/*
* TankDrive.h
*
* Created on: Jan 28, 2016
* Author: Jason
*/
#ifndef SRC_TANKDRIVE_H_
#define SRC_TANKDRIVE_H_
#ifndef DEADZONE_RADIUS
#define DEADZONE_RADIUS 0.05
#endif // DEADZONE_RADIUS
#include "WPILib.h"
class TankDrive {
public:
TankDrive(CANTalon *l1, CANTalon *l2, CANTalon* r1, CANTalon *r2)
{
dt1 = RobotDrive(l1, r1);
dt2 = RobotDrive(l2, r2);
}
virtual ~TankDrive() { delete l1; delete l2; delete r1; delete r2; }
void Drive(Joystick *js)
float x = js->GetX(),
y = js->GetY(),
th = ((1.0 - (js.GetThrottle()))/2.0);
// set deadzone
if(x > -DEADZONE_RADIUS && x < DEADZONE_RADIUS)
x = 0;
if(y > -DEADZONE_RADIUS && y < DEADZONE_RADIUS)
y = 0;
float speed = y * th;
float rot = y;
dt1.ArcadeDrive(speed, rot, false);
dt2.ArcadeDrive(speed, rot, false);
private:
RobotDrive dt1, dt2;
};
#endif /* SRC_TANKDRIVE_H_ */