run() {}\",\n \"@SuppressLint(\\\"InlinedApi\\\")\\n @Override\\n public void run() {\\n }\",\n \"protected void execute() {\\n \\tshooterWheel.shooterWheelSpeedControllerAft.Pause();\\n \\tshooterWheel.shooterWheelSpeedControllerFwd.Pause();\\n \\t\\n }\",\n \"@Override\\n\\t\\t\\tpublic void run() {\\n\\t\\t\\t\\t\\n\\t\\t\\t}\",\n \"@Override\\n\\t\\t\\tpublic void run() {\\n\\t\\t\\t\\t\\n\\t\\t\\t}\",\n \"public void run() {\\n ui.printStartingMessage();\\n boolean isExit = false;\\n\\n while (!isExit) {\\n isExit = parser.determineCommand();\\n }\\n\\n storage.saveToFile(taskList);\\n }\"\n]","isConversational":false},"negative_scores":{"kind":"list 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execute()"},"document":{"kind":"string","value":"protected boolean isFinished() {\r\n\t\t \tboolean ans = false;\r\n\t\t \treturn ans;\r\n\t\t }"},"metadata":{"kind":"string","value":"{\n \"objective\": {\n \"self\": [],\n \"paired\": [],\n \"triplet\": [\n [\n \"query\",\n \"document\",\n \"negatives\"\n ]\n ]\n }\n}"},"negatives":{"kind":"list like","value":["@Override\n public boolean execute() {\n return false;\n }","@Override\n public boolean execute() {\n return false;\n }","public boolean execute(){\n return false;\n }","@Override\n\tpublic boolean Unexecute() \n\t{\n\t\treturn false;\n\t}","protected boolean onExecute(String command)\n {\n return false;\n }","@Override\n\tpublic boolean execute() {\n\t\treturn false;\n\t}","@Override\n\t\tpublic boolean shouldContinueExecuting() {\n\t\t\treturn false;\n\t\t}","public boolean shouldExecute() {\n\t\treturn true;\n\t}","protected void execute() {\n \t// literally still do nothing\n }","@Override\n public boolean canExecute() {\n return true;\n }","protected void execute() {\n finished = true;\n }","@Override\r\n\tpublic void unexecute() {\n\t\t\r\n\t}","public Command() {\n this.executed = false;\n }","@Override\n public void stopExecute() {\n\n }","public boolean shouldExecute()\n {\n if (this.runDelay <= 0)\n {\n if (!this.theRaider.world.getGameRules().getBoolean(\"mobGriefing\"))\n {\n return false;\n }\n\n this.currentTask = -1;\n this.wantsToReapStuff = true;\n }\n\n return super.shouldExecute();\n }","@Override\n protected boolean isFinished() {\n return false;\n }","@Override\n protected boolean isFinished() {\n return false;\n }","@Override\n public void execute() {\n if(!manipulatorController.getRawButton(button)){\n shooter.shooterMotorsOff();\n hopper.hopperMotorOff();\n isDone = true;\n end(false);\n }\n\n }","public void unExecute()\n\t{\n\t}","@Override\r\n protected boolean isFinished() {\n return false;\r\n }","@Override\r\n public void executeCommand() {\r\n shell.stopRunning();\r\n 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isFinished() {\n\t\treturn false;\n\t}","@Override\n\tprotected boolean isFinished() {\n\t\treturn false;\n\t}","@Override\n\tprotected boolean isFinished() {\n\t\treturn false;\n\t}","@Override\n boolean isFinished() {\n return false;\n }","public boolean shouldContinueExecuting() {\n return (this.shouldExecute() || !this.entity.getNavigator().noPath()) && this.isBowInMainhand();\n }","protected boolean isFinished() {\r\n return false;\r\n }","protected boolean isFinished() {\r\n return false;\r\n }","public boolean shouldExecute() {\n return this.goalOwner.getTeam() == null ? false : super.shouldExecute();\n }","public void prepareExecuteNoSelect() {\n setCallFromStatement();\n // The statement is no longer require so can be released.\n clearStatement();\n\n super.prepareExecuteNoSelect();\n }","protected void waitUntilCommandFinished() {\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","protected boolean isFinished() {\n return false;\n }","@Override\n\tprotected boolean isFinished()\n\t{\n\t\treturn false;\n\t}","@Override\n public boolean isFinished() {\n return false;\n }","@Override\n public boolean isFinished() {\n return false;\n }","@Override\n public boolean isFinished() {\n return false;\n }","@Override\n public boolean isFinished() {\n return false;\n }","@Override\n public boolean isFinished() {\n return false;\n }","protected void executionSuccess() {\n this.isUndoable = true;\n }","protected boolean 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}\",\n \"@Override\\n public boolean isFinished() {\\n return false;\\n }\",\n \"@Override\\n public boolean isFinished() {\\n return false;\\n }\",\n \"@Override\\n public boolean isFinished() {\\n return false;\\n }\",\n \"@Override\\n public boolean isFinished() {\\n return false;\\n }\",\n \"@Override\\n public boolean isFinished() {\\n return false;\\n }\",\n \"@Override\\n public boolean isFinished() {\\n return false;\\n }\",\n \"@Override\\n public boolean isFinished() {\\n return false;\\n }\",\n \"@Override\\n public boolean isFinished() {\\n return false;\\n }\",\n \"@Override\\n public boolean isFinished() {\\n return false;\\n }\",\n \"@Override\\n public boolean isFinished() {\\n return false;\\n }\",\n \"@Override\\n public boolean isFinished() {\\n return false;\\n }\",\n \"@Override\\n public boolean isFinished() {\\n return false;\\n }\",\n \"@Override\\n public boolean isFinished() {\\n return false;\\n }\",\n \"@Override\\n public boolean isFinished() {\\n return false;\\n }\",\n \"@Override\\n protected boolean isFinished() {\\n return isFinished;\\n }\",\n \"@Override\\n public boolean isFinished() {\\n return false;\\n }\",\n \"@Override\\n public boolean isFinished() {\\n return false;\\n }\",\n \"@Override\\n public boolean isFinished() {\\n return false;\\n }\",\n \"@Override\\n public boolean isFinished() {\\n return false;\\n }\",\n \"@Override\\n public boolean isFinished() {\\n return false;\\n }\",\n \"@Override\\r\\n\\tprotected boolean isFinished() {\\n\\t\\treturn false;\\r\\n\\t}\",\n \"@Override\\r\\n\\tprotected boolean isFinished() {\\n\\t\\treturn false;\\r\\n\\t}\",\n \"@Override\\n\\tprotected boolean isFinished()\\n\\t{\\n\\t\\treturn false;\\n\\t}\",\n \"@Override\\r\\n protected boolean isFinished() {\\n if (super.isFinished()) {\\r\\n return true;\\r\\n }\\r\\n\\r\\n return false;\\r\\n }\",\n \"@Override\\n protected boolean isFinished() {\\n return finished;\\n }\",\n \"protected boolean isFinished()\\n\\t{\\n\\t\\treturn true;\\n\\t}\",\n \"protected boolean isFinished() {\\n\\t\\treturn true;\\n\\t}\",\n \"protected boolean isFinished() {\\n\\t\\treturn true;\\n\\t}\",\n \"protected boolean isFinished() {\\n\\t\\treturn true;\\n\\t}\",\n \"@Override\\n\\tprotected boolean isFinished() {\\n\\t\\treturn false;\\n\\t}\",\n \"@Override\\n\\tprotected boolean isFinished() {\\n\\t\\treturn false;\\n\\t}\",\n \"@Override\\n\\tprotected boolean isFinished() {\\n\\t\\treturn false;\\n\\t}\",\n \"@Override\\n\\tprotected boolean isFinished() {\\n\\t\\treturn false;\\n\\t}\",\n \"@Override\\n\\tprotected boolean isFinished() {\\n\\t\\treturn false;\\n\\t}\",\n \"@Override\\n\\tprotected boolean isFinished() {\\n\\t\\treturn false;\\n\\t}\",\n \"@Override\\n\\tprotected boolean isFinished() {\\n\\t\\treturn false;\\n\\t}\",\n \"@Override\\n\\tprotected boolean isFinished() {\\n\\t\\treturn false;\\n\\t}\",\n \"@Override\\n\\tprotected boolean isFinished() {\\n\\t\\treturn false;\\n\\t}\",\n \"protected boolean isFinished() {\\n return false;\\n }\",\n \"protected boolean isFinished() {\\n return false;\\n }\",\n \"protected boolean isFinished() {\\n return false;\\n }\",\n \"protected boolean isFinished() {\\n return false;\\n }\",\n \"protected boolean isFinished() {\\n return false;\\n }\",\n \"protected boolean isFinished() {\\n return false;\\n }\",\n \"protected boolean isFinished() {\\n return false;\\n }\",\n \"protected boolean isFinished() {\\n return false;\\n }\",\n \"protected boolean isFinished() {\\n return false;\\n }\",\n \"protected boolean isFinished() {\\n return false;\\n }\",\n \"protected boolean isFinished() {\\n return false;\\n }\",\n \"protected boolean isFinished() {\\n return false;\\n }\",\n \"protected boolean isFinished() {\\n return false;\\n }\",\n \"protected boolean isFinished() {\\n return false;\\n }\",\n \"protected boolean isFinished() {\\n return false;\\n }\",\n \"protected boolean isFinished() {\\n return false;\\n }\",\n \"protected boolean isFinished() {\\n return false;\\n }\",\n \"protected boolean isFinished() {\\n return false;\\n }\",\n \"protected boolean isFinished() {\\n return false;\\n }\",\n \"protected boolean isFinished() {\\n return false;\\n }\",\n \"protected boolean isFinished() {\\n return false;\\n }\"\n]","isConversational":false},"negative_scores":{"kind":"list like","value":["0.85854495","0.85395205","0.83341306","0.83313096","0.83313096","0.83068","0.8305024","0.8298836","0.8277644","0.8277644","0.8277644","0.8277644","0.8277644","0.8277644","0.8277644","0.8277644","0.8277644","0.8277644","0.8277644","0.8277644","0.8277644","0.8277644","0.8277644","0.82765675","0.8268994","0.8237624","0.8237624","0.82293963","0.82061803","0.82061803","0.82061803","0.82061803","0.82061803","0.82061803","0.8163012","0.81589365","0.81589365","0.8152044","0.8152044","0.8152044","0.8152044","0.8152044","0.8152044","0.8152044","0.8152044","0.8152044","0.8152044","0.8152044","0.8152044","0.8152044","0.8152044","0.8152044","0.8152044","0.8152044","0.8152044","0.8152044","0.81458783","0.81380373","0.81380373","0.81380373","0.81380373","0.81380373","0.8125088","0.8125088","0.81129867","0.8111655","0.808855","0.8083022","0.8040255","0.8040255","0.8040255","0.8032732","0.8032732","0.8032732","0.8032732","0.8032732","0.8032732","0.8032732","0.8032732","0.8032732","0.8026885","0.8026885","0.8026885","0.8026885","0.8026885","0.8026885","0.8026885","0.8026885","0.8026885","0.8026885","0.8026885","0.8026885","0.8026885","0.8026885","0.8026885","0.8026885","0.8026885","0.8026885","0.8026885","0.8026885","0.8026885"],"string":"[\n \"0.85854495\",\n \"0.85395205\",\n \"0.83341306\",\n \"0.83313096\",\n \"0.83313096\",\n \"0.83068\",\n \"0.8305024\",\n \"0.8298836\",\n \"0.8277644\",\n \"0.8277644\",\n \"0.8277644\",\n \"0.8277644\",\n \"0.8277644\",\n \"0.8277644\",\n \"0.8277644\",\n \"0.8277644\",\n \"0.8277644\",\n \"0.8277644\",\n \"0.8277644\",\n \"0.8277644\",\n \"0.8277644\",\n \"0.8277644\",\n \"0.8277644\",\n \"0.82765675\",\n \"0.8268994\",\n \"0.8237624\",\n \"0.8237624\",\n \"0.82293963\",\n \"0.82061803\",\n \"0.82061803\",\n \"0.82061803\",\n \"0.82061803\",\n \"0.82061803\",\n \"0.82061803\",\n \"0.8163012\",\n \"0.81589365\",\n \"0.81589365\",\n \"0.8152044\",\n \"0.8152044\",\n \"0.8152044\",\n \"0.8152044\",\n \"0.8152044\",\n \"0.8152044\",\n \"0.8152044\",\n \"0.8152044\",\n \"0.8152044\",\n \"0.8152044\",\n \"0.8152044\",\n \"0.8152044\",\n \"0.8152044\",\n \"0.8152044\",\n \"0.8152044\",\n \"0.8152044\",\n \"0.8152044\",\n \"0.8152044\",\n \"0.8152044\",\n \"0.81458783\",\n \"0.81380373\",\n \"0.81380373\",\n \"0.81380373\",\n \"0.81380373\",\n \"0.81380373\",\n \"0.8125088\",\n \"0.8125088\",\n \"0.81129867\",\n \"0.8111655\",\n \"0.808855\",\n \"0.8083022\",\n \"0.8040255\",\n \"0.8040255\",\n \"0.8040255\",\n \"0.8032732\",\n \"0.8032732\",\n \"0.8032732\",\n \"0.8032732\",\n \"0.8032732\",\n \"0.8032732\",\n \"0.8032732\",\n \"0.8032732\",\n \"0.8032732\",\n \"0.8026885\",\n \"0.8026885\",\n \"0.8026885\",\n \"0.8026885\",\n \"0.8026885\",\n \"0.8026885\",\n \"0.8026885\",\n \"0.8026885\",\n \"0.8026885\",\n \"0.8026885\",\n \"0.8026885\",\n \"0.8026885\",\n \"0.8026885\",\n \"0.8026885\",\n \"0.8026885\",\n \"0.8026885\",\n \"0.8026885\",\n \"0.8026885\",\n \"0.8026885\",\n \"0.8026885\",\n \"0.8026885\"\n]","isConversational":false},"document_score":{"kind":"string","value":"0.0"},"document_rank":{"kind":"string","value":"-1"}}}],"truncated":false,"partial":true},"paginationData":{"pageIndex":1209,"numItemsPerPage":100,"numTotalItems":136513,"offset":120900,"length":100}},"jwt":"eyJhbGciOiJFZERTQSIsImtpZCI6IjVHZDBvd0g5MTM2eDZjc1FvbE1zcktNWUZoRVFoUm5PVVVybEpjOUhaUEEifQ.eyJyZWFkIjp0cnVlLCJwZXJtaXNzaW9ucyI6eyJyZXBvLmNvbnRlbnQucmVhZCI6dHJ1ZX0sImlhdCI6MTc4NjUwOTgxMiwianRpIjoiNGNjZTI0NGMtMDFmOC00ODRjLWIwM2UtZWE3ODNlZmIwYmUxIiwic3ViIjoiL2RhdGFzZXRzL25vbWljLWFpL2Nvcm5zdGFjay1qYXZhLXYxIiwiZXhwIjoxNzg2NTEzNDEyLCJpc3MiOiJodHRwczovL2h1Z2dpbmdmYWNlLmNvIn0.Ewh7LllXXGOSda0vtXx_RsKoSW40ZW2N_8cltTbeFtBnzquY-fdLqqZqfOdRZX4_FEbVWvkT-0K5EI0VKTekBw","displayUrls":true,"splitSizeSummaries":[{"config":"default","split":"train","numRows":136513,"numBytesParquet":1558040430}]},"discussionsStats":{"closed":0,"open":1,"total":1},"fullWidth":true,"hasGatedAccess":true,"hasFullAccess":true,"isEmbedded":false,"savedQueries":{"community":[],"user":[]}}">
