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numerous drive changes because of reasons, plus the starts of a counter object that will probably have to be nixed. Not our brightest moment.

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This commit is contained in:
Aidan Ferguson 2016-02-10 13:39:48 -05:00
parent 72e16d55c5
commit afad5d4660
2 changed files with 41 additions and 5 deletions
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29
Robot2016/src/Robot.cpp
View File

@ -19,16 +19,18 @@ class Robot: public IterativeRobot
RobotDrive drive;
Shooter shooter;
Joystick driver_stick, operator_stick;
Counter ramp_height;
public:
Robot():
left_drive(1), // Left DriveTrain Talons plug into PWM channel 1 with a Y-spliter
right_drive(2), // Right DriveTrain Talons plug // left wheel 2
left_drive(0), // Left DriveTrain Talons plug into PWM channel 1 with a Y-spliter
right_drive(1), // Right DriveTrain Talons plug // left wheel 2
shooter1(10), // shooter drive 1
shooter2(11), // shooter drive 2
ramp(12),
drive(&left_drive, &right_drive),
ramp_height(),
shooter( // initialize Shooter object.
&shooter1, &shooter2, &ramp),
&shooter1, &shooter2, &ramp, &ramp_height),
driver_stick(0), // right stick (operator)
operator_stick(1) // left stick (driver)
{
@ -38,6 +40,7 @@ public:
private:
// 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 inverting;
LiveWindow *lw = LiveWindow::GetInstance();
SendableChooser *chooser;
@ -51,6 +54,14 @@ private:
chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
SmartDashboard::PutData("Auto Modes", chooser);
ramp_height.SetUpSource(1);
ramp.Enable();
shooter1.Enable();
shooter2.Enable();
left_drive.SetInverted(true);
right_drive.SetInverted(true);
inverting = false;
}
@ -96,7 +107,7 @@ private:
void TeleopPeriodic()
{
drive.ArcadeDrive(&driver_stick);
drive.ArcadeDrive(&driver_stick, true);
// This is shit code for testing. Replace it with real code.
if(operator_stick.GetRawButton(RAMP_RAISE))
@ -123,6 +134,16 @@ private:
pickupRunning = false;
}
if(driver_stick.GetRawButton(THUMB) && !inverting)
{
left_drive.SetInverted(!left_drive.GetInverted());
right_drive.SetInverted(!right_drive.GetInverted());
inverting = true;
}
else if(!driver_stick.GetRawButton(THUMB))
{
inverting = false;
}
float power = (1.0 - operator_stick.GetThrottle()) / 2.0;
shooter.SetPower(power);

17
Robot2016/src/Shooter.h
View File

@ -34,11 +34,12 @@ public:
* s2 is also for the pickup-mechanism and can be controlled independently.
*
*/
Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r) {
Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r, Counter *h) {
shooterDrive = new RobotDrive(s1, s2);
pickup = s2;
ramp = r;
rampState = Uncalibrated;
rampHeight = h;
}
/**
@ -57,6 +58,7 @@ public:
delete shooterDrive;
delete pickup;
delete ramp;
delete rampHeight;
}
void PickUp(bool state = true) {
@ -66,6 +68,18 @@ public:
void SetRamp(RampState state) {
// TODO:
// Move the Ramp to the set position.
switch (state)
{
case Shoot:
if (ramp->GetForwardLimitOK())
{
ramp->Set(1);
} else
{
ramp->Set(0);
rampHeight->Reset();
}
}
}
/**
@ -84,6 +98,7 @@ private:
RobotDrive *shooterDrive;
CANTalon *pickup;
CANTalon *ramp;
Counter *rampHeight;
RampState rampState;
RampState targetState;