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Actually sane now. Really, I mean it. ...although the turning circle is somewhat ... elephantine ...

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This commit is contained in:
Aidan Ferguson 2016-02-20 16:47:00 -05:00
parent c32e95768c
commit 4044f448d7
1 changed files with 20 additions and 23 deletions
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43
Robot2016/src/Robot.cpp
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@ -44,7 +44,6 @@ private:
// instance variables // instance variables
bool pickupRunning; // don't want to spam the Talon with set messages. Toggle the pickup when a button is pressed or released. bool pickupRunning; // don't want to spam the Talon with set messages. Toggle the pickup when a button is pressed or released.
bool inverting; bool inverting;
float oldXY;
bool ramping; bool ramping;
bool shooting; bool shooting;
bool unjamming; bool unjamming;
@ -117,8 +116,10 @@ private:
{ {
if (driver_stick.GetRawButton(THUMB)) if (driver_stick.GetRawButton(THUMB))
{ {
left_drive.Set(driver_stick.GetThrottle() * driver_stick.GetTwist()); float left = driver_stick.GetTwist();
right_drive.Set(-1 * driver_stick.GetThrottle() * driver_stick.GetTwist()); float right = -driver_stick.GetTwist();
drive.TankDrive(left, right);
} }
else else
{ {
@ -187,25 +188,25 @@ private:
/* /*
* The 'inverting' variable is used to make sure that the drive train isn't getting * The 'inverting' variable is used to make sure that the drive train isn't getting
* inverted every itteration of the TeleopPeriodic method while the button is held down. * inverted every iteration of the TeleopPeriodic method while the button is held down.
* This is important because the TeleopPeriodic method executes something like once every 10ms. * This is important because the TeleopPeriodic method executes something like once every 10ms.
* Thus, this if-else if pair make the button a toggle. * Thus, this if-else if pair make the button a toggle.
*/ */
if(driver_stick.GetRawButton(THUMB) && !inverting) if(driver_stick.GetRawButton(TRIGGER) && !inverting)
{ {
std::cout << "Inverting Drive Train."; std::cout << "Inverting Drive Train.";
left_drive.SetInverted(!left_drive.GetInverted()); left_drive.SetInverted(!left_drive.GetInverted());
right_drive.SetInverted(!right_drive.GetInverted()); right_drive.SetInverted(!right_drive.GetInverted());
inverting = true; inverting = true;
} }
else if(!driver_stick.GetRawButton(THUMB)) else if(!driver_stick.GetRawButton(TRIGGER))
{ {
inverting = false; inverting = false;
} }
/* /*
* Unlike the previous actions, this method does need to be called every itteration of * Unlike the previous actions, this method does need to be called every iteration of
* TeleopPeriodic. This is because the logic running this operation needs to be checked * TeleopPeriodic. This is because the logic running this operation needs to be checked
* Every time the method is called. This cannot be a loop in the Shoot method because * Every time the method is called. This cannot be a loop in the Shoot method because
* that would lock the robot every time the trigger is hit. * that would lock the robot every time the trigger is hit.
@ -247,23 +248,19 @@ private:
void UpdateDrive() void UpdateDrive()
{ {
float x = driver_stick.GetX(); float x = -driver_stick.GetX();
float y = driver_stick.GetY(); float y = -driver_stick.GetY();
if ((x + y) != oldXY) if (x > 0)
{ {
oldXY = x + y; float right = y * SaneThrottle(driver_stick.GetThrottle());
if (x > 0) float left = (1-x)*y * SaneThrottle(driver_stick.GetThrottle());
{ drive.TankDrive(left, right);
float left = y * driver_stick.GetThrottle(); }
float right = (1-x)*y * driver_stick.GetThrottle(); else
drive.TankDrive(left, right); {
} float left = y * SaneThrottle(driver_stick.GetThrottle());
else float right = (1+x)*y * SaneThrottle(driver_stick.GetThrottle());
{ drive.TankDrive(left, right);
float left = y * driver_stick.GetThrottle();
float right = (1+x)*y * driver_stick.GetThrottle();
drive.TankDrive(left, right);
}
} }
} }
}; };