query stringlengths 7 33.1k | document stringlengths 7 335k | metadata dict | negatives listlengths 3 101 | negative_scores listlengths 3 101 | document_score stringlengths 3 10 | document_rank stringclasses 102
values |
|---|---|---|---|---|---|---|
TODO Autogenerated method stub | @Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.new_activity_main);
mDrawerView=(LinearLayout)findViewById(R.id.linearLayout);
profilePic=(ImageView)findViewById(R.id.myBloodGroup);
name=(TextView)findViewById(R.id.donorMenuName);
... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\r\n\tpublic void comer() \r\n\t{\n\t\t\r\n\t}",
"@Override\n\tpublic void comer() {\n\t\t\n\t}",
"@Override\n public void perish() {\n \n }",
"@Override\r\n\t\t\tpublic void annadir() {\n\r\n\t\t\t}",
"@Override\n\tpublic void anular() {\n\n\t}",
"@Override\n\tprotected void getExr... | [
"0.66708666",
"0.65675074",
"0.65229905",
"0.6481001",
"0.64770633",
"0.64584893",
"0.6413091",
"0.63764185",
"0.6275735",
"0.62541914",
"0.6236919",
"0.6223816",
"0.62017626",
"0.61944294",
"0.61944294",
"0.61920846",
"0.61867654",
"0.6173323",
"0.61328775",
"0.61276996",
"0... | 0.0 | -1 |
display view for selected nav drawer item | @Override
public void onItemClick(AdapterView<?> parent, View view, int position,
long id) {
displayView(position);
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public void selectDrawerItem(MenuItem menuItem) {\n Fragment fragment = null;\n Class fragmentClass;\n switch(menuItem.getItemId()) {\n case R.id.nav_home:\n fragmentClass = MainFragment.class;\n startFragment(fragmentClass);\n break;\n ... | [
"0.7112345",
"0.70579094",
"0.6929277",
"0.6897872",
"0.68665236",
"0.68139255",
"0.67870075",
"0.6764774",
"0.6755591",
"0.6740172",
"0.67366695",
"0.6727487",
"0.67166823",
"0.67042184",
"0.6685011",
"0.6669062",
"0.6669062",
"0.6633194",
"0.66313225",
"0.66257566",
"0.6620... | 0.0 | -1 |
toggle nav drawer on selecting action bar app icon/title | @Override
public boolean onOptionsItemSelected(MenuItem item) {
if (mDrawerToggle.onOptionsItemSelected(item)) {
return true;
}
// Handle action bar actions click
switch (item.getItemId()) {
case R.id.action_settings:
return true;
default:
return super.onOptionsItemSelected(item);
}
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\r\n public boolean onOptionsItemSelected(MenuItem item) {\n int id = item.getItemId();\r\nint home=item.getItemId();\r\n //noinspection SimplifiableIfStatement\r\n if (id == R.id.action_settings) {\r\n return true;\r\n }\r\nif(home==R.id.home){\r\n drawerlayou... | [
"0.71149343",
"0.6932773",
"0.68455756",
"0.6820197",
"0.6793385",
"0.6775112",
"0.6767155",
"0.6742277",
"0.67149836",
"0.66992515",
"0.669826",
"0.66963315",
"0.6685156",
"0.6683178",
"0.66573554",
"0.66502845",
"0.66501546",
"0.66462004",
"0.66326565",
"0.6604643",
"0.6598... | 0.0 | -1 |
/ Called when invalidateOptionsMenu() is triggered | @Override
public boolean onPrepareOptionsMenu(Menu menu) {
// if nav drawer is opened, hide the action items
boolean drawerOpen = mDrawerLayout.isDrawerOpen(mDrawerView);
menu.findItem(R.id.action_settings).setVisible(!drawerOpen);
return super.onPrepareOptionsMenu(menu);
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public void onDrawerOpened(View drawerView) {\n\t\t\t\t\t invalidateOptionsMenu(); \n\t\t\t\t\t }",
"@Override\r\n public void onPageSelected(int position) {\n invalidateOptionsMenu();\r\n }",
"public void onSearchStarted() {\n mActivity.invalid... | [
"0.73958796",
"0.7307511",
"0.72879606",
"0.7284202",
"0.72531104",
"0.7167428",
"0.7144019",
"0.713819",
"0.71283853",
"0.7013687",
"0.700654",
"0.69704795",
"0.69638264",
"0.69468755",
"0.6913638",
"0.6904814",
"0.6868166",
"0.68448764",
"0.6842651",
"0.6842651",
"0.6834920... | 0.0 | -1 |
update the main content by replacing fragments | private void displayView(int position) {
Fragment fragment = null;
Bundle bundle=new Bundle();
switch (position) {
case 0:
fragment = new Profile();
break;
case 1:
fragment = new SearchProjects();
break;
case 2:
fragment = new MyProjects();
break;
case 3:
break;
default:
break;
... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public void refresh(){\n // close loading dialogs if they are open\n Fragment dialog = getSupportFragmentManager().findFragmentByTag(\"loading\");\n if (dialog != null) {\n loadingDialog.dismiss();\n }\n\n // update timestamp\n if (timestamp != null) {\n ... | [
"0.7009121",
"0.6948678",
"0.6730658",
"0.6675358",
"0.66165197",
"0.6611591",
"0.66032475",
"0.6463688",
"0.6438722",
"0.6436336",
"0.64263254",
"0.6314441",
"0.62816167",
"0.62546426",
"0.6245493",
"0.62142855",
"0.6180705",
"0.6153804",
"0.61326784",
"0.6046095",
"0.604064... | 0.0 | -1 |
When using the ActionBarDrawerToggle, you must call it during onPostCreate() and onConfigurationChanged()... | @Override
protected void onPostCreate(Bundle savedInstanceState) {
super.onPostCreate(savedInstanceState);
// Sync the toggle state after onRestoreInstanceState has occurred.
mDrawerToggle.syncState();
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\n protected void onPostCreate(Bundle savedInstanceState) {\n super.onPostCreate(savedInstanceState);\n mDrawerToggle.syncState();\n }",
"@Override\n protected void onPostCreate(Bundle savedInstanceState) {\n super.onPostCreate(savedInstanceState);\n mDrawerToggle.sy... | [
"0.81234926",
"0.81234926",
"0.8065619",
"0.79623634",
"0.7793273",
"0.7783374",
"0.7768122",
"0.77499306",
"0.7662742",
"0.75863886",
"0.75645584",
"0.75645584",
"0.75645584",
"0.75645584",
"0.75645584",
"0.75645584",
"0.7537642",
"0.7497469",
"0.74885434",
"0.7462033",
"0.7... | 0.7286193 | 28 |
Creates a new VmAllocationPolicySimple object. | public VMAllocationPolicyRandom(List<? extends Host> list) {
super(list);
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public PowerVmAllocationPolicySimple(List<? extends PowerHost> list) {\n\t\tsuper(list);\n\t}",
"public NatPolicy createNatPolicy();",
"AllocationPolicy getAllocationPolicy(ReservationDAO reservations);",
"public GAAlloc(VMCwMProblem instance) {\n super(instance, \"NSGAII\", VMCwMProblem.Encoding.INTE... | [
"0.61805546",
"0.54398924",
"0.49847862",
"0.49194393",
"0.48322845",
"0.48273936",
"0.48024118",
"0.47472292",
"0.47403926",
"0.47342238",
"0.47316644",
"0.46905032",
"0.46865",
"0.45862162",
"0.45358846",
"0.4516558",
"0.4513661",
"0.45065054",
"0.4499942",
"0.4499942",
"0.... | 0.0 | -1 |
System.out.println("Heading: "+heading); System.out.println("Value of each row: "+rowvalues); | public void getDataType(String heading, String rowvalues) {
String rowval[]=rowvalues.split(",");
HashMap<String,String> hmap= new HashMap<String,String>();
//logic for datatype
for(String val:rowval)
{
try {
//checking for integer
Integer.parseInt(val);
... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public void PrintResult() {\n try {\n res.beforeFirst();\n int columnsNumber = res.getMetaData().getColumnCount();\n while (res.next()) {\n for (int i = 1; i <= columnsNumber; i++) {\n if (i > 1) System.out.print(\", \");\n ... | [
"0.6950462",
"0.6666129",
"0.6491755",
"0.6406187",
"0.6375102",
"0.6304926",
"0.626485",
"0.626223",
"0.6099751",
"0.6084485",
"0.6076777",
"0.60582817",
"0.6052625",
"0.6014599",
"0.6003203",
"0.59865075",
"0.5952564",
"0.5933239",
"0.5927785",
"0.59163207",
"0.59021735",
... | 0.0 | -1 |
Create an entity for this test. This is a static method, as tests for other entities might also need it, if they test an entity which requires the current entity. | public static Skill createEntity(EntityManager em) {
Skill skill = new Skill().name(DEFAULT_NAME).agentSharing(DEFAULT_AGENT_SHARING);
return skill;
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"Entity createEntity();",
"T createEntity();",
"protected abstract ENTITY createEntity();",
"void create(E entity);",
"void create(T entity);",
"E create(E entity);",
"E create(E entity);",
"TestEntity buildEntity () {\n TestEntity testEntity = new TestEntity();\n testEntity.setName(\"Te... | [
"0.77223766",
"0.75040364",
"0.7487764",
"0.7361146",
"0.7314088",
"0.7155444",
"0.7155444",
"0.71508443",
"0.71501833",
"0.7076941",
"0.7016207",
"0.68038535",
"0.6752083",
"0.6740013",
"0.6740013",
"0.67108333",
"0.6680824",
"0.6665985",
"0.663898",
"0.6624753",
"0.66239864... | 0.0 | -1 |
Create an updated entity for this test. This is a static method, as tests for other entities might also need it, if they test an entity which requires the current entity. | public static Skill createUpdatedEntity(EntityManager em) {
Skill skill = new Skill().name(UPDATED_NAME).agentSharing(UPDATED_AGENT_SHARING);
return skill;
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public static Student createUpdatedEntity(EntityManager em) {\n Student student = new Student()\n .firstName(UPDATED_FIRST_NAME)\n .middleName(UPDATED_MIDDLE_NAME)\n .lastName(UPDATED_LAST_NAME)\n .studentRegNumber(UPDATED_STUDENT_REG_NUMBER)\n .dateOfB... | [
"0.6945028",
"0.67900705",
"0.67889315",
"0.67169404",
"0.66941833",
"0.66931623",
"0.66679513",
"0.66362596",
"0.6619976",
"0.65133643",
"0.65087175",
"0.6446217",
"0.6421794",
"0.64206475",
"0.6419418",
"0.641517",
"0.6413087",
"0.64091843",
"0.6402996",
"0.639374",
"0.6392... | 0.0 | -1 |
Create the Skill with an existing ID | @Test
@Transactional
void createSkillWithExistingId() throws Exception {
skill.setId(1L);
SkillDTO skillDTO = skillMapper.toDto(skill);
int databaseSizeBeforeCreate = skillRepository.findAll().size();
// An entity with an existing ID cannot be created, so this API call must fai... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public void AddSkill(int aSkill_ID)\n\t{\n\t\tSkill aSkill= new Skill(aSkill_ID);\n\t\taSkill.user_Id=this.id;\n\t\tmySkills.add(aSkill);\n\t}",
"public void AddNewSkill()\n\t{\n\t\t\n\t}",
"Skill saveSkill(Skill skill);",
"public com.transerainc.aha.gen.agent.SkillDocument.Skill addNewSkill()\n {\n ... | [
"0.704702",
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"0.5856195",
"0.58261967",
"0.5814231",
"0.57758427",
"0.57468677",
"0.5746... | 0.6684883 | 3 |
sum of all individual fitnesses | public void findTotalFit() {
for (int i=0;i<popSize;i++) {
totalFitness+=this.getFitness(i);
}
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public static double sumOfSquares(LeastSquaresFit fit, double[] x,\n\t\t\t\t double[] y)\n {\n\tAdder.Kahan adder = new Adder.Kahan();\n\tAdder.Kahan.State state = adder.getState();\n\tint m = x.length;\n\tfor (int i = 0; i < m; i++) {\n\t double term = y[i] - fit.valueAt(x[i]);\n\t term *= term;\n\t... | [
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"0.5839535",
"0.57666755",
"0.57385623",
"0.573474... | 0.71350837 | 0 |
static methods save data in a csv file only saves gen and bna strings | public void writeToCsv(String fileName) throws Exception {
FileWriter writer=new FileWriter(fileName);
writer.append(Integer.toString(this.gen));
writer.append('\n');
for(int i=0;i<popSize;i++) {
writer.append(getBna(i));
writer.append('\n');
}
writer.close();
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"private void save(List<String[]> data, Integer numFichier, String nomFichier) throws IOException {\n FileWriter fileWriter = null;\n CSVWriter cSVWriter2 = null;\n //-------------------------------------------------------------\n // Construction du nom de fichier\n /... | [
"0.7181262",
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"0.6310907",
"0.6309018",
"0.6305874",
"0.62842655",
"0.6259172",
"0.62451... | 0.56971025 | 71 |
loads data from a csv file should be called from constructor only | public void loadFromCsv(String filePath) throws Exception {
BufferedReader br=new BufferedReader(new FileReader(filePath));
String line="";
int i=0;
line=br.readLine();
this.gen=Integer.parseInt(line);
while((line=br.readLine()) != null) {
this.setBna(i,line);
i++;
}
br.close();
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public void openPlayerDataFromCSV() throws FileNotFoundException {\n csvReader = new BufferedReader(new FileReader(PATH_TO_CSV));\n }",
"public LoadCSV(String file_position){\r\n this.file_position = file_position;\r\n }",
"@Override\n public void importCSV(File file) {\n System.o... | [
