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Game Commands.md

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Game Commands

Controllers

  • Pilot Controller: [P]
  • Co-Pilot Controller: [CP]

Default Commands

These Commands will run, unless another command is called on the subsystem(s).

  • LEDs: Team Color
    • The LEDs will display the Team Color
  • Stop Flywheel
    • The Flywheel will be stopped, if it has not been given a command in over 2 seconds
      • (For safety)

Triggers

These are Commands that are triggered by things other then the controllers.

  • LEDs: Has Note
    • While the Color Sensor detects a Note, the LEDs will be $\color{orange}Orange$
  • Thermal Cutoffs
    • Any Motor exceeding their recommended temperature range, will be disabled until its temperature returns to a safe range
      • (For safety)
    • LEDs will flash $\color{yellow}Yellow$ while the motor is disabled

Controller Commands

These Commands are triggered by the controllers.

Driving Commands

  • Drive Forward / Backwards [P: Left Joystick Y]
  • Drive Left / Right [P: Left Joystick X]
  • Spin Clockwise / Counterclockwise [P: Right Joystick X]
  • Aim at Speaker [P: Left Trigger]
    • The robot will maintain an aim at the Speaker
      • (This will disable the Spin Command)
    • The Flywheel will spin up
    • While Aiming, the LEDs will flash the Team Color
    • When in range, the LEDs will turn $\color{green}Green$
  • Aim at Amp [P: Right Trigger]
    • The robot will maintain an aim at the Amp
      • (This will disable the Spin Command)
    • The Aimer will automatically set it's angle based on the distance to target
    • The Flywheel will spin up
    • While Aiming, the LEDs will flash the Team Color
    • When in range, the LEDs will turn $\color{green}Green$

Intake Commands

Since the Intake operates automatically as a default command, these commands are only for abnormal situations.

  • Run Intake & Feeder [CP: Left Trigger]
    • The Intake and Feeder will stop, when the Color Sensor detects a Note
    • (The Flywheel will be stopped, if running, so that the note is not accidentally shot)
  • Reverse Intake & Feeder [CP: X]
    • (The Flywheel will be stopped, if running)

Shooter Commands

  • Shoot [CP: Right Trigger]
    • The Flywheel will spin up
      • (If not already spinning)
    • The Feeder will move the note to the Flywheel
    • LEDs will flash $\color{violet}Purple$
      • Once the Color Sensor no longer sees the Note
    • The Flywheel will stop
  • Stop Flywheel & Feeder [CP: B]
    • (The Intake will also be stopped, if running)
  • Reverse Flywheel & Feeder [CP: A]
    • (The Intake will be stopped, if running)

Climber Commands

  • Climber Extend [CP: D-Pad Up]
  • Climber Retract [CP: D-Pad Down]
  • Traverse Left / Right [CP: D-Pad Left/Right]

Aimer Commands

Note: The Aimer will aim automatically, these commands are just for abnormal situations.

  • Aim Up / Down [CP: Right Joystick Y]