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

Merge branch 'shooter'

This commit is contained in:
Jason Cox 2016-02-03 07:55:55 -05:00
parent 425e79ea0f 9b8b4ff845
commit eb9c9b3415
3 changed files with 55 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
DriveBase/src/Robot.cpp
View File

@ -1,5 +1,6 @@
#include "WPILib.h"
#include "TankDrive.h"
#include "Shooter.h"
/**
* This sample shows how to use the new CANTalon to just run a motor in a basic
@ -15,7 +16,7 @@ class Robot: public IterativeRobot {
CANTalon shooter1;
CANTalon shooter2;
TankDrive drive;
Shooter shooter;
Joystick rstick, lstick;
// update every 0.01 seconds/10 milliseconds.
@ -24,11 +25,19 @@ class Robot: public IterativeRobot {
public:
Robot() :
r1_drive(1), // Initialize the Talon as device 1. Use the roboRIO web
r2_drive(2), // interface to change the device number on the talons.
l1_drive(3), l2_drive(4), shooter1(10), shooter2(11), drive(
&l1_drive, &l2_drive, &r1_drive, &r2_drive), rstick(0), lstick(
1) {
r1_drive(1), // right wheel 1
r2_drive(2), // right wheel 2
l1_drive(3), // left wheel 1
l2_drive(4), // left wheel 2
shooter1(10), // shooter drive 1
shooter2(11), // shooter drive 2
drive( // initialize TankDrive object.
&l1_drive, &l2_drive, &r1_drive, &r2_drive),
shooter( // initialize Shooter object.
&shooter1, &shooter2),
rstick(0), // right stick (operator)
lstick(1) // left stick (driver)
{
}
@ -53,8 +62,9 @@ public:
drive.Drive(&lstick);
float power = (1.0 - rstick.GetThrottle()) / 2.0;
shooter1.Set(power);
shooter2.Set(power);
//shooter1.Set(power);
//shooter2.Set(power);
shooter.SetPower(power);
}

29
DriveBase/src/Shooter.h Normal file
View File

@ -0,0 +1,29 @@
/*
* Shooter.h
*
* Created on: Feb 2, 2016
* Author: Jason
*/
#ifndef SRC_SHOOTER_H_
#define SRC_SHOOTER_H_
class Shooter {
public:
Shooter(CANTalon *s1, CANTalon *s2) {
shooterDrive = new RobotDrive(s1, s2);
}
virtual ~Shooter()
{
delete shooterDrive;
}
void SetPower(float power) {
shooterDrive->TankDrive(power, -power, false);
}
private:
RobotDrive *shooterDrive;
};
#endif /* SRC_SHOOTER_H_ */

14
DriveBase/src/TankDrive.h
View File

@ -23,8 +23,8 @@ class TankDrive {
public:
TankDrive(CANTalon *l1, CANTalon *l2, CANTalon* r1, CANTalon *r2) {
dt1 = RobotDrive(l1, r1);
dt2 = RobotDrive(l2, r2);
dt1 = new RobotDrive(l1, r1);
dt2 = new RobotDrive(l2, r2);
}
virtual ~TankDrive() {
delete dt1;
@ -37,7 +37,9 @@ public:
* Some math on the "rot" variable could make the driving smoother, I think.
*/
void Drive(Joystick *js) {
float x = js->GetX(), y = js->GetY(), th = ((1.0 - (js.GetThrottle()))
float x = js->GetX();
float y = js->GetY();
float th = -((1.0 - (js->GetThrottle()))
/ 2.0);
// set deadzone
@ -51,12 +53,12 @@ public:
float speed = y * th;
float rot = x; // do some math here to smooth out turning?
dt1.ArcadeDrive(speed, rot, false);
dt2.ArcadeDrive(speed, rot, false);
dt1->ArcadeDrive(speed, rot, false);
dt2->ArcadeDrive(speed, rot, false);
}
private:
RobotDrive dt1, dt2;
RobotDrive *dt1, *dt2;
};
#endif /* SRC_TANKDRIVE_H_ */