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"0.67489254",
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"0.67173105",
"0.... | 0.73251027 | 3 |
checks whether a node should be registered in this module | abstract protected boolean shouldRegister(NodeDescriptor node) throws NodeException; | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"boolean hasHasNodeID();",
"boolean hasNode();",
"boolean hasNode();",
"boolean hasHasNodeSettings();",
"boolean hasNodeId();",
"@java.lang.Override\n public boolean hasNode() {\n return node_ != null;\n }",
"@java.lang.Override\n public boolean hasNode() {\n r... | [
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"0.61473656",
"0.611968",
"... | 0.799644 | 0 |
Create a module node from a NodeDescriptor. Nodes that should be registered are registered using the ModuleNodeDescriptor returned by this method | abstract protected T createModuleNode(NodeDescriptor node); | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"protected T registerNode(NodeDescriptor node) {\n\t\tT moduleNode = createModuleNode(node);\n \tsynchronized (nodes) {\n \t\tnodes.add(moduleNode);\n \t\tnodesMap.put(node, moduleNode);\n \t}\n\t\treturn moduleNode;\n\t}",
"Module createModule();",
"private static Module createEditedModule(Module m... | [
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"0.5045083",
"0.50324124",
"0.4999279",
"0.4974123",
"0.49655... | 0.80209297 | 0 |
whenever the cluster notifies a node, and the node belongs to this module, the module will call notifyModuleNode | abstract protected void notifyModuleNode(T node); | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public void notify(Node node);",
"private void notifyReplicaNodes(Identifier pid, boolean notifyAuthNode) {\n\n logger.info(buildStandardLogMessage(null, \" Entering notifyReplicaNodes...\"));\n SystemMetadata cnSystemMetadata = hzSystemMetaMap.get(pid);\n if (cnSystemMetadata != null) {\n ... | [
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"0.5491038",
"0.5485",
"0.5465797",
"0.54605925... | 0.85372984 | 0 |
registers a node, creating a module node for this node | protected T registerNode(NodeDescriptor node) {
T moduleNode = createModuleNode(node);
synchronized (nodes) {
nodes.add(moduleNode);
nodesMap.put(node, moduleNode);
}
return moduleNode;
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"abstract protected T createModuleNode(NodeDescriptor node);",
"public boolean registerNode(Node node, OutputStream out, boolean isRequestedRegistration) throws IOException;",
"RegistrationModule createRegistrationModule();",
"public boolean registerNode(Node node, String remoteHost, String remoteAddress, Out... | [
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"0.560... | 0.8009086 | 0 |
Contains static methods to parse commands. Created by sautin1 on 9/30/14. | public interface CommandParser {
String[] splitStringIntoCommands(String string);
String[] splitCommandIntoParams(String string);
String convertArrayToString(String... stringArray);
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"private Command parse() throws ParseException {\n next();\n expect(Token.COMMAND);\n cmd = new Command(text);\n next();\n while (!((token == Token.WHERE) || (token == Token.RETURN) || (token == Token.EOL))) {\n param();\n }\n if (token == Token.WHERE) {\n... | [
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"0.6752906",
"0.6743418... | 0.7000016 | 10 |
create a new ImageView for each item referenced by the Adapter | public View getView(int position, View convertView, ViewGroup parent) {
ImageView imageView;
if (convertView == null) { // if it's not recycled, initialize some attributes
imageView = new ImageView(mContext);
imageView.setLayoutParams(new GridView.LayoutParams(180, 180));
... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\n\t\t\tpublic View getView(int position, View convertView, ViewGroup parent) {\n\t\t\t\tImageView imageView = new ImageView(ImgShowActivity.this);\n\t\t\t\timageView.setImageBitmap(bitmaps[position]);\n\t\t\t\treturn imageView;\n\t\t\t}",
"@Override\n public Object instantiateItem(ViewGroup view... | [
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"0.6726654",
"0.6712992",
"0.66787225",
"0.66743267",
"0.666... | 0.65265626 | 36 |
TODO Autogenerated method stub | @Override
public int getCount() {
if(data.size()>0){
return data.size();
}
return 0;
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\r\n\tpublic void comer() \r\n\t{\n\t\t\r\n\t}",
"@Override\n\tpublic void comer() {\n\t\t\n\t}",
"@Override\n public void perish() {\n \n }",
"@Override\r\n\t\t\tpublic void annadir() {\n\r\n\t\t\t}",
"@Override\n\tpublic void anular() {\n\n\t}",
"@Override\n\tprotected void getExr... | [
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"0.6173323",
"0.61328775",
"0.61276996",
"0... | 0.0 | -1 |
TODO Autogenerated method stub | @Override
public Object getItem(int position) {
return data.get(position);
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\r\n\tpublic void comer() \r\n\t{\n\t\t\r\n\t}",
"@Override\n\tpublic void comer() {\n\t\t\n\t}",
"@Override\n public void perish() {\n \n }",
"@Override\r\n\t\t\tpublic void annadir() {\n\r\n\t\t\t}",
"@Override\n\tpublic void anular() {\n\n\t}",
"@Override\n\tprotected void getExr... | [
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"0.61285484",
"0.608016... | 0.0 | -1 |
TODO Autogenerated method stub | @Override
public long getItemId(int position) {
return 0;
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\r\n\tpublic void comer() \r\n\t{\n\t\t\r\n\t}",
"@Override\n\tpublic void comer() {\n\t\t\n\t}",
"@Override\n public void perish() {\n \n }",
"@Override\r\n\t\t\tpublic void annadir() {\n\r\n\t\t\t}",
"@Override\n\tpublic void anular() {\n\n\t}",
"@Override\n\tprotected void getExr... | [
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"0.61285484",
"0.608016... | 0.0 | -1 |
State pattern realization for scale mode. Scale mode defines method of trace scaling inside each Slot | public interface IScaleModeState {
/**
* Should be called before other methods using
*
* @param graphs
* List<PlotData> for current Slot
* @param allViews
* List<Slot> All views for graph panel
* @param timeRange
* TimeInterval set in graph panel
* @param meanState
... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public void\nupdateStatelistScale(int updateScaleType) {\n\n\tfor (int istate=0; istate<=systemDesign_.numstatelist; istate++) {\n\n\t\tswitch (updateScaleType) {\n\n\t\t\tcase UPDATE_STATELIST_SCALE_PFAIL:\n\t\t\t\tsystemDesign_.statelist[istate].pfailurescale = systemDesign_.pfailurescale;\n\t\t\t\tbreak;\n\n\t\... | [
"0.6369467",
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"0.5752257",
"0.5738142",
"0.5728918",
"0.572493",
"0.57173026",
... | 0.73991716 | 0 |
Should be called before other methods using | public void init(List<PlotData> graphs, int currentGraphNum, List<Slot> allViews, TimeInterval timeRange, IMeanState meanState, int height); | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\n public void preRun() {\n super.preRun();\n }",
"protected void onFirstUse() {}",
"@Override\n public void beforeFirstLogic() {\n }",
"protected abstract void before();",
"@Override\n @Before\n public void before() throws Exception {\n\n super.before();\n }",
"@Be... | [
"0.7364154",
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"0.7177791",
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"0.670926",
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"0.6689571",
"0.6689571",
"0.6... | 0.0 | -1 |
Declare and define an array | public static void main(String[] args) {
String [] cities = {"New York", "San Francisco", "Miami", "Malmö" };
System.out.println(cities[0]);
System.out.println(cities[1]);
System.out.println(cities[2]);
System.out.println(cities[3]);
//Declare array
String[] countries;
// D... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"Array createArray();",
"private void declareArray() {\n\t\twriter.println();\n\t\twriter.println(\"; array of 52 for variables:\");\n\t\twriter.print(variables + \" dw\");\n\t\tfor (int i = 0; i < 51; i++) {\n\t\t\twriter.print(\" 0,\");\n\t\t}\n\t\twriter.println(\" 0\");\n\t}",
"public static void arrayDemo(... | [
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"0.61905587",
"0.61892927",
"0.61814505",
"0.61794627",
"0.61674017",
"0.61... | 0.0 | -1 |
walks over the collection and returns true as soon as one element f(el) yields true | public<T> boolean containsAny(final Collection<T> collection, final Filter<T> filter ){
for(T t:query.getOrEmpty(collection)){
if(filter.applicable(t)){
return true;
}
}
return false;
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public boolean test(E element);",
"public boolean forEach(I2ForEach<T> func)\n\t{\n\t\tfor (T e : this)\n\t\t{\n\t\t\tif (!func.ForEach(e))\n\t\t\t{\n\t\t\t\treturn false;\n\t\t\t}\n\t\t}\n\t\treturn true;\n\t}",
"boolean hasNextElement();",
"public boolean hasNextElement();",
"@Override\n public boolea... | [
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"0.59804314",
"0.5964179",
"0.5947316",
"0.59401",
"0.5933288",
"0.59248537... | 0.0 | -1 |
walks over the collection and returns false as soon as one element f(el) yields false | public<T> boolean containsOnly(final Collection<T> collection, final Filter<T> filter ){
for(T t:query.getOrEmpty(collection)){
if(!filter.applicable(t)){
return false;
}
}
return true;
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public boolean test(E element);",
"boolean hasNextElement();",
"public boolean forEach(I2ForEach<T> func)\n\t{\n\t\tfor (T e : this)\n\t\t{\n\t\t\tif (!func.ForEach(e))\n\t\t\t{\n\t\t\t\treturn false;\n\t\t\t}\n\t\t}\n\t\treturn true;\n\t}",
"@Override\n public boolean hasNext() {\n return nextElem... | [
"0.66523063",
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"0.6358613",
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"0.61871165",
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"0.595482",
"0.59438866",
"0.5931857",
"0.5917368",
"0.5913871",
"0.590240... | 0.0 | -1 |
walks over the collection and adds the elements to the list until one filter(el) returns false; | public<T> List<T> takeWhile(final Collection<T> collection, final Filter<T> filter ){
List<T> result = create.createLinkedList();
for(T t:query.getOrEmpty(collection)){
if(!filter.applicable(t)){
return result;
}
result.add(t);
}
return result;
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public List<Element> filter(Predicate<Element> p)\n\t{\n\t\treturn recursive_filter(new ArrayList<Element>(), p, group);\n\t}",
"<E extends CtElement> List<E> getElements(Filter<E> filter);",
"@Override\r\n public List<Element> findElements()\r\n {\n return null;\r\n }",
"Collection<V> getAll... | [
"0.5719073",
"0.56238645",
"0.5385297",
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"0.52914417",
"0.51879007",
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"0.5119416",
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"0.50288796",
"0.5014123",
"0.50061035",
"0.500335",
"0.5002815",
"0.5002155",
"0.497763"... | 0.6147002 | 0 |
turns a collection(T) into collection(U) | public<T,U> List<U> map(final Collection<T> collection, final Operation<T,U> operation ){
List<U> result = create.createLinkedList();
for(T t:query.getOrEmpty(collection)){
result.add(operation.apply(t));
}
return result;
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Nullable\n @SuppressWarnings(\"unchecked\")\n protected Collection createCollection(MappingContext context, Object value) {\n if (value instanceof Iterable<?>) {\n TypeInformation entryType = context.getGenericTypeInfoOrFail(0);\n Collection result = createCollectionMatchingType... | [
"0.6483135",
"0.6454874",
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"0.62919515",
"0.6269374",
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"0.59593534",
"0.59463465",
"0.5941982",
"0.5897948",
"0.58716387",
"0.57524... | 0.5360873 | 57 |
fold/reduce the collection into value U walk over the elements and then take initial/current U and apply current = operation(el, U) | public <T,U> U foldLeft(final Collection<T> collection, final FoldOperation<T,U> operation, final U initial){
U current = initial;
for(T el: query.getOrEmpty(collection)){
current = operation.apply(el, current);
}
return current;
