adam/FRC2016-old
Archived
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Made sure shooter power from the throttle will only be used when the throttle is moved. Probably.

Browse Source
This commit is contained in:
Aidan Ferguson 2016-02-10 18:56:38 -05:00
parent 470a4b6f4b
commit a8642a87d9
1 changed files with 8 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
Robot2016/src/Robot.cpp
View File

@ -19,6 +19,7 @@ class Robot: public IterativeRobot
RobotDrive drive; RobotDrive drive;
Shooter shooter; Shooter shooter;
Joystick driver_stick, operator_stick; Joystick driver_stick, operator_stick;
float power;
public: public:
Robot(): Robot():
left_drive(0), // Left DriveTrain Talons plug into PWM channel 1 with a Y-splitter left_drive(0), // Left DriveTrain Talons plug into PWM channel 1 with a Y-splitter
@ -100,6 +101,7 @@ private:
{ {
shooter.CalibrateRamp(); shooter.CalibrateRamp();
shooter.SetRamp(Shoot); // start in the full up position! shooter.SetRamp(Shoot); // start in the full up position!
power = 0;
} }
void TeleopPeriodic() void TeleopPeriodic()
@ -143,10 +145,14 @@ private:
inverting = false; inverting = false;
} }
float power = (1.0 - operator_stick.GetThrottle()) / 2.0; if(((1.0 - operator_stick.GetThrottle()) / 2.0) > power + 0.005||((1.0 - operator_stick.GetThrottle()) / 2.0) < power -0.005)
shooter.SetPower(power); {
power = (1.0 - operator_stick.GetThrottle()) / 2.0;
shooter.SetPower(power);
}
} }
void TestPeriodic() void TestPeriodic()
{ {
lw->Run(); lw->Run();