40 lines
986 B
C++
40 lines
986 B
C++
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#include "WPILib.h"
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#include "TankDrive.h"
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/**
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* This sample shows how to use the new CANTalon to just run a motor in a basic
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* throttle mode, in the same manner as you might control a traditional PWM
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* controlled motor.
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*
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*/
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class Robot : public SampleRobot {
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CANTalon r1_drive, r2_drive, l1_drive, l2_drive;
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Joystick m_stick;
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// update every 0.01 seconds/10 milliseconds.
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// The talon only receives control packets every 10ms.
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double kUpdatePeriod = 0.010;
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public:
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Robot()
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: r1_drive(0), // Initialize the Talon as device 1. Use the roboRIO web
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r2_drive(1)), // interface to change the device number on the talons.
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l1_drive(2),
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l2_drive(3),
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m_stick(0)
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{}
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/**
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* Runs the motor from the output of a Joystick.
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*/
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void OperatorControl() {
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while (IsOperatorControl() && IsEnabled()) {
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// Do Drive.
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Wait(kUpdatePeriod); // Wait a bit so that the loop doesn't lock everything up.
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}
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}
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};
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START_ROBOT_CLASS(Robot)
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