From 8c9803a35b428473f5c0a6a52093777e9076354a Mon Sep 17 00:00:00 2001 From: Jason Date: Thu, 28 Jan 2016 13:08:37 -0500 Subject: [PATCH] Added TankDrive.h --- .metadata/.log | 35 + .../DriveBase.1453994194026.pdom | Bin 3756032 -> 3760128 bytes .../buildState/DriveBase/2043693231 | 2 +- .../org.eclipse.cdt.ui/DriveBase.build.log | 4 +- .../org.eclipse.cdt.ui/global-build.log | 2 +- .../.projects/DriveBase/.markers.snap | Bin 6329 -> 6413 bytes .../.projects/DriveBase/.syncinfo.snap | Bin 16 -> 48 bytes .../RemoteSystemsTempFiles/.markers.snap | Bin 16 -> 48 bytes .../RemoteSystemsTempFiles/.syncinfo.snap | Bin 16 -> 48 bytes .../.root/.markers.snap | Bin 608 -> 640 bytes .../.safetable/org.eclipse.core.resources | Bin 1604 -> 2530 bytes .../org.eclipse.core.resources/2.snap | Bin 23566 -> 23905 bytes .../org.eclipse.e4.workbench/workbench.xmi | 3714 ++++++++--------- DriveBase/src/TankDrive.h | 50 +- 14 files changed, 1943 insertions(+), 1864 deletions(-) diff --git a/.metadata/.log b/.metadata/.log index b797167..99bb383 100644 --- a/.metadata/.log +++ b/.metadata/.log @@ -2319,3 +2319,38 @@ java.io.IOException: Cannot run program "arm-frc-linux-gnueabi-g++": Launching f at org.eclipse.ui.actions.BuildAction$1.runInWorkspace(BuildAction.java:287) at org.eclipse.core.internal.resources.InternalWorkspaceJob.run(InternalWorkspaceJob.java:39) at org.eclipse.core.internal.jobs.Worker.run(Worker.java:55) + +!ENTRY org.eclipse.cdt.core 4 0 2016-01-28 11:35:21.182 +!MESSAGE Error: Cannot run program "arm-frc-linux-gnueabi-g++": Launching failed +!STACK 0 +java.io.IOException: Cannot run program "arm-frc-linux-gnueabi-g++": Launching failed + at org.eclipse.cdt.utils.spawner.Spawner.exec(Spawner.java:349) + at org.eclipse.cdt.utils.spawner.Spawner.(Spawner.java:91) + at org.eclipse.cdt.utils.spawner.ProcessFactory.exec(ProcessFactory.java:91) + at org.eclipse.cdt.core.CommandLauncher.execute(CommandLauncher.java:194) + at org.eclipse.cdt.managedbuilder.internal.buildmodel.CommandBuilder.build(CommandBuilder.java:105) + at org.eclipse.cdt.managedbuilder.internal.buildmodel.StepBuilder.build(StepBuilder.java:94) + at org.eclipse.cdt.managedbuilder.internal.buildmodel.DescriptionBuilder$BuildStepVisitor.visit(DescriptionBuilder.java:92) + at org.eclipse.cdt.managedbuilder.buildmodel.BuildDescriptionManager.doAccept(BuildDescriptionManager.java:151) + at org.eclipse.cdt.managedbuilder.buildmodel.BuildDescriptionManager.doAccept(BuildDescriptionManager.java:159) + at org.eclipse.cdt.managedbuilder.buildmodel.BuildDescriptionManager.doAccept(BuildDescriptionManager.java:133) + at org.eclipse.cdt.managedbuilder.buildmodel.BuildDescriptionManager.accept(BuildDescriptionManager.java:127) + at org.eclipse.cdt.managedbuilder.internal.buildmodel.DescriptionBuilder.build(DescriptionBuilder.java:160) + at org.eclipse.cdt.managedbuilder.core.InternalBuildRunner.invokeBuild(InternalBuildRunner.java:128) + at org.eclipse.cdt.managedbuilder.internal.core.CommonBuilder.build(CommonBuilder.java:753) + at org.eclipse.cdt.managedbuilder.internal.core.CommonBuilder.build(CommonBuilder.java:510) + at org.eclipse.cdt.managedbuilder.internal.core.CommonBuilder.build(CommonBuilder.java:459) + at org.eclipse.core.internal.events.BuildManager$2.run(BuildManager.java:734) + at org.eclipse.core.runtime.SafeRunner.run(SafeRunner.java:42) + at