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FRC2016-old/DriveBase/src/Robot.cpp

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#include "WPILib.h"
#include "TankDrive.h"
/**
* This sample shows how to use the new CANTalon to just run a motor in a basic
* throttle mode, in the same manner as you might control a traditional PWM
* controlled motor.
*
*/
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class Robot : public IterativeRobot {
CANTalon r1_drive;
CANTalon r2_drive;
CANTalon l1_drive;
CANTalon l2_drive;
CANTalon shooter1;
CANTalon shooter2;
TankDrive drive;
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Joystick rstick, lstick;
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// update every 0.01 seconds/10 milliseconds.
// The talon only receives control packets every 10ms.
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//double kUpdatePeriod = 0.010;
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public:
Robot()
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: r1_drive(1), // Initialize the Talon as device 1. Use the roboRIO web
r2_drive(2), // interface to change the device number on the talons.
l1_drive(3),
l2_drive(4),
shooter1(10),
shooter2(11),
drive(&l1_drive, &l2_drive, &r1_drive, &r2_drive),
rstick(0),
lstick(1)
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{
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}
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void DisabledInit()
{
r1_drive.SetSafetyEnabled(false);
r2_drive.SetSafetyEnabled(false);
l1_drive.SetSafetyEnabled(false);
l2_drive.SetSafetyEnabled(false);
shooter1.SetSafetyEnabled(false);
shooter2.SetSafetyEnabled(false);
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}
void TeleopInit()
{
r1_drive.Enable();
r2_drive.Enable();
l1_drive.Enable();
l2_drive.Enable();
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}
void TeleopPeriodic()
{
drive.Drive(&lstick);
float power = (1.0 - rstick.GetThrottle()) / 2.0;
shooter1.Set(power);
shooter2.Set(power);
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}
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};
START_ROBOT_CLASS(Robot)