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TeleOp.h
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TeleOp.h
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#ifndef TELEOP_H
#define TELEOP_H
#include "common.h"
class TeleOp:public Mode{
public:
CRGB color;
byte allianceColor;
double stringPot;
void start(){
allianceColor=getAlliance();
while(teleOpModeCheck){
if(getClamp()){
stringPot=getStringPot();
stringPot=stringPot/0.90;
setColor();
}else{
switch(allianceColor){
case 0: blueAlliance();
break;
case 1: redAlliance();
break;
case 2: invalid();
break;
case 3: what();
break;
}
}
}
}
void blueAlliance(){
for(int i=6;i<NUM_LEDS/2;i++){
leds[i-1].r=204;
leds[i-1].g=204;
leds[i-1].b=255;
leds[i-2].r=153;
leds[i-2].g=153;
leds[i-2].b=255;
leds[i-3].r=102;
leds[i-3].g=102;
leds[i-3].b=255;
leds[i-4].r=51;
leds[i-4].g=51;
leds[i-4].b=255;
leds[i-5].r=0;
leds[i-5].g=0;
leds[i-5].b=255;
leds[NUM_LEDS-i+1].r=204;
leds[NUM_LEDS-i+1].g=204;
leds[NUM_LEDS-i+1].b=255;
leds[NUM_LEDS-i+2].r=153;
leds[NUM_LEDS-i+2].g=153;
leds[NUM_LEDS-i+2].b=255;
leds[NUM_LEDS-i+3].r=102;
leds[NUM_LEDS-i+3].g=102;
leds[NUM_LEDS-i+3].b=255;
leds[NUM_LEDS-i+4].r=51;
leds[NUM_LEDS-i+4].g=51;
leds[NUM_LEDS-i+4].b=255;
leds[NUM_LEDS-i+5].r=0;
leds[NUM_LEDS-i+5].g=0;
leds[NUM_LEDS-i+5].b=255;
FastLED.show();
}
}
void redAlliance(){
for(int i=6;i<NUM_LEDS/2;i++){
leds[i-1].r=204;
leds[i-1].g=255;
leds[i-1].b=204;
leds[i-2].r=153;
leds[i-2].g=255;
leds[i-2].b=153;
leds[i-3].r=102;
leds[i-3].g=255;
leds[i-3].b=102;
leds[i-4].r=51;
leds[i-4].g=255;
leds[i-4].b=51;
leds[i-5].r=0;
leds[i-5].g=255;
leds[i-5].b=0;
leds[NUM_LEDS-i+1].r=204;
leds[NUM_LEDS-i+1].g=255;
leds[NUM_LEDS-i+1].b=204;
leds[NUM_LEDS-i+2].r=153;
leds[NUM_LEDS-i+2].g=255;
leds[NUM_LEDS-i+2].b=153;
leds[NUM_LEDS-i+3].r=102;
leds[NUM_LEDS-i+3].g=255;
leds[NUM_LEDS-i+3].b=102;
leds[NUM_LEDS-i+4].r=51;
leds[NUM_LEDS-i+4].g=255;
leds[NUM_LEDS-i+4].b=51;
leds[NUM_LEDS-i+5].r=0;
leds[NUM_LEDS-i+5].g=255;
leds[NUM_LEDS-i+5].b=0;
FastLED.show();
}
}
void invalid(){
for(int i=6;i<NUM_LEDS/2;i++){
leds[i-1].r=255;
leds[i-1].g=204;
leds[i-1].b=204;
leds[i-2].r=255;
leds[i-2].g=153;
leds[i-2].b=153;
leds[i-3].r=255;
leds[i-3].g=102;
leds[i-3].b=102;
leds[i-4].r=255;
leds[i-4].g=51;
leds[i-4].b=51;
leds[i-5].r=255;
leds[i-5].g=0;
leds[i-5].b=0;
leds[NUM_LEDS-i+1].r=255;
leds[NUM_LEDS-i+1].g=204;
leds[NUM_LEDS-i+1].b=204;
leds[NUM_LEDS-i+2].r=255;
leds[NUM_LEDS-i+2].g=153;
leds[NUM_LEDS-i+2].b=153;
leds[NUM_LEDS-i+3].r=255;
leds[NUM_LEDS-i+3].g=102;
leds[NUM_LEDS-i+3].b=102;
leds[NUM_LEDS-i+4].r=255;
leds[NUM_LEDS-i+4].g=51;
leds[NUM_LEDS-i+4].b=51;
leds[NUM_LEDS-i+5].r=255;
leds[NUM_LEDS-i+5].g=0;
leds[NUM_LEDS-i+5].b=0;
FastLED.show();
}
}
void what(){
for(int i = 0;i<NUM_LEDS;i++){
leds[i].r=255;
leds[i].g=0;
leds[i].b=0;
}
FastLED.show();
delay(250);
for(int i = 0;i<NUM_LEDS;i++){
leds[i].r=0;
leds[i].g=0;
leds[i].b=0;
}
FastLED.show();
}
void stringPotLights(double potValue){
for(int i=0;i<NUM_LEDS*potValue;i++){
leds[i]=color;
}
FastLED.show();
}
void setColor(){
switch(getAlliance()){
case 0:{color.r=0,
color.g=0,
color.b=255;
break;
}
case 1:{color.r=0,
color.g=255,
color.b=0;
break;
}
case 2:{color.r=255,
color.g=0,
color.b=0;
break;
}
case 3:{color.r=255,
color.g=255,
color.b=255;
break;
}
}
}
double getStringPot(){
return (double)roborio.read()/1000.;
}
byte getAlliance(){
return roborio.read();
}
boolean getClamp(){
return roborio.read();
}
};
#endif