org.eclipse.core.internal.events.BuildManager.basicBuild(BuildManager.java:205) + at org.eclipse.core.internal.events.BuildManager.basicBuild(BuildManager.java:245) + at org.eclipse.core.internal.events.BuildManager$1.run(BuildManager.java:300) + at org.eclipse.core.runtime.SafeRunner.run(SafeRunner.java:42) + at org.eclipse.core.internal.events.BuildManager.basicBuild(BuildManager.java:303) + at org.eclipse.core.internal.events.BuildManager.basicBuildLoop(BuildManager.java:359) + at org.eclipse.core.internal.events.BuildManager.build(BuildManager.java:382) + at org.eclipse.core.internal.resources.Workspace.buildInternal(Workspace.java:486) + at org.eclipse.core.internal.resources.Workspace.build(Workspace.java:405) + at org.eclipse.ui.actions.BuildAction$1.runInWorkspace(BuildAction.java:287) + at org.eclipse.core.internal.resources.InternalWorkspaceJob.run(InternalWorkspaceJob.java:39) + at org.eclipse.core.internal.jobs.Worker.run(Worker.java:55) diff --git a/.metadata/.plugins/org.eclipse.cdt.core/DriveBase.1453994194026.pdom b/.metadata/.plugins/org.eclipse.cdt.core/DriveBase.1453994194026.pdom index 4069268b3936ff23d0637a02cb401bd0bff5b501..7cf89d9155a8b1442ae29b5a3f26802bdc4badb3 100644 GIT binary patch delta 112713 zcmaH!2YeL8`~Qaky9h{0E|nxeK!H$9az|H$KoAi`BIPS8AU29pLINR_kN`WRdEWb(vd_-W?anRU_(i?N zd%ma_5YGxB+!oggC+|Dqre4JRhmQo(8%DUP@~R&j#Xr*ju818Gjh;@f?`$sFvG?ra z$cWTi*9`7m7181T9q;yDG&`ch<4eXoTsr3Adb}cd)!#Md;RYA3Apgc)clBv_WdtcH z8+Ys4dspA{8a8dmzxV7KIOH-MKq3iVF<2xrMZHJO}MMO4aU 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z370oMC7sGbqKaCdf>NuX6bg#K|Inu(V0i$%gy{5d`nYSk3tkHTQy-679>w^tGC&l> zz0$^=yS54{V^$yr?h?5V`FM@xHQ-V3t3F<9c|CXxzd%&u-bGaRj*s_R1O4Eg zMDn z`6VA8$Df;<6OYPCto=lni+mAISOpW{qnIMc1>qb6la^0`kAvfyeh#0q8C(S)1OI_f z|1|!@+3d?Jr?E~DJ$BotV8$Al0iVLWtZ&R$IcxbW>!9Y}^_5Rso(7*m`5Qhyhw(o< zFb9EIOh%sY3CvqQ51t11*WrTY3*d9$Kk=1cw0seK9y4X4hAqE=@~cFjdB9hGlesD4RIU^C7v}I5r}7pX5P>xae9UKHiz5)eg2{{N+z2YS zQ=jX?(}0ybsju*MH}x8C_fp@*wj1*TX8wT7W3GX|cRgqRzdlppJo5iR-B}j^ diff --git a/.metadata/.plugins/org.eclipse.cdt.managedbuilder.core/buildState/DriveBase/2043693231 b/.metadata/.plugins/org.eclipse.cdt.managedbuilder.core/buildState/DriveBase/2043693231 index 0ec7f10..9738e35 100644 --- a/.metadata/.plugins/org.eclipse.cdt.managedbuilder.core/buildState/DriveBase/2043693231 +++ b/.metadata/.plugins/org.eclipse.cdt.managedbuilder.core/buildState/DriveBase/2043693231 @@ -1,5 +1,5 @@ # -#Thu Jan 28 11:32:02 EST 2016 +#Thu Jan 28 11:35:21 EST 2016 Debug/FRCUserProgram=1 Debug/src/Robot.o=1 src/TankDrive.h=1 diff --git a/.metadata/.plugins/org.eclipse.cdt.ui/DriveBase.build.log b/.metadata/.plugins/org.eclipse.cdt.ui/DriveBase.build.log index 6a1bcaa..c1d1202 100644 --- a/.metadata/.plugins/org.eclipse.cdt.ui/DriveBase.build.log +++ b/.metadata/.plugins/org.eclipse.cdt.ui/DriveBase.build.log @@ -1,4 +1,4 @@ -11:32:02 **** Incremental Build of configuration Debug for project DriveBase **** +11:35:21 **** Incremental Build of configuration Debug for project DriveBase **** Info: Internal Builder is used for build arm-frc-linux-gnueabi-g++ -std=c++1y "-IC:\\Users\\Jason/wpilib/cpp/current/include" "-ID:\\Dropbox\\Public\\FRC\\2016\\FRC2016\\DriveBase\\src" -O0 -g3 -Wall -c -fmessage-length=0 -o "src\\Robot.o" "..