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public <T,U> U foldRight(final Collection<T> collection, final FoldOperation<T,U> operation, final U initial){\n\t\tList<T> temp = new ArrayList<T>(query.getOrEmpty(collection));\n\t\tCollections.reverse(temp);\n\t\treturn foldLeft(temp, operation, initial);\n\t}",
"public<T,U> List<U> map(final Collection<T> co... | [
"0.63304627",
"0.5413871",
"0.53411824",
"0.51426554",
"0.5141429",
"0.51230216",
"0.5117413",
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"0.48445466",
"0.48224497",
"0.4... | 0.7042949 | 0 |
fold/reduce the collection into value U walk over the elements and then take initial/current U and apply current = operation(el, U) | public <T,U> U foldRight(final Collection<T> collection, final FoldOperation<T,U> operation, final U initial){
List<T> temp = new ArrayList<T>(query.getOrEmpty(collection));
Collections.reverse(temp);
return foldLeft(temp, operation, initial);
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public <T,U> U foldLeft(final Collection<T> collection, final FoldOperation<T,U> operation, final U initial){\n\t\tU current = initial;\n\t\tfor(T el: query.getOrEmpty(collection)){\n\t\t\tcurrent = operation.apply(el, current);\n\t\t}\n\t\treturn current;\n\t}",
"public<T,U> List<U> map(final Collection<T> coll... | [
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"0.53411824",
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"0.5141429",
"0.51230216",
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"0.49624345",
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"0.48588243",
"0.48445466",
"0.48224497",
"0.47... | 0.63304627 | 1 |
String path = "C:\\\\work\\\\Data\\\\"; | public static void main(String[] args) {
int loop = 20;
loop = loop - 4; // remove initial Point
double dt = 0.25;
double K = 0.3;
KuramotoNetWork_Manage nm = new KuramotoNetWork_Manage(loop, size, dt, K);
for(int i = 0; i < loop; i++) {
nm.addNewNode();
}
// WriteWire ww = new WriteWire();... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"static String localPath(String name) {\n\t\tchar c = File.separatorChar;\n\t\treturn name.replace((char) (c ^ '/' ^ '\\\\'), c);\n\t}",
"private String getEclipsePathFromWindowsPath(String path) {\n StringBuilder sbPath = new StringBuilder();\n char [] chars = path.toCharArray();\n for (int i = 0; i < c... | [
"0.6629474",
"0.6554542",
"0.6337752",
"0.59358436",
"0.5809077",
"0.57989424",
"0.57965845",
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"0.5605511",
"0.5518588",
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"0.5510107",
"0.55034274",
"0.5481944",
"0.54777175",
"0.5470794",
"0.54691195",
"0.54307... | 0.0 | -1 |
/ Always read the file and sort the values for good measure | public HighScore(){
readFile();
sortHighscores();
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public static void sortFile(String fileName, PrintStream pOstream, boolean pReverse, int pCol, boolean pIncludesHeader) throws IOException {\n ArrayList lineLengthsList = new ArrayList(); \n ArrayList ordering = new ArrayList();\n BufferedReader reader = new BufferedReader(new FileReader(fi... | [
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"0.6187152",
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"0.6121453",
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"0.5805457",
"0.57936996",
"0.5785942",
"0.577847",
"0.5755041",
"0.5752329",
... | 0.0 | -1 |
/ The highscores.txt file is read line by line it will try to convert the line to an integer and add it to an ArrayList if it fails to convert then it will skip this line | public void readFile(){
try {
highscores = new ArrayList<>();
BufferedReader br = new BufferedReader(new FileReader("Highscores.txt"));
String line = br.readLine();
while (line != null){
try{
highscores.add(Integer.parseInt(line... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"private ArrayList<Score> getScoreFromFile() {\n ArrayList<Score> scores = new ArrayList<>();\n\n // Read line by line.\n try (Stream<String> stream = Files.lines(Paths.get(\"src/main/resources/score-file.txt\"))) {\n stream.forEach(s -> {\n String[] line = s.split(\" ... | [
"0.71919644",
"0.70113355",
"0.69262385",
"0.6923316",
"0.684738",
"0.68365353",
"0.67341655",
"0.6440437",
"0.64003456",
"0.6366309",
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"0.6124673",
"0.6124598",
"0.6079359",
"0.59963274",
"0.59680337",
"0.596312... | 0.8392254 | 0 |
/ Whenever the highscores are sorted this should be sorted from highest to lowest collections will sort from lowest to highest by default so the reverse method is called right after | public void sortHighscores(){
Collections.sort(highscores);
Collections.reverse(highscores);
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public void sortScores(){\r\n // TODO: Use a single round of bubble sort to bubble the last entry\r\n // TODO: in the high scores up to the correct location.\r\n \tcount=0;\r\n \tfor(int i=Settings.numScores-1; i>0;i--){\r\n \t\tif(scores[i]>scores[i-1]){\r\n \t\t\tint tempS;\r\n \t\t\... | [
"0.7367436",
"0.7317204",
"0.7272066",
"0.71503294",
"0.69037753",
"0.6812051",
"0.6569624",
"0.6430025",
"0.61927724",
"0.61516285",
"0.6138847",
"0.60787904",
"0.6067021",
"0.6047913",
"0.6015538",
"0.5959113",
"0.5897824",
"0.58853596",
"0.5867577",
"0.58616716",
"0.584288... | 0.83858997 | 0 |
/ Add whatever integer to ArrayList afterwards it is sorted again and written back to the file | public void addHighscore(int i){
highscores.add(i);
sortHighscores();
writeFile();
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public static void writeScoreToFile(ArrayList<String> sArrayList,int score, Context context,String userName){\n\n int[] temp = new int[sArrayList.size()];\n Scanner in = null;\n\n //get the score part from the txt file\n for(int i=0;i<sArrayList.size();i++){\n\n in = new Scan... | [
"0.64619493",
"0.62946665",
"0.6290608",
"0.62848294",
"0.6122426",
"0.60620064",
"0.6023312",
"0.5995982",
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"0.5883381",
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"0.5799078",
"0.5796878",
"0.5777403",
"0.57624376",
"0.574795... | 0.5654396 | 29 |
/ write the ArrayList highscores to highscores.txt but only do this for the top 10 if the highscores contain less than 10 numbers it will stop after the last number | public void writeFile(){
try{
FileWriter writer = new FileWriter("Highscores.txt");
for (int i = 0; i<10; i++){
if (i >= this.highscores.size()){
break;
}
writer.write(String.valueOf(this.highscores.get(i)) + "\n");
... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public void writeScores(){\r\n // TODO: Write the high scores data to the file name indicated\r\n // TODO: by Settings.highScoresFileName.\r\n \tFile outFile=new File(Settings.highScoresFileName);\r\n \tPrintWriter out=null;\r\n \ttry{\r\n \t\tout=new PrintWriter(outFile);\r\n \t\tfor(... | [
"0.7415415",
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"0.71370935",
"0.70978403",
"0.68871015",
"0.66966575",
"0.6608352",
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"0.6456492",
"0.63991076",
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"0.61401886",
"0.6135829",
"0.6104301",
"0.6070188",
"0.60651636",
"0.6002... | 0.8209046 | 0 |
/ Draw a new frame displaying the highscores this is formatted in html to make it easier | public void drawHighscores(){
JFrame highScoreFrame = new JFrame();
highScoreFrame.setLayout(new BorderLayout());
highScoreFrame.setSize(new Dimension(280,400));
String top = "<h1><u>Highscores</u></h1>";
String numbers = getNumbers();
String scoreString = getTop();
... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"private static void draw() {\r\n\t\tclearDoc();\r\n\t\twrite(\"score: \" + score + \"\\n\", null);\r\n\t\twrite(\"+\", null);\r\n\t\tfor (int i = 0; i < COLUMNS; i++) {\r\n\t\t\twrite(\"-\", null);\r\n\t\t}\r\n\t\twrite(\"+\\n\", null);\r\n\t\tfor (int i = 0; i < ROWS; i++) {\r\n\t\t\twrite(\"|\", null);\r\n\t\t\t... | [
"0.67250216",
"0.65430456",
"0.6541761",
"0.6475348",
"0.6415613",
"0.63596046",
"0.63151497",
"0.6311109",
"0.6279658",
"0.6235756",
"0.6166651",
"0.6157992",
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"0.6022303",
"0.60153395",
"0.60076237",
"0.6006571",
"0.5995... | 0.82851547 | 0 |
/ create a string of html code that contains the numbers from 1 to 10 | public String getNumbers(){
StringBuilder htmlNumbers = new StringBuilder("<h2>");
for (int i = 1; i<=10; i++){
htmlNumbers.append(String.valueOf(i) + ".<br>");
}
htmlNumbers.append("</h2>");
return htmlNumbers.toString();
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public String toHtml(String text, int number) {\r\n StringBuilder sb = new StringBuilder(text);\r\n int loc = 0;\r\n String space = \" \";\r\n loc = loc + number;\r\n while (loc < sb.length()) {\r\n createLine(loc, sb);\r\n loc = loc + number; \r\n ... | [
"0.73521537",
"0.6409138",
"0.5977175",
"0.5877316",
"0.5877039",
"0.5849201",
"0.5823992",
"0.5807115",
"0.5761926",
"0.57257295",
"0.5708955",
"0.570776",
"0.56646144",
"0.5557054",
"0.55454326",
"0.5545055",
"0.55434895",
"0.5512821",
"0.54500186",
"0.54383487",
"0.5381397... | 0.7760708 | 0 |
/ Create a string of html code that contains the scores in descending order | public String getTop(){
StringBuilder htmlTop = new StringBuilder("<h2>");
for (int i = 0; i<10; i++){
if (i >= this.highscores.size()){
htmlTop.append(" ----<br>");
} else {
htmlTop.append(String.valueOf(this.highscores.get(i))).append("<br>");
... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"private void sortPlayerScores(){\n text=\"<html>\";\n for (int i = 1; i <= Options.getNumberOfPlayers(); i++){\n if(Collections.max(playerScores.entrySet(), (entry1, entry2) -> entry1.getValue() - entry2.getValue()).getKey() != null){\n Integer pl = Collections.max(playerSco... | [
"0.71647453",
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"0.5948416",
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"0.5824553",
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"0.553353",
"0.55246395",
"0.55077666",
"0.5504714",
"0.5503533",
"0.54996085"... | 0.67752147 | 1 |
onCreateView: This inflates the view and checks to see if an existing WebView already exists. If it does, the old WebView is added to the view. | @Override
public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState)
{
// Inflate the layout for this fragment
View view = inflater.inflate(R.layout.fragment_browser, container, false);
webViewContainer = (LinearLayout) view.findViewById(R.id.webVi... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\n public View onCreateView(LayoutInflater inflater, ViewGroup container,\n Bundle savedInstanceState) {\n View v = inflater.inflate(R.layout.fragment_program_unggulan, container, false);\n wvPage1 = (WebView)v.findViewById(R.id.activity_main_webview);\n ... | [
"0.6986889",
"0.6971986",
"0.69283235",
"0.6915438",
"0.68647933",
"0.6851758",
"0.6683397",
"0.66490746",
"0.66411555",
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"0.64839906",
"0.6479389",
"0.6432816",
"0.64127654",
"0.64026153",
"0.63... | 0.7524885 | 0 |
displayUrl: This method updates the WebView in the fragment to display the specified url. | public void displayUrl(String url)
{
//Create a new WebView to clear the old data
createNewWebView();
//Enable JavaScript
WebSettings webSettings = webView.getSettings();
webSettings.setJavaScriptEnabled(true);
//Display website to user
webView.setWebViewCli... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public void setDisplayUrl(String displayUrl) {\r\n this.displayUrl = displayUrl;\r\n }",
"public void setDisplayUrl(String displayUrl) {\r\n this.displayUrl = displayUrl;\r\n }",
"public void updateDisplay() {\n\t\t\n\t\tif (!this.isAdded()) return;\n\t\t\n\t\tthis.layout.removeAllViews();\... | [
"0.6792708",
"0.6792708",
"0.6529605",
"0.5763028",
"0.5763028",
"0.57470095",
"0.5640614",
"0.5581258",
"0.55769956",
"0.55672425",
"0.55518883",
"0.55518883",
"0.554965",
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"0.5536957",
"0.5503245",
"0.5484804",
"0.5481258",
"0.54758394",
"0.5475565",
"0.5475565",... | 0.71359956 | 0 |
createNewWebView: This method creates a new WebView and adds it to the WebView container. | private void createNewWebView()
{
//Remove the webView from it's parent if the webView exists
if(webView != null) {
