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Slightly more sane, using IterativeRobot and DriveTrain.

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This commit is contained in:
Jason Cox 2016-01-28 16:47:25 -05:00
parent 3d0cb6be07
commit 6d903af729
1 changed files with 25 additions and 6 deletions
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31
DriveBase/src/Robot.cpp
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@ -12,8 +12,10 @@ class Robot : public IterativeRobot {
CANTalon r2_drive; CANTalon r2_drive;
CANTalon l1_drive; CANTalon l1_drive;
CANTalon l2_drive; CANTalon l2_drive;
RobotDrive drivetrain1;
RobotDrive drivetrain2;
Joystick m_stick; Joystick lstick;
// update every 0.01 seconds/10 milliseconds. // update every 0.01 seconds/10 milliseconds.
// The talon only receives control packets every 10ms. // The talon only receives control packets every 10ms.
@ -25,17 +27,28 @@ public:
r2_drive(2), // interface to change the device number on the talons. r2_drive(2), // interface to change the device number on the talons.
l1_drive(3), l1_drive(3),
l2_drive(4), l2_drive(4),
m_stick(0) drivetrain1(l1_drive, r1_drive),
drivetrain2(l2_drive, r2_drive),
lstick(0)
{ {
printf("Initializing Robot..."); printf("Initializing Robot...");
printf("Initializing TankDrive"); printf("Initializing TankDrive");
drive = new TankDrive(&l1_drive, &l2_drive, &r1_drive, &r2_drive); //drive = new TankDrive(&l1_drive, &l2_drive, &r1_drive, &r2_drive);
printf("Ready!"); printf("Ready!");
//l1_drive.SetInverted(true);
//l2_drive.SetInverted(true);
//l1_drive.Set(0, 0);
//l2_drive.Set(0, 0);
//r1_drive.Set(0, 1);
//r2_drive.Set(0, 1);
} }
void DisabledInit() void DisabledInit()
{ {
r1_drive.SetSafetyEnabled(false);
r2_drive.SetSafetyEnabled(false);
l1_drive.SetSafetyEnabled(false);
l2_drive.SetSafetyEnabled(false);
} }
void TeleopInit() void TeleopInit()
@ -46,12 +59,18 @@ public:
l1_drive.Enable(); l1_drive.Enable();
l2_drive.Enable(); l2_drive.Enable();
} }
void TeleopPeriodic() void TeleopPeriodic()
{ {
printf("Teleop Periodic Start."); printf("Teleop Periodic Start.");
drive->Drive(&m_stick); float speed = lstick.GetY() * (lstick.GetThrottle());
float rot = (-1) * lstick.GetTwist();
drivetrain1.ArcadeDrive(speed, rot, false);
drivetrain2.ArcadeDrive(speed, rot, false);
printf("~Teleop Periodic End."); printf("~Teleop Periodic End.");
} }
/** /**
@ -66,7 +85,7 @@ public:
} }
}*/ }*/
TankDrive *drive; //TankDrive *drive;
}; };
START_ROBOT_CLASS(Robot) START_ROBOT_CLASS(Robot)