\\src\\Robot.cpp" Cannot run program "arm-frc-linux-gnueabi-g++": Launching failed @@ -7,5 +7,5 @@ Error: Program "arm-frc-linux-gnueabi-g++" not found in PATH PATH=[\usr\local\bin;C:/Program Files (x86)/Java/jre1.8.0_66/bin/client;C:/Program Files (x86)/Java/jre1.8.0_66/bin;C:/Program Files (x86)/Java/jre1.8.0_66/lib/i386;C:\Python27\;C:\Python34\;C:\Python34\Scripts;C:\Program Files (x86)\NVIDIA Corporation\PhysX\Common;C:\ProgramData\Oracle\Java\javapath;C:\WINDOWS\system32;C:\WINDOWS;C:\WINDOWS\System32\Wbem;C:\WINDOWS\System32\WindowsPowerShell\v1.0\;C:\Program Files (x86)\GtkSharp\2.12\bin;C:\Program Files (x86)\Windows Kits\10\Windows Performance Toolkit\;C:\Program Files (x86)\Windows Live\Shared;C:\WINDOWS\system32] -11:32:02 Build Finished (took 36ms) +11:35:21 Build Finished (took 38ms) diff --git a/.metadata/.plugins/org.eclipse.cdt.ui/global-build.log b/.metadata/.plugins/org.eclipse.cdt.ui/global-build.log index fac501f..58c585b 100644 --- a/.metadata/.plugins/org.eclipse.cdt.ui/global-build.log +++ b/.metadata/.plugins/org.eclipse.cdt.ui/global-build.log @@ -1,4 +1,4 @@ -11:32:02 **** Incremental Build of configuration Debug for project DriveBase **** +11:35:21 **** Incremental Build of configuration Debug for project DriveBase **** Info: Internal Builder is used for build arm-frc-linux-gnueabi-g++ -std=c++1y "-IC:\\Users\\Jason/wpilib/cpp/current/include" "-ID:\\Dropbox\\Public\\FRC\\2016\\FRC2016\\DriveBase\\src" -O0 -g3 -Wall -c -fmessage-length=0 -o "src\\Robot.o" "..\\src\\Robot.cpp" Cannot run program "arm-frc-linux-gnueabi-g++": Launching failed diff --git a/.metadata/.plugins/org.eclipse.core.resources/.projects/DriveBase/.markers.snap b/.metadata/.plugins/org.eclipse.core.resources/.projects/DriveBase/.markers.snap index 1d2e6604bd74bbfc986105155f8b6556be9d2fe5..2f802273dc1c633c87099ba78d8da9300be1fe8a 100644 GIT binary patch delta 54 zcmdmK*lV<5r-XpR#_mStJq#jJs?(k?p1exfns3L%D})Il9-nbHU*>uD8Y>o$N(822s1znqDP+b z8IZvY;V?aCI1ussv+^DW5vjn>J=MF*k4?~yF9u2CbRi=yD`dX@gqRApfd#^5<;Ac8 E08wi^umAu6 delta 9 QcmaF3i?MG9;|9JM02e_6{r~^~ diff --git a/.metadata/.plugins/org.eclipse.e4.workbench/workbench.xmi b/.metadata/.plugins/org.eclipse.e4.workbench/workbench.xmi index 070770f..26f8bfc 100644 --- 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+ + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/DriveBase/src/TankDrive.h b/DriveBase/src/TankDrive.h index 6640358..aed55a5 100644 --- a/DriveBase/src/TankDrive.h +++ b/DriveBase/src/TankDrive.h @@ -8,16 +8,60 @@ #ifndef SRC_TANKDRIVE_H_ #define SRC_TANKDRIVE_H_ +#ifndef DEADZONE_RADIUS +#define DEADZONE_RADIUS 0.05 +#endif // DEADZONE_RADIUS + #include "WPILib.h" class TankDrive { + public: - TankDrive(CANTalon *left, CANTalon *right) { Left = left; Right = right; } + TankDrive(CANTalon *left[], CANTalon *right[]) + { + Left = new CANTalon[] {left[0], left[1]}; + Right = new CANTalon[] {right[0], right[1]}; + } virtual ~TankDrive() { delete Left[0]; delete Left[1]; delete Right[0]; delete Right[1]; } + void Drive(Joystick *js) + { + float x = js->GetX(), + y = js->GetY(), + th = js->GetThrottle(); + + // set deadzone + if(x > -DEADZONE_RADIUS && x < DEADZONE_RADIUS) + { + x = 0f; + } + if(y > -DEADZONE_RADIUS && y < DEADZONE_RADIUS) + { + y = 0f; + } + + float left=0f, right=0f; + + if(x == 0) + { + left = th * y; + right = left; + } + else + { + + } + + Left[0]->Set(left); + Left[1]->Set(left); + Right[0]->Set(right); + Right[1]->Set(right); + } + private: - CANTalon *Left; - CANTalon *Right; + + CANTalon* Left[]; + CANTalon* Right[]; }; #endif /* SRC_TANKDRIVE_H_ */