2016-01-28 11:33:19 -05:00
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/*
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* TankDrive.h
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*
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* Created on: Jan 28, 2016
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* Author: Jason
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*/
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#ifndef SRC_TANKDRIVE_H_
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#define SRC_TANKDRIVE_H_
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2016-01-28 13:08:37 -05:00
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#ifndef DEADZONE_RADIUS
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#define DEADZONE_RADIUS 0.05
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#endif // DEADZONE_RADIUS
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2016-01-28 11:33:19 -05:00
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#include "WPILib.h"
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class TankDrive {
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2016-01-28 13:08:37 -05:00
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2016-01-28 11:33:19 -05:00
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public:
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2016-02-02 09:41:15 -05:00
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TankDrive(CANTalon *l1, CANTalon *l2, CANTalon* r1, CANTalon *r2) {
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2016-02-02 09:39:51 -05:00
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dt1 = RobotDrive(l1, r1);
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dt2 = RobotDrive(l2, r2);
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2016-01-28 13:08:37 -05:00
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}
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2016-02-02 09:41:15 -05:00
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virtual ~TankDrive() {
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delete dt1;
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delete dt2;
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}
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2016-01-28 11:33:19 -05:00
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2016-02-02 09:41:15 -05:00
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void Drive(Joystick *js) {
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float x = js->GetX(), y = js->GetY(), th = ((1.0 - (js.GetThrottle()))
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/ 2.0);
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2016-01-28 13:08:37 -05:00
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// set deadzone
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2016-02-02 09:41:15 -05:00
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if (x > -DEADZONE_RADIUS && x < DEADZONE_RADIUS) {
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2016-01-28 15:47:56 -05:00
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x = 0;
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2016-01-28 13:08:37 -05:00
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}
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2016-02-02 09:41:15 -05:00
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if (y > -DEADZONE_RADIUS && y < DEADZONE_RADIUS) {
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2016-01-28 15:47:56 -05:00
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y = 0;
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2016-01-28 13:08:37 -05:00
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}
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2016-02-02 09:39:51 -05:00
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float speed = y * th;
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float rot = y;
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dt1.ArcadeDrive(speed, rot, false);
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dt2.ArcadeDrive(speed, rot, false);
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2016-01-28 13:08:37 -05:00
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}
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2016-01-28 11:33:19 -05:00
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private:
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2016-02-02 09:39:51 -05:00
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RobotDrive dt1, dt2;
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2016-01-28 11:33:19 -05:00
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};
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#endif /* SRC_TANKDRIVE_H_ */
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