ViewGroup parent = (ViewGroup) webView.getParent();
parent.removeView(webView);
}
//Create a new WebView
webView = new WebView(getConte... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"private WebView createWebView() {\n WebView webView = new WebView();\n webView.setContextMenuEnabled(false);\n\n WebEngine engine = webView.getEngine();\n // The files below must exist! Or pdf viewer no more!\n String url = new File(\"src/Resources/pdfjs_2.7.570/web/viewer.html\"... | [
"0.68594086",
"0.6245364",
"0.6207987",
"0.6092232",
"0.60124415",
"0.59145194",
"0.5900355",
"0.58363795",
"0.57992285",
"0.5759542",
"0.57540196",
"0.5677936",
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"0.562044",
"0.5617539",
"0.5612846",
"0.5577562",
"0.5528814",
"0.55271643",
"0.551870... | 0.8748387 | 0 |
TODO Autogenerated method stub | @Override
public void actionPerformed(ActionEvent e) {
Date date=new Date();
DateFormat timeFormat=new SimpleDateFormat("HH:mm:ss");
String time=timeFormat.format(date);
ceas.setText("Ora curenta: "+time);
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\r\n\tpublic void comer() \r\n\t{\n\t\t\r\n\t}",
"@Override\n\tpublic void comer() {\n\t\t\n\t}",
"@Override\n public void perish() {\n \n }",
"@Override\r\n\t\t\tpublic void annadir() {\n\r\n\t\t\t}",
"@Override\n\tpublic void anular() {\n\n\t}",
"@Override\n\tprotected void getExr... | [
"0.66708666",
"0.65675074",
"0.65229905",
"0.6481001",
"0.64770633",
"0.64584893",
"0.6413091",
"0.63764185",
"0.6275735",
"0.62541914",
"0.6236919",
"0.6223816",
"0.62017626",
"0.61944294",
"0.61944294",
"0.61920846",
"0.61867654",
"0.6173323",
"0.61328775",
"0.61276996",
"0... | 0.0 | -1 |
/ \brief Handle the loop unroll optimization pragmas. / pragma unroll / pragma unroll unrollhintvalue / pragma unroll '(' unrollhintvalue ')' / pragma nounroll / / unrollhintvalue: / constantexpression / / Loop unrolling hints can be specified with 'pragma unroll' or / 'pragma nounroll'. 'pragma unroll' can take a nume... | @Converted(kind = Converted.Kind.MANUAL_COMPILATION,
source = "${LLVM_SRC}/llvm/tools/clang/lib/Parse/ParsePragma.cpp", line = 2078,
FQN="(anonymous namespace)::PragmaUnrollHintHandler::HandlePragma", NM="_ZN12_GLOBAL__N_123PragmaUnrollHintHandler12HandlePragmaERN5clang12PreprocessorENS1_20PragmaIntroducerKindERN... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Converted(kind = Converted.Kind.AUTO_NO_BODY,\n source = \"${LLVM_SRC}/llvm/lib/Analysis/LoopAccessAnalysis.cpp\", line = 1508,\n FQN=\"llvm::LoopAccessInfo::analyzeLoop\", NM=\"_ZN4llvm14LoopAccessInfo11analyzeLoopEPNS_9AAResultsEPNS_8LoopInfoEPKNS_17TargetLibraryInfoEPNS_13DominatorTreeE\",\n cmd=\"jclank... | [
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"0.44499615",
"0.4444467",
"0.4403976",
"0.43412364",
"0.4... | 0.5776365 | 0 |
/ Add integer n to the end of the list. | @Override
public void add(int n) {
values[size] = n; //add value to the list
size++; //increment size
if (size == values.length){ //if the list is full expand it
resize();
}
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\n\tpublic void addAt(int n, int index) throws IndexOutOfBoundsException {\n\t\tif(checkIndex(index, size+1)) { //check if index is valid\n\t\t\tfor (int i=size; i>index; i--) {\n\t\t\t\tvalues[i] = values[i-1]; //move every value one step right until index\n\t\t\t}\n\t\t\tvalues[index] = n; //place the n... | [
"0.7470894",
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"0.6274899",
"0.6273893",
"0.62552536",
"0.6205434"... | 0.77114564 | 0 |
/ Inserts integer n at position index. Shifts the element currently at that position (if any) and any subsequent elements to the right. | @Override
public void addAt(int n, int index) throws IndexOutOfBoundsException {
if(checkIndex(index, size+1)) { //check if index is valid
for (int i=size; i>index; i--) {
values[i] = values[i-1]; //move every value one step right until index
}
values[index] = n; //place the new value at index
size++... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public void insert(int index, T element);",
"public void insert(int n) {\n\n // Fill in the blank here.\n\tif(!contains(n)){\n\t\telements[size] = n;\n\t\tsize++;\n\t}\n System.out.println(\"Inserting \" + n + \"...\");\n }",
"void insert(int idx, int val);",
"public void insert(int index, T value) {\... | [
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"0.58963346",
"0.586433... | 0.6936122 | 0 |
/ Remove integer at position index. | @Override
public void remove(int index) throws IndexOutOfBoundsException {
if(checkIndex(index, size)) { //check if index is valid
for (int i=index; i<size; i++) {
values[i] = values[i+1]; //move every value one step left until index (which is overwritten)
}
size--; //decrement size
}else {
thro... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public void remove(int index);",
"int remove(int idx);",
"void remove( int index );",
"public Type remove(int index);",
"void remove(int idx);",
"void remove(int index);",
"void remove(int index);",
"void remove(int index);",
"void remove(int index);",
"public void remove(int index) {\n\n\t}",
... | [
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"0.7560606",
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"0.7417... | 0.6856492 | 46 |
/ Get integer at position index. | @Override
public int get(int index) throws IndexOutOfBoundsException {
if(checkIndex(index, size)) { //check if index is valid
return values[index]; //return the value at index
}else {
throw new IndexOutOfBoundsException("Highest index: " + size);
}
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public int get(int index);",
"public int getPosition(int index);",
"public int getIndex(int position);",
"public int get(int position) {\n return Integer.MIN_VALUE;\n }",
"abstract int get(int index);",
"public int get(int index) {\n\t\treturn r[index];\n\t}",
"public int getPos(int index) {\... | [
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"... | 0.0 | -1 |
/ Find position of integer n, otherwise return 1 | @Override
public int indexOf(int n) {
int returnInt = -1;
for (int i=0; i<size; i++) {
if(values[i] == n)
returnInt = i;
}
return returnInt;
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"private static int search(int[] arr, int n, int x, int k) {\n\t\tint i = 0;\n\t\twhile (i < n) {\n\n\t\t\t// If x is found at index i\n\t\t\tif (arr[i] == x)\n\t\t\t\treturn i;\n\n\t\t\t// Jump the difference between\n\t\t\t// current array element and x\n\t\t\t// divided by k We use max here\n\t\t\t// to make sur... | [
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... | 0.6909466 | 0 |
if checkbox is checked | @Override
public void dismiss() {
if(chk.isChecked()){
//make file languageFixed.txt
File setting = null;
setting = makeDirectory(external_path+"/OurMenu/setting/");
makeFile(setting, external_path+"/OurMenu/setting/tutorialNo.txt");
}
super.d... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"boolean getIsChecked();",
"boolean isChecked();",
"boolean isChecked();",
"public boolean CheckBox() {\n if (AseguradoCulpable.isSelected()) {\n return true;\n } else {\n return false;\n }\n }",
"private boolean checkBox() {\n if(ToSCheckBox.isSelected()... | [
"0.7760456",
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"0.77407336",
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"0.6765498",
"0.67618716",
"0.6740939",
"0.6739916",
"0.6735... | 0.0 | -1 |
Spring Data JPA repository for the Countries entity. | @SuppressWarnings("unused")
@Repository
public interface CountriesRepository extends JpaRepository<Countries,Long> {
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Repository\npublic interface ICountryRepository extends JpaRepository<Country, String> {\n\n Country findByCode(String code);\n}",
"@SuppressWarnings(\"unused\")\n@Repository\npublic interface CountryRepository extends JpaRepository<Country,Long> {\n Long countByCountryCode(Integer countryCode);\n Coun... | [
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"0.6041431... | 0.6697531 | 5 |
Function for tanh, hyperbolic tangent. Uses Math.tanh, no approximation. | @Override
public double f(double x) {
return Math.tanh(x);
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public static double tanh(double x) {\n if (Double.isNaN(x)) return Double.NaN;\n double result = (Math.exp(x) - Math.exp(-x)) / (Math.exp(x) + Math.exp(-x));\n if (Double.isNaN(result))\n return (x < 0) ? -1.0 : 1.0;\n return result;\n }",
"public static double \t\ttanh... | [
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"0.5560134",... | 0.72734606 | 3 |
Read the developer key from the properties file. | public List<YoutubeVideo> searchFromYoutube(String keyword) {
Properties properties = new Properties();
try {
InputStream in = SearchYoutube.class.getResourceAsStream("/weiwei/google/" + PROPERTIES_FILENAME);
properties.load(in);
} catch (IOException e) {
Sys... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"private String getApiKey() throws IOException {\n Properties prop = new Properties();\n InputStream loader = getClass().getClassLoader().getResourceAsStream(\"config.properties\");\n prop.load(loader);\n\n return prop.getProperty(\"apiKey\");\n }",
"public static String extractFrom... | [
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"0.5712061... | 0.0 | -1 |
/ access modifiers changed from: protected | public void onResume() {
List<String> a2;
try {
super.onResume();
if (Build.VERSION.SDK_INT >= 23 && this.a) {
String[] strArr = this.needPermissions;
try {
if (Build.VERSION.SDK_INT >= 23 && getApplicationInfo().targetSdkVersio... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\n protected void prot() {\n }",
"private stendhal() {\n\t}",
"@Override\n\tpublic void grabar() {\n\t\t\n\t}",
"@Override\n public void perish() {\n \n }",
"@Override\n\tpublic void comer() {\n\t\t\n\t}",
"@Override\r\n\tpublic void comer() \r\n\t{\n\t\t\r\n\t}",
"@Override... | [
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"0.640... | 0.0 | -1 |
check for valid input | public void writeNumber(int row, int column, int value){
if(!checkInput(row, column, value)) return;
//Tile must be instance of Guess
if (gameField[row][column] instanceof Guess) {
if (gameState == GameState.PAUSED) {
if (row == usedRow && column == usedColumn) {
... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"private boolean isValidInput() {\n\t\treturn true;\n\t}",
"private boolean isInputValid() {\n return true;\n }",
"protected abstract boolean isInputValid();",
"protected abstract boolean checkInput();",
"private void validateInputParameters(){\n\n }",
"protected abstract int isValidInput();",... | [
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"0.69434... | 0.0 | -1 |
check for valid input | public void writeHelpingGuess(int row, int column, int help){
if(!checkInput(row, column, help)) return;
if(gameField[row][column] instanceof Guess){
gameField[row][column].setTileState(TileState.HELPING);
((Guess) gameField[row][column]).setHelp(help == 0 ? 0 : help - 1, help);... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"private boolean isValidInput() {\n\t\treturn true;\n\t}",
"private boolean isInputValid() {\n return true;\n }",
"protected abstract boolean isInputValid();",
"protected abstract boolean checkInput();",
"private void validateInputParameters(){\n\n }",
"protected abstract int isValidInput();",... | [
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check for valid input | private void setTileInField(int row, int column, int value, char section){
if(!checkInput(row, column, value)) return;
if(value > 0){
gameField[row][column] = new Assignment(value, Section.getSection(section));
} else {
gameField[row][column] = new Guess(Section.getSecti... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"private boolean isValidInput() {\n\t\treturn true;\n\t}",
"private boolean isInputValid() {\n return true;\n }",
"protected abstract boolean isInputValid();",
"protected abstract boolean checkInput();",
"private void validateInputParameters(){\n\n }",
"protected abstract int isValidInput();",... | [
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"0.69434... | 0.0 | -1 |
Create an empty groceries list of Grocery and display it. | public static void main(String[] args) {
List<Grocery> groceries = new ArrayList<>();
String message = "Groceries: ";
displayList(message, groceries);
// Create three different Grocery objects.
