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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;
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Joystick m_stick;
// 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),
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m_stick(0)
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{
printf("Initializing Robot...");
printf("Initializing TankDrive");
drive = new TankDrive(&l1_drive, &l2_drive, &r1_drive, &r2_drive);
printf("Ready!");
}
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void DisabledInit()
{
}
void TeleopInit()
{
printf("Starting Teleop mode");
r1_drive.Enable();
r2_drive.Enable();
l1_drive.Enable();
l2_drive.Enable();
}
void TeleopPeriodic()
{
printf("Teleop Periodic Start.");
drive->Drive(&m_stick);
printf("~Teleop Periodic End.");
}
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/**
* Runs the motor from the output of a Joystick.
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*
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void OperatorControl() {
while (IsOperatorControl() && IsEnabled()) {
// Do Drive.
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std::cerr << "In Operator Control";
drive->Drive(&m_stick);
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Wait(kUpdatePeriod); // Wait a bit so that the loop doesn't lock everything up.
}
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}*/
TankDrive *drive;
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};
START_ROBOT_CLASS(Robot)