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It no worky.

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This commit is contained in:
Aidan Ferguson 2016-02-09 19:32:27 -05:00
parent bc81c928a8
commit 8cca3ff8df
2 changed files with 40 additions and 17 deletions
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28
DriveBase/src/Robot.cpp
View File

@ -1,7 +1,8 @@
#include "WPILib.h" #include "WPILib.h"
#include "TankDrive.h" //#include "TankDrive.h"
#include "Shooter.h" #include "Shooter.h"
/** /**
* This sample shows how to use the new CANTalon to just run a motor in a basic * This sample shows how to use the new CANTalon to just run a motor in a basic
* throttle mode, in the same manner as you might control a traditional PWM * throttle mode, in the same manner as you might control a traditional PWM
@ -11,8 +12,8 @@
#ifndef BUTTON_LAYOUT #ifndef BUTTON_LAYOUT
#define BUTTON_LAYOUT #define BUTTON_LAYOUT
#define TRIGGER 0 #define TRIGGER 1
#define THUMB 1 #define THUMB 2
#endif #endif
@ -24,7 +25,8 @@ class Robot: public IterativeRobot {
CANTalon shooter1; CANTalon shooter1;
CANTalon shooter2; CANTalon shooter2;
CANTalon ramp; CANTalon ramp;
TankDrive drive; // Counter ramp_lift;
RobotDrive drive;
Shooter shooter; Shooter shooter;
Joystick rstick, lstick; Joystick rstick, lstick;
@ -41,12 +43,13 @@ public:
shooter1(10), // shooter drive 1 shooter1(10), // shooter drive 1
shooter2(11), // shooter drive 2 shooter2(11), // shooter drive 2
ramp(12), ramp(12),
drive( // initialize TankDrive object. drive( // initialize RobotDrive object.
&l1_drive, &l2_drive, &r1_drive, &r2_drive), &l1_drive, &r1_drive),
shooter( // initialize Shooter object. shooter( // initialize Shooter object.
&shooter1, &shooter2, &ramp), &shooter1, &shooter2, &ramp),
rstick(0), // right stick (operator) rstick(0), // right stick (operator)
lstick(1) // left stick (driver) lstick(1)//, // left stick (driver)
//ramp_lift(1) // counter for the hall sensor on the
{ {
} }
@ -69,21 +72,24 @@ public:
} }
void TeleopPeriodic() { void TeleopPeriodic() {
drive.Drive(&lstick); drive.ArcadeDrive(&lstick);
l2_drive.Set(l1_drive.Get());
r2_drive.Set(r1_drive.Get());
float power = (1.0 - rstick.GetThrottle()) / 2.0; float power = (1.0 - rstick.GetThrottle()) / 2.0;
//shooter.SetPower(power); shooter.SetPower(power);
if(rstick.GetRawButton(TRIGGER)) if(rstick.GetRawButton(TRIGGER))
{ {
// SHOOT THE BALL // SHOOT THE BALL
ramp.Set(-0.5); ramp.Set(-1);
} }
if(rstick.GetRawButton(THUMB)) if(rstick.GetRawButton(THUMB))
{ {
// lower the ramp // lower the ramp
ramp.Set(0.5); ramp.Set(1);
} }
else else
{ {

29
DriveBase/src/TankDrive.h
View File

@ -18,17 +18,25 @@
* Encapsulates two RobotDrive objects and keeps them synced by sending * Encapsulates two RobotDrive objects and keeps them synced by sending
* identical ArcadeDrive calls to each. Also handles massaging of Joystick * identical ArcadeDrive calls to each. Also handles massaging of Joystick
* data to smooth out drive operations. * data to smooth out drive operations.
*
* TODO: Make this reflect what this class actually does.
*/ */
class TankDrive { class TankDrive {
public: public:
TankDrive(CANTalon *l1, CANTalon *l2, CANTalon* r1, CANTalon *r2) { TankDrive(CANTalon *l1, CANTalon *l2, CANTalon* r1, CANTalon *r2) {
dt1 = new RobotDrive(l1, r1); dt1 = new RobotDrive(l1, r1);
dt2 = new RobotDrive(l2, r2);
CANTalon* left1 = l1;
CANTalon* right1 = r1;
CANTalon* left2 = l2;
CANTalon* right2 = r2;
//dt2 = new RobotDrive(l2, r2);
} }
virtual ~TankDrive() { virtual ~TankDrive() {
delete dt1; delete dt1;
delete dt2; // delete dt2;
} }
/** /**
@ -37,7 +45,7 @@ public:
* Some math on the "rot" variable could make the driving smoother, I think. * Some math on the "rot" variable could make the driving smoother, I think.
*/ */
void Drive(Joystick *js) { void Drive(Joystick *js) {
float x = js->GetX(); /*float x = js->GetX();
float y = js->GetY(); float y = js->GetY();
float th = -((1.0 - (js->GetThrottle())) float th = -((1.0 - (js->GetThrottle()))
/ 2.0); / 2.0);
@ -52,14 +60,23 @@ public:
float speed = y * th; float speed = y * th;
// TODO: do some math here to smooth out turning? // TODO: do some math here to smooth out turning?
float rot = x * th; float rot = x * th;*/
dt1->ArcadeDrive(js);
left2.Set(left1.Get());
right2.Set(right1.Get());
// dt2->ArcadeDrive(js);
/*
dt1->ArcadeDrive(speed, rot, false); dt1->ArcadeDrive(speed, rot, false);
dt2->ArcadeDrive(speed, rot, false); dt2->ArcadeDrive(speed, rot, false);*/
} }
private: private:
RobotDrive *dt1, *dt2; RobotDrive *dt1/*, *dt2*/;
CANTalon l1, right1, left2, right2;
}; };
#endif /* SRC_TANKDRIVE_H_ */ #endif /* SRC_TANKDRIVE_H_ */