Grocery object1 = new Grocery("bananas");
Grocery object2 = new Grocery("orang... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public List<String> getGroceries()\n {\n List<String> groceryList=new ArrayList<String>();\n\n String selectQuery = \"SELECT * FROM \" + TABLE_GROCERIES;\n\n SQLiteDatabase db = this.getWritableDatabase();\n Cursor cursor = db.rawQuery(selectQuery, null);\n\n // looping throu... | [
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"0.525875... | 0.69168603 | 0 |
View headerView = this.mViewHolder.navigationView.getHeaderView(0); | private void updateHeader() {
this.mViewHolder.imageView = findViewById(R.id.image_header);
this.mViewHolder.textHeader = findViewById(R.id.text_nav_header);
this.mViewHolder.textHeader.setText(_NAME);
Glide.with(this).load(user.getPhotoUrl()).into(this.mViewHolder.imageView);
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public void testGetView_Header() {\n mView = mAdapter.getView(0, null, null);\n }",
"private HeaderViewClickListener manageHeaderClick() {\n return new HeaderViewClickListener() {\n @Override\n public void onClickOfHeaderLeftView() {\n AppUtils.showLog(TAG, \... | [
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"0.5853903",
"0.58501893",
"0.5849567",
"0.5846949",... | 0.58878374 | 14 |
Add a pixel to the component | public void accumulate(IntValuePixel p) {
size++;
for (final ComponentFeature f : features) {
f.addSample(p);
}
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"void addPixel(int x, int y, byte colour) {\n pixelBuffer[x][y] = colour;\n dirtyPixels.add(new byte[]{((byte) x), ((byte) y)});\n }",
"public abstract void putPixelRgb(int x, int y, RGBPixel p);",
"public abstract void addComponent(DrawingComponent component);",
"public void addPixel(int ind... | [
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"0.5934172",
"0.5931421",
"0.58418405",
"0.57889533",
"0.57603... | 0.5439801 | 50 |
Merge another component with this one | public void merge(Component p) {
size += p.size();
for (int i = 0; i < features.length; i++) {
features[i].merge(p.features[i]);
}
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\n public abstract void merge(Mergeable merge);",
"public Item merge(Item other);",
"@Override\n\tprotected void merge(Object in1, Object in2, Object out) {\n\t\t\n\t}",
"public ComponentCommon(ComponentCommon other) {\n __isset_bitfield = other.__isset_bitfield;\n if (other.is_set_inputs()) ... | [
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"0.52264804",
"0.5197369",
"0.5187647",
"0.5175881",
"0.516691... | 0.6003605 | 0 |
The size of the component (i.e. the number of pixels) | public int size() {
return size;
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"Dimension getSize();",
"Dimension getSize();",
"public Dimension getSize()\n {\n return new Dimension(300, 150);\n }",
"public Dimension getSize ( )\r\n\t{\r\n\t\treturn new Dimension ( BORDER_X*2 + SQUARE_SIZE*size, BORDER_Y*2 + SQUARE_SIZE*size );\r\n\t}",
"public Point2D.Float getSize() {\r... | [
"0.78833055",
"0.78833055",
"0.78630286",
"0.7817988",
"0.778315",
"0.772468",
"0.77134037",
"0.7712959",
"0.770201",
"0.76795286",
"0.7676519",
"0.7671646",
"0.76675886",
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"0.76540273",
"0.7623276",
"0.76182985",
"0.7564247",
"0.7563216",
"0.75582075",
"0.7476916... | 0.0 | -1 |
Get the feature at the given index | public ComponentFeature getFeature(int index) {
if (index >= features.length)
return null;
return features[index];
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"iet.distributed.telemetry.Feature getFeature(int index);",
"public ISlideData getFeature(int index);",
"java.lang.String getFeatures(int index);",
"iet.distributed.telemetry.FeatureOrBuilder getFeatureOrBuilder(\n int index);",
"public Example getExample(Feature f,int i){\n\t\treturn featureIndex(f).g... | [
"0.806264",
"0.8011654",
"0.76206285",
"0.7322323",
"0.7067161",
"0.6987749",
"0.6893376",
"0.6818856",
"0.6680097",
"0.66699797",
"0.6659548",
"0.6656404",
"0.6656094",
"0.6595553",
"0.6589978",
"0.6577756",
"0.6577756",
"0.6577756",
"0.6547953",
"0.65285116",
"0.65210235",
... | 0.80257815 | 1 |
Get the feature matching the given class if it exists. If more than one feature of the given class exists, then the first will be returned. | @SuppressWarnings("unchecked")
public <T extends ComponentFeature> T getFeature(Class<T> featureClass) {
for (final ComponentFeature f : features)
if (f.getClass().isAssignableFrom(featureClass))
return (T) f;
return null;
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public static ClassifiedFeature getClassifiedFeature(Classification classification, Feature feature, boolean containedInView) {\n ClassifiedFeature result = null;\n EList<ClassifiedFeature> classifiedFeatures;\n if (containedInView) {\n classifiedFeatures = classification.getClassifiedFeatur... | [
"0.6206799",
"0.5886297",
"0.5881514",
"0.5861704",
"0.57684344",
"0.5707813",
"0.5661889",
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"0.55325437",
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"0.5381699",
"0.53585297",
"0.53232926",
"0.53206307",
"0.52989197",
"0.5264417",
"0.5255051",
"0.518691",
"0.5185604... | 0.770175 | 0 |
/ No super call because of splash gfx | @Override
public void hit(Npc attacker, Mob defender, Hit hit) {
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\n public void showSplash() {\n }",
"private void splashScreen() {\r\n\t\t// Clear the screen, reset the level, and display the legend\r\n\t\tclear();\r\n\t\tdisplay.setLegend(\"Asteroids\");\r\n\r\n\t\t// Place four asteroids near the corners of the screen.\r\n\t\tplaceAsteroids();\r\n\t}",
"st... | [
"0.7030121",
"0.6544582",
"0.6282674",
"0.6148579",
"0.61430687",
"0.608103",
"0.606244",
"0.60585314",
"0.60443026",
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"0.5948755",
"0.59381646",
"0.59193856",
"0.5901768",
"0.58950263",
"0.5894... | 0.0 | -1 |
Class constructor capturing information about the element change. | public EditChange(int tag, String oldValue, String newValue, String siUID) {
this.tag = tag;
this.oldValue = oldValue;
this.newValue = newValue;
this.siUID = siUID;
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"ElementChange getElementChange();",
"public Change() {\n // Required for WebServices to work. Comment added to please Sonar.\n }",
"public Changes() {\n }",
"Element() {\n\t}",
"public ElementObject(WebElement element) {\n // check null value\n super(0); //0 : Element is THERE\n... | [
"0.63319033",
"0.6199573",
"0.598909",
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"0.5802363",
"0.5686221",
"0.5685502",
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"0.5604551",
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"0.532156",
"0.53047884",
"0.5297946",
"0.52959204",
"0.52615535",
"0.521833... | 0.0 | -1 |
Check if course exits | public boolean checkCourse(String nombre) {
String[] campos = new String[] { "nombre" };
String[] args = new String[] { nombre };
Cursor c = db.query("Cursos", campos, "nombre=?", args, null, null,
null);
if (c.getCount() <= 0) {
return false;
}
return true;
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public boolean courseExists(int courseCode){}",
"private boolean checkCompletedCourse(int id) {\r\n boolean x = false;\r\n for (Registration registration : completeCourses) {\r\n if (id == registration.getCourseId()) {\r\n x = true;\r\n break;\r\n ... | [
"0.7260903",
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"0.62830627",
"0.6259484",
"0.624456",
"0.6217423",
"0.61850476",
"0.61810267... | 0.63893306 | 8 |
Check if notification exits | public boolean checkNofitication(String titulo, String msg) {
String[] campos = new String[] { "titulo" };
String[] args = new String[] { titulo };
String[] campos2 = new String[] { "mensaje" };
String[] args2 = new String[] { msg };
Cursor c = db.query("Notificaciones", campos, "titulo=?", args, null,
... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public boolean hasNotifications()\n {\n return !this.notifications.isEmpty();\n }",
"public Boolean notificationPresent() {\n\t\tBoolean isPresent = false;\n\t\twait.resetImplicitTimeout(2);\n\t\ttry {\n\t\t\tif (elements(\"li_notificationCount\").size() == 1) {\n\t\t\t\tisPresent = true;\n\t\t\t}\n... | [
"0.6512311",
"0.6481535",
"0.6303759",
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"0.6023727",
"0.6023727",
"0.6023727",
"0.6023727",
"0.6023727",
... | 0.0 | -1 |
Retorna el String en formato Json con los datos del proyecto: nombre y descripcion. | @Override
public String traerProyecto(Proyecto p) {
JSONObject json = new JSONObject();
//json.put("codigo", 0004);
json.put("nombre", p.getNombre());
json.put("descripcion", p.getDescripcion());
json.put("duracionSprints", p.getDuracionDeSprints());
json.put("numeroS... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public String toString(){\n return \"Codigo Produto: \"+this.idProduto+\n \"\\nNome do Produto \"+this.nomePro+\n \"\\nDescrição \"+this.descricao+\n \"\\nPreço: \"+this.preco;\n }",
"public java.lang.String getProyecto() {\n return proyecto;\n }",... | [
"0.6470369",
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"0.6166494",
"0.59421736",
"0.59261644",
"0.59228927",
"0.59198606",
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"0.57358336",
"0.5725861",
"0.57206625",
"0.571163",
"0.5687529",
"0.566... | 0.6717185 | 0 |
set response output to PDF format | protected void doGet(HttpServletRequest request, HttpServletResponse response) throws ServletException, IOException {
response.setContentType("application/pdf");
Document document = new Document();
try {
//PdfWriter - a class from third party library
PdfWriter.getInstance(document, ... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"private void sendPDF(byte[] content, HttpServletResponse response) throws IOException {\n response.setContentType(\"application/pdf\");\n response.setContentLength(content.length);\n response.getOutputStream().write(content);\n response.getOutputStream().flush();\n }",
"@GetMapping... | [
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"0.5932197",
"0.5924207",
"0.58990306",
"0.5848406... | 0.5600316 | 35 |
bac dau click chuot | @Override
public void mousePressed(MouseEvent e) {
clickPoint = e.getPoint();
selectionBounds = null;
// System.out.println("Bac dau" + e.getPoint().toString());
bacdauX = (int) e.getPoint().getX();
bacdauY = (int) e.getPoint().getY();
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\n\t\t\tpublic void mouseClicked(MouseEvent e) {\n\t\t\t\tSystem.out.println(\"vai ficar clikando ai a toa? PATETA\");\n\t\t\t\t\n\t\t\t}",
"@Override\n public void mousePressed(MouseEvent e){\n String boton = W.detClick( e.getButton() );\n \n //System.out.pri... | [
"0.75907266",
"0.7413925",
"0.7345301",
"0.7080261",
"0.70433927",
"0.70017457",
"0.699334",
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"0.6692496",
"0.6692249",
"0.6689596",
"0.6689596",
"0.6681906... | 0.0 | -1 |
get call from postman | public void GetCall(String url) throws ClientProtocolException, IOException {
CloseableHttpClient httpclient=HttpClients.createDefault();
HttpGet httpget=new HttpGet(url);
//lohith
CloseableHttpResponse closeablehttpresponse=httpclient.execute(httpget);
int responsestatuscode=closeablehttpresponse.getStatusLin... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@GET(\"posts/1\")\n public Call<Post> getPost();",
