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Merge branch 'shooter'

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This commit is contained in:
Jason Cox 2016-02-03 07:55:55 -05:00
commit eb9c9b3415
3 changed files with 55 additions and 14 deletions
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26
DriveBase/src/Robot.cpp
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@ -1,5 +1,6 @@
#include "WPILib.h" #include "WPILib.h"
#include "TankDrive.h" #include "TankDrive.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
@ -15,7 +16,7 @@ class Robot: public IterativeRobot {
CANTalon shooter1; CANTalon shooter1;
CANTalon shooter2; CANTalon shooter2;
TankDrive drive; TankDrive drive;
Shooter shooter;
Joystick rstick, lstick; Joystick rstick, lstick;
// update every 0.01 seconds/10 milliseconds. // update every 0.01 seconds/10 milliseconds.
@ -24,11 +25,19 @@ class Robot: public IterativeRobot {
public: public:
Robot() : Robot() :
r1_drive(1), // Initialize the Talon as device 1. Use the roboRIO web r1_drive(1), // right wheel 1
r2_drive(2), // interface to change the device number on the talons. r2_drive(2), // right wheel 2
l1_drive(3), l2_drive(4), shooter1(10), shooter2(11), drive( l1_drive(3), // left wheel 1
&l1_drive, &l2_drive, &r1_drive, &r2_drive), rstick(0), lstick( l2_drive(4), // left wheel 2
1) { 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); drive.Drive(&lstick);
float power = (1.0 - rstick.GetThrottle()) / 2.0; float power = (1.0 - rstick.GetThrottle()) / 2.0;
shooter1.Set(power); //shooter1.Set(power);
shooter2.Set(power); //shooter2.Set(power);
shooter.SetPower(power);
} }

29
DriveBase/src/Shooter.h Normal file
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@ -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
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@ -23,8 +23,8 @@ class TankDrive {
public: public:
TankDrive(CANTalon *l1, CANTalon *l2, CANTalon* r1, CANTalon *r2) { TankDrive(CANTalon *l1, CANTalon *l2, CANