#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.
*
*/
class Robot : public SampleRobot {
CANTalon r1_drive, r2_drive, l1_drive, l2_drive;
TankDrive drive;
Joystick m_stick;
// update every 0.01 seconds/10 milliseconds.
// The talon only receives control packets every 10ms.
double kUpdatePeriod = 0.010;
public:
Robot()
: r1_drive(0), // Initialize the Talon as device 1. Use the roboRIO web
r2_drive(1)), // interface to change the device number on the talons.
l1_drive(2),
l2_drive(3),
drive(new CANTalon[] {&r1_drive,&r2_drive}, new CANTalon[] {&l1_drive, &l2_drive}),
m_stick(0)
{}
* Runs the motor from the output of a Joystick.
void OperatorControl() {
while (IsOperatorControl() && IsEnabled()) {
// Do Drive.
drive.Drive(&m_stick);
Wait(kUpdatePeriod); // Wait a bit so that the loop doesn't lock everything up.
}
};
START_ROBOT_CLASS(Robot)