"GetToken.Req getGetTokenReq();",
"public Response getRequestForGetAPI(String endpoint) {\n response = given().contentType(ContentType.JSON)\n .when()\n .get(endpoint)\n .then()\n .extract(... | [
"0.6263997",
"0.62188107",
"0.6088139",
"0.6082206",
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"0.6048018",
"0.60454744",
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"0.58601",
"0.5844936",
"0.58405274",
"0.5826089",
"0.58245707",
"0.5818347",
... | 0.0 | -1 |
Read the content of this InputStream and return it as a String. The stream is closed before this method returns. | public static String getText(InputStream is) throws IOException {
BufferedReader reader = new BufferedReader(new InputStreamReader(is));
return getText(reader);
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"private String read() {\n\n String s = \"\";\n\n try {\n // Check if there are bytes available\n if (inStream.available() > 0) {\n\n // Read bytes into a buffer\n byte[] inBuffer = new byte[1024];\n int bytesRead = inStream.read(inBuf... | [
"0.750401",
"0.71766174",
"0.71658283",
"0.71614",
"0.703968",
"0.6957307",
"0.6951378",
"0.6943325",
"0.68958026",
"0.68387455",
"0.68240273",
"0.6815508",
"0.681406",
"0.6791604",
"0.6769644",
"0.67581195",
"0.675076",
"0.6674198",
"0.6642366",
"0.66232073",
"0.66109115",
... | 0.64269257 | 39 |
Read the content of this InputStream using specified charset and return it as a String. The stream is closed before this method returns. | public static String getText(InputStream is, String charset) throws IOException {
BufferedReader reader = new BufferedReader(new InputStreamReader(is, charset));
return getText(reader);
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"private static String readStream(InputStream is, String charsetName) throws UnsupportedEncodingException, IOException {\r\n StringBuffer sb = new StringBuffer();\r\n byte[] buffer = new byte[1024];\r\n int length = 0;\r\n while ((length = is.read(buffer)) != -1) {\r\n sb.appe... | [
"0.7268685",
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"0.6212349",
"0.6196451",
"0.6195188... | 0.7226666 | 1 |
Read the content of the Reader and return it as a String. The reader is closed before this method returns. | public static String getText(Reader reader) throws IOException {
BufferedReader bufferedReader = new BufferedReader(reader);
return getText(bufferedReader);
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"private static String getString(Reader reader) {\n StringBuffer buf = new StringBuffer();\n char[] buffer = new char[1024];\n int count;\n try {\n while ((count = reader.read(buffer)) != -1) {\n buf.append(buffer, 0, count);\n }\n } catch (IOException e) {\n return null;\n }... | [
"0.7497638",
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"0.66035664",
"0.66035664",
"0.65090364",
"0.6494985"... | 0.67393017 | 11 |
Read the content of the BufferedReader and return it as a String. The BufferedReader is closed afterwards. | public static String getText(BufferedReader reader) throws IOException {
StringBuilder answer = new StringBuilder();
// reading the content of the file within a char buffer
// allow to keep the correct line endings
char[] charBuffer = new char[8192];
int nbCharRead /* = 0*/;
... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"static String readString() throws IOException{\n return bufferedReader.readLine();\n }",
"private static String getString(BufferedReader reader) throws IOException{\n String result=null;\n while(result==null) {\n result = reader.readLine();\n }\n return result... | [
"0.76448953",
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"0.6731396",
"0.6716449",
"0.6701995",
"0.667455",
"0.666690... | 0.7458489 | 2 |
Close the Closeable. Logging a warning if any problems occur. | public static void closeWithWarning(Closeable c) {
if (c != null) {
try {
c.close();
} catch (IOException e) {
LOG.warning("Caught exception during close(): " + e);
}
}
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public void close() {\n if (cleanup != null) {\n cleanup.disable();\n }\n if (isOpen()) {\n forceClose();\n }\n }",
"public void close() throws IOException;",
"public void close() throws IOException;",
"public void close() throws IOException;",
"public v... | [
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"0.6936791",
"0.6936791",
"0.6936791",
"0.6936791",
"0.693... | 0.70042974 | 1 |
Close the Closeable. Ignore any problems that might occur. | public static void closeQuietly(Closeable c) {
if (c != null) {
try {
c.close();
} catch (IOException e) {
/* ignore */
}
}
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"protected final void close()\n {\n try {\n _reader.close();\n _reader = null;\n } catch ( IOException except ) { }\n }",
"public void close() {\n if (cleanup != null) {\n cleanup.disable();\n }\n if (isOpen()) {\n forceClose();\... | [
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"0.7293001",
"0.7293001",
"0.729... | 0.0 | -1 |
Created by feng on 2015/8/8. | public interface Component {
public void operation();
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\n public void perish() {\n \n }",
"@Override\n\tpublic void grabar() {\n\t\t\n\t}",
"@Override\n\tpublic void comer() {\n\t\t\n\t}",
"@Override\r\n\tpublic void bicar() {\n\t\t\r\n\t}",
"@Override\r\n\tpublic void bicar() {\n\t\t\r\n\t}",
"private static void cajas() {\n\t\t\n\t}",... | [
"0.62235576",
"0.61594087",
"0.61099446",
"0.60991067",
"0.60991067",
"0.60908985",
"0.6067942",
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"0.5891126",
"0.5864742",
"0.5847863",
"0.5831558",
"0.58... | 0.0 | -1 |
Game View Controller is instantiated with inputs generated by the menu controller, indicating number of players and decks. | public GameViewController(int[] input) {
inputs = input;
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public GameController() {\n \t\t// Fill the table empty positions.\n \t\tfor (int i = 0; i < MAX_NUMBER_OF_PILES; i++) {\n \t\t\tmTable.add(i, null);\n \t\t}\n \t\tcreateDeck();\n \t\tgs = new GameState(mTable, pileNames, pileNo);\n \t\tnew Listener(this);\n \t}",
"public GameController() {\r\n\t\tsuper();\r\n\t... | [
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"0.6109254",
"0.6097843",
... | 0.65975165 | 1 |
/ The NameDialog throws a game exception if the user clicks on the cancel button. | private ArrayList<String> getNames() {
NameDialog n = new NameDialog();
nameList = new ArrayList<String>();
try {
nameList = n.getNames(inputs[1]);
}catch(GameException ex) {
view.close();
menuStage.show();
}
return nameList;
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"private void usernameTakenDialog() {\n Dialog dialog = new Dialog(\"Username taken\", cloudSkin, \"dialog\") {\n public void result(Object obj) {\n System.out.println(\"result \" + obj);\n }\n };\n dialog.text(\"This username has already been taken, try a n... | [
"0.68187314",
"0.6700333",
"0.6650651",
"0.6639648",
"0.6622038",
"0.6548485",
"0.65311044",
"0.6523487",
"0.65113217",
"0.6348558",
"0.6348353",
"0.6346492",
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"0.62906945",
"0.61653626",
"0.61650306",
"0.6161009",
"0.61595726",
"0.61560565",
"0.6148765",
"0.6100... | 0.56597686 | 70 |
Collects Player names and instantiates a new game, a game loop and a new game view. | public void createNewGame(Stage menuStage) {
this.menuStage = menuStage;
this.menuStage.hide();
view = new GameView(inputs[1]);
try {
view.show();
game = new Game(getNames(), inputs[0]);
turned = false;
view.initialisePlayerViews(nameList);
createKeyListeners();
createGameLoop();
}catch (IndexO... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"private void createPlayers() {\n\tGlobal.camera_player1 = new Camera(new OrthographicCamera());\n\tGlobal.camera_player2 = new Camera(new OrthographicCamera());\n\tGlobal.camera_ui = new OrthographicCamera();\n\tGlobal.player1 = new Plane(Global.player1_respawn.x,\n\t\tGlobal.player1_respawn.y, 0, new Planetype(Pl... | [
"0.70724934",
"0.704879",
"0.7034845",
"0.6991756",
"0.6984401",
"0.6952472",
"0.688355",
"0.6863663",
"0.6833408",
"0.6810382",
"0.6780479",
"0.6775744",
"0.6730692",
"0.67221874",
"0.6717384",
"0.6717159",
"0.66590595",
"0.66576535",
"0.6656647",
"0.66505426",
"0.66480863",... | 0.0 | -1 |
/ This creates the keyboard input listeners necessary to play the game. | private void createKeyListeners() {
addGameKeys();
view.getGameScene().setOnKeyPressed(event ->{
if (keyListeners.containsKey(event.getCode())) {
keyListeners.put(event.getCode(), true);
}
});
view.getGameScene().setOnKeyReleased(event ->{
if (keyListeners.containsKey(event.getCode())) {
keyLi... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"private void setInputListeners () {\r\n // initialize input state\r\n myLastKeyPressed = NO_KEY_PRESSED;\r\n myKeys = new TreeSet<Integer>();\r\n addKeyListener(new KeyAdapter() {\r\n @Override\r\n public void keyPressed (KeyEvent e) {\r\n // resets ... | [
"0.734322",
"0.71589535",
"0.69012964",
"0.68552995",
"0.682068",
"0.6798985",
"0.67654043",
"0.67568165",
"0.6716732",
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"0.6588935",
"0.65356433",
"0.64226687",
"0.6401041",
"0.63922596",
"0.6391928",
"0.63859755",
"0.63838... | 0.7818621 | 0 |
/ This takes the current number of cards from the model, and updates the view. | private void displayPlayers() {
for (Player p: game.getPlayers()) {
view.updateDisplay(p.getId(), p.getDeck().getNumberOfCards());
}
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public void updateCards() {\r\n riderUserCards.setAll(riderUserModel.getCards());\r\n if (riderUserCards.size() != 0) {\r\n riderUserView.noCards.setVisible(false);\r\n riderUserView.dropDownOfCards.getSelectionModel().selectFirst();\r\n setCardSelected(riderUserView.dropDownOfCards.getValue()... | [
"0.6746697",
"0.63058406",
"0.62678784",
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"0.5842742",
"0.5842649",
"0.58293605",
"0.58293533",
"0.58054596",
"0.57... | 0.52372056 | 100 |
/ This verifies that the player who pressed a snap key is not already out of the game. | private boolean playerHasPressed(PlayerView p) {
return (!game.getPlayer(p.getId() - 1).getHasLost()
&& keyListeners.get(p.getKeyCode()));
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"private void checkSnap() {\n\t\tif (turned && view.getInstructions().getHidden())\n\t\t\tfor (PlayerView p: view.getPlayerViewList())\n\t\t\t\tif (playerHasPressed(p)) {\n\t\t\t\t\t// If last card is null, the turned card is the first card in the pile and can't be snap.\n\t\t\t\t\tif(game.getLastCard() != null)\n\... | [
"0.72269076",
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"0.6383143",
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"0.6278244",
"0.6206561",
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"0.6044855",
"0.6033168",
"0.6031459",
"0.60163116",
"0.60113645",
"0.5989497",
"0.59823"... | 0.594603 | 23 |
/ First we check if a new card has been turned (to prevent multiple snaps on the same card, and we verify that the instructions scene is not obscuring the game play, then we check if any player has pressed snap, and if that snap is valid. | private void checkSnap() {
if (turned && view.getInstructions().getHidden())
for (PlayerView p: view.getPlayerViewList())
if (playerHasPressed(p)) {
// If last card is null, the turned card is the first card in the pile and can't be snap.
