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Insane TankDrive code. NOT FUNCTIONAL

This commit is contained in:
Jason Cox 2016-01-28 15:47:56 -05:00
parent 41aa90f7e2
commit 3d0cb6be07
2 changed files with 57 additions and 26 deletions
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56
DriveBase/src/Robot.cpp
View File

@ -7,36 +7,66 @@
* controlled motor.
*
*/
class Robot : public SampleRobot {
CANTalon r1_drive, r2_drive, l1_drive, l2_drive;
TankDrive drive;
class Robot : public IterativeRobot {
CANTalon r1_drive;
CANTalon r2_drive;
CANTalon l1_drive;
CANTalon l2_drive;
Joystick m_stick;
// update every 0.01 seconds/10 milliseconds.
// The talon only receives control packets every 10ms.
double kUpdatePeriod = 0.010;
//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}),
: 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),
m_stick(0)
{}
{
printf("Initializing Robot...");
printf("Initializing TankDrive");
drive = new TankDrive(&l1_drive, &l2_drive, &r1_drive, &r2_drive);
printf("Ready!");
}
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.");
}
/**
* Runs the motor from the output of a Joystick.
*/
*
void OperatorControl() {
while (IsOperatorControl() && IsEnabled()) {
// Do Drive.
drive.Drive(&m_stick);
std::cerr << "In Operator Control";
drive->Drive(&m_stick);
Wait(kUpdatePeriod); // Wait a bit so that the loop doesn't lock everything up.
}
}
}*/
TankDrive *drive;
};
START_ROBOT_CLASS(Robot)

27
DriveBase/src/TankDrive.h
View File

@ -18,12 +18,14 @@
class TankDrive {
public:
TankDrive(CANTalon *left[], CANTalon *right[])
TankDrive(CANTalon *l1, CANTalon *l2, CANTalon* r1, CANTalon *r2)
{
Left = new CANTalon[] {left[0], left[1]};
Right = new CANTalon[] {right[0], right[1]};
this->l1 = l1;
this->l2 = l2;
this->r1 = r1;
this->r2 = r2;
}
virtual ~TankDrive() { delete Left[0]; delete Left[1]; delete Right[0]; delete Right[1]; }
virtual ~TankDrive() { delete l1; delete l2; delete r1; delete r2; }
void Drive(Joystick *js)
{
@ -34,14 +36,14 @@ public:
// set deadzone
if(x > -DEADZONE_RADIUS && x < DEADZONE_RADIUS)
{
x = 0f;
x = 0;
}
if(y > -DEADZONE_RADIUS && y < DEADZONE_RADIUS)
{
y = 0f;
y = 0;
}
float left=0f, right=0f;
float left=0, right=0;
if(x == 0)
{
@ -59,16 +61,15 @@ public:
left = th;
}
Left[0]->Set(left);
Left[1]->Set(left);
Right[0]->Set(right);
Right[1]->Set(right);
l1->Set(left);
l2->Set(left);
r1->Set(right);
r2->Set(right);
}
private:
CANTalon* Left[];
CANTalon* Right[];
CANTalon *l1, *l2, *r1, *r2;
};
#endif /* SRC_TANKDRIVE_H_ */