FRC2016-old/DriveBase/src/Robot.cpp

#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 IterativeRobot {
	CANTalon r1_drive;
	CANTalon r2_drive;
	CANTalon l1_drive;
	CANTalon l2_drive;
	CANTalon shooter1;
	CANTalon shooter2;
	TankDrive drive;

	Joystick rstick, lstick;

	// update every 0.01 seconds/10 milliseconds.
	// The talon only receives control packets every 10ms.
	//double kUpdatePeriod = 0.010;

public:
	Robot() :
			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) {

	}

	void DisabledInit() {
		r1_drive.SetSafetyEnabled(false);
		r2_drive.SetSafetyEnabled(false);
		l1_drive.SetSafetyEnabled(false);
		l2_drive.SetSafetyEnabled(false);
		shooter1.SetSafetyEnabled(false);
		shooter2.SetSafetyEnabled(false);
	}

	void TeleopInit() {
		r1_drive.Enable();
		r2_drive.Enable();
		l1_drive.Enable();
		l2_drive.Enable();

	}

	void TeleopPeriodic() {
		drive.Drive(&lstick);

		float power = (1.0 - rstick.GetThrottle()) / 2.0;
		shooter1.Set(power);
		shooter2.Set(power);

	}

};

START_ROBOT_CLASS(Robot)