if(game.getLastCard() != null)
view.showLastCard(game.ge... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public void checkCards(){\r\n if (Card1.getSource().equals(Card2.getSource())){\r\n Card1.setEnabled(false); \r\n Card2.setEnabled(false);\r\n Card1.setBackground(new Color(190, 190, 255));\r\n Card2.setBackground(new Color(190, 190, 255));\r\n Card1.se... | [
"0.64403737",
"0.6320917",
"0.62064457",
"0.6145509",
"0.61358875",
"0.6085974",
"0.6075557",
"0.6057143",
"0.6029872",
"0.60294694",
"0.6023852",
"0.59813577",
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"0.5957991",
"0.5909138",
"0.5894764",
"0.58906764",
"0.58823514",
"0.5874369",
"0.5872806",
"0.583677... | 0.81145954 | 0 |
The H key shows/hides the help instructions scene | @Override
public void handle(long now) {
if (keyListeners.get(KeyCode.H)) {
view.moveInstructions();
keyListeners.put(KeyCode.H, false);
}
//The space bar turns a new card
if ((view.getInstructions().getHidden()) && keyListeners.get(KeyCode.SPACE)){
turnCard();
displayPlayers();
... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public static void ShowHelpScreen() {\n ToggleVisibility(HelpPage.window);\n }",
"public void displayHelpMenuView()\n {\n System.out.println(\"\\nHelp menu selected.\");\n }",
"void showHelp() {\n\t\tif (helpScreen == null) {\n\t\t helpScreen = new Form(\"Walking Help\");\n\t\t hel... | [
"0.7675924",
"0.7671607",
"0.76265585",
"0.7333805",
"0.7300262",
"0.7232596",
"0.7204855",
"0.7147801",
"0.70714295",
"0.70387",
"0.699796",
"0.6948904",
"0.69033295",
"0.68819726",
"0.68721294",
"0.67778736",
"0.67445534",
"0.67279303",
"0.6694964",
"0.6680618",
"0.66680646... | 0.0 | -1 |
release motors from STOPPED state without actually running them | public static synchronized void idleAllLiftMotors() {
synchronized(armStage1.motorLock) {
// synchronized(armStage2.motorLock) {
armStage1.motorObj.set(ControlMode.PercentOutput, 0.0);
// armStage1.auxMotorObj.set(ControlMode.PercentOutput, 0.0);
// armStage2.motorObj.set(ControlMode.PercentOutp... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"public void stopMotors(){\n\t\tsynchStop(MMXCOMMAND_BRAKE);\n\t}",
"public void stop() {\n climberMotors.stopMotor();\n }",
"public void stop(){\n started = false;\n for (DcMotor motor :this.motors) {\n motor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);\n ... | [
"0.7670943",
"0.7496989",
"0.74728256",
"0.72777385",
"0.72559553",
"0.7247844",
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"0.6861088",
"0.68551534",
"0.68327105",
"0.68287385",
"0.6805954",
"0.67901427",
"0.676... | 0.0 | -1 |
also see config methods in ArmLiftMotorInfo class | protected static synchronized void configLiftMotorAndEncoder(ArmLiftMotorInfo mtrCfg) {
if(mtrCfg.equals(TmSsArm.armStage1)) {
mtrCfg.sdKeyJoystickReading =SdKeysE.KEY_ARM_STAGE1_JOYSTICK_RDG;
mtrCfg.sdKeyMtrControlMode = mtrCfg.motorObj.m_namedCntlEnt.cSdKeyMtrControlMode; //SdKeysE.KEY_ARM_STAGE1_MT... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\n public void init() {\n telemetry.addData(\"Status\", \"Initializing\"); //display on the drivers phone that its working\n\n FLM = hardwareMap.get(DcMotor.class, \"FLM\"); //Go into the config and get the device named \"FLM\" and assign it to FLM\n FRM = hardwareMap.get(DcMotor.c... | [
"0.69798523",
"0.66987205",
"0.66924036",
"0.66805744",
"0.6640662",
"0.6520454",
"0.63915104",
"0.63336295",
"0.62978065",
"0.625683",
"0.62351525",
"0.62297016",
"0.6199173",
"0.6186821",
"0.61863613",
"0.61567384",
"0.61171794",
"0.6108231",
"0.6085075",
"0.6072812",
"0.60... | 0.71902806 | 0 |
This method is intended for lab testing and early development. At competitions, should only be doing servo mode | private static synchronized void runLiftStageFromJoystick(ArmLiftMotorInfo mtrInfo) { //double stage1JoystickReading, double stage2JoystickReading) {
double percentOut;
synchronized(armStage1.motorLock) {
// synchronized(armStage2.motorLock) {
//joysticks give negative readings when pushed away f... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"private void testServo(){\n\n if (gamepad1.y) {\n servoLeft.setDirection(Servo.Direction.REVERSE);\n servoLeft.setPosition(0.5);\n servoRight.setDirection(Servo.Direction.REVERSE);\n servoRight.setPosition(0.5);\n\n }\n if (gamepad1.x) {\n ... | [
"0.743026",
"0.73775274",
"0.708388",
"0.6975977",
"0.6942941",
"0.6879603",
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"0.6736705",
"0.671679",
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"0.6603873",
"0.65940636",
"0.6579222",
"0.6524517",
"0.6517894",
"0.65100765",
"0.65047956",... | 0.0 | -1 |
use the joysticks on the xbox controller to nudge the setpoints up or down from their official servo settings. Use the nudgeThrottle parm to keep "nudges" from being too drastic. | private static synchronized void nudgeServo(ArmLiftMotorInfo mtrInfo, double encoderAdjustmentRatio) {
synchronized(armStage1.motorLock) {
// synchronized(armStage2.motorLock) { //CONFIG ME
int nudgeAmt = 0;
//use squaring to make the joysticks easier to use
double jsReadingRaw = mtrInf... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\n public void loop() {\n float left = -gamepad1.left_stick_y;\n float right = -gamepad1.right_stick_y;\n // clip the right/left values so that the values never exceed +/- 1\n right = Range.clip(right, -1, 1);\n left = Range.clip(left, -1, 1);\n\n // scale the ... | [
"0.58998287",
"0.55651885",
"0.54832953",
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"0.5373911",
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"0.50649095",
"0.5038094",
"0.5025455",
"0.501059",
"0.50000924... | 0.59259015 | 0 |
private static String prevStg2StatusStr = ""; | public static void runArm() {
synchronized(ArmClawInfo.clawLock) {
synchronized(armStage1.motorLock) {
// synchronized(armStage2.motorLock) {
PrtYn flag = PrtYn.N;
if(Tm744Opts.isInSimulationMode()) { flag = PrtYn.Y; }
String stg1StatusStr;
// String stg2StatusStr;
DsName... | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"protected String getStatus()\n { return call_state; \n }",
"private String getServiceCurrentStatus(String csStatChng) {\r\n\t\t\t\t\r\n\t\tchar serviceStatus;\r\n\t\tString serviceStatusStr = \"\";\t\t\t\t\r\n\t\t\r\n\t\tif (csStatChng != null) {\r\n\t\t\tserviceStatus = csStatChng.charAt(csStatChng.length(... | [
"0.6215381",
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"0.5878591",
"0.5878591",
"0.5878591",
"0.5878591",
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"0.58757824",
"0.5826649",
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"0.57497853",
"0.5745741",
"0.5729365",
"0.5713349",
"0.5702283",
"0.5702283",
"0.5692676",
"0.5692676",
"0.5692676",... | 0.0 | -1 |
TODO Autogenerated method stub | @Override
public void sssDoLwTestInit() {
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\r\n\tpublic void comer() \r\n\t{\n\t\t\r\n\t}",
"@Override\n\tpublic void comer() {\n\t\t\n\t}",
"@Override\n public void perish() {\n \n }",
"@Override\r\n\t\t\tpublic void annadir() {\n\r\n\t\t\t}",
"@Override\n\tpublic void anular() {\n\n\t}",
"@Override\n\tprotected void getExr... | [
"0.6671074",
"0.6567672",
"0.6523024",
"0.6481211",
"0.6477082",
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"0.64127725",
"0.63762105",
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"0.61922914",
"0.6186996",
"0.6173591",
"0.61327106",
"0.61285484",
"0.608016... | 0.0 | -1 |
TODO Autogenerated method stub | @Override
public void sssDoLwTestPeriodic() {
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\r\n\tpublic void comer() \r\n\t{\n\t\t\r\n\t}",
"@Override\n\tpublic void comer() {\n\t\t\n\t}",
"@Override\n public void perish() {\n \n }",
"@Override\r\n\t\t\tpublic void annadir() {\n\r\n\t\t\t}",
"@Override\n\tpublic void anular() {\n\n\t}",
"@Override\n\tprotected void getExr... | [
"0.6671074",
"0.6567672",
"0.6523024",
"0.6481211",
"0.6477082",
"0.64591026",
"0.64127725",
"0.63762105",
"0.6276059",
"0.6254286",
"0.623686",
"0.6223679",
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"0.61950207",
"0.61922914",
"0.6186996",
"0.6173591",
"0.61327106",
"0.61285484",
"0.608016... | 0.0 | -1 |
Called just before this Command runs the first time | protected void initialize() {
P.println(Tt.getClassName(this) + " initializing");
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\n public void preRun() {\n super.preRun();\n }",
"protected void preRun() {\r\n\t\tthis.preparePairs();\r\n\t}",
"@Override\n public void beforeFirstLogic() {\n }",
"public void prePerform() {\n // nothing to do by default\n }",
"protected void onFirstUse() {}",
"@O... | [
"0.71116775",
"0.6540082",
"0.643276",
"0.64309984",
"0.6406235",
"0.63530433",
"0.6307191",
"0.62521607",
"0.6246859",
"0.6240541",
"0.61669374",
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"0.612669",
"0.612669",
"0.6106636",
"0.60843927",
"0.60843927",
"0.6078098",
... | 0.0 | -1 |
Called repeatedly when this Command is scheduled to run | protected void execute() {} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\n\t\tvoid runCommand() {\n\t\t\ttrigger.execute();\n\t\t}",
"@Override\n public void run() {\n schedule();\n }",
"@Override\n public void autonomousPeriodic() {\n \n Scheduler.getInstance().run();\n \n }",
"public void run() {\n\t\texecuteCommand( client, false );\n\t}",
"... | [
"0.6689458",
"0.6631115",
"0.6566414",
"0.65512514",
"0.6530515",
"0.6488629",
"0.64019585",
"0.6380878",
"0.637645",
"0.6363615",
"0.63557744",
"0.6330997",
"0.6295938",
"0.6275704",
"0.6268897",
"0.62656784",
"0.62656784",
"0.62656784",
"0.62656784",
"0.62656784",
"0.626567... | 0.0 | -1 |
Make this return true when this Command no longer needs to run execute() | protected boolean isFinished() {
boolean ans = false;
return ans;
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\n public boolean execute() {\n return false;\n }",
"@Override\n public boolean execute() {\n return false;\n }",
"public boolean execute(){\n return false;\n }",
"@Override\n\tpublic boolean Unexecute() \n\t{\n\t\treturn false;\n\t}",
"p... | [
"0.77345294",
"0.77345294",
"0.7678753",
"0.76457655",
"0.75966",
"0.7554271",
"0.6877811",
"0.6748956",
"0.6728847",
"0.66855806",
"0.65891784",
"0.65624696",
"0.64980483",
"0.63857424",
"0.63736373",
"0.6356819",
"0.6356819",
"0.63498974",
"0.63401324",
"0.63290936",
"0.632... | 0.0 | -1 |
Called once after isFinished returns true | protected void end() {
P.println(Tt.getClassName(this) + " ending");
} | {
"objective": {
"self": [],
"paired": [],
"triplet": [
[
"query",
"document",
"negatives"
]
]
}
} | [
"@Override\n protected boolean isFinished() {\n return true;\n }",
"@Override\n protected boolean isFinished() {\n return true;\n }",
"@Override\n public boolean isFinished() {\n return true;\n }",
"@Override\r\n\tprotected boolean isFinished() {\n\t\treturn true;\r\n\t}",
"@Override\... | [
"0.85854495",
"0.85395205",
"0.83341306",
"0.83313096",
"0.83313096",
"0.83068",
"0.8305024",
"0.8298836",
"0.8277644",
"0.8277644",
"0.8277644",
"0.8277644",
"0.8277644",
"0.8277644",
"0.8277644",
"0.8277644",
"0.8277644",
"0.8277644",
"0.8277644",
"0.8277644",
"0.8277644",
... | 0.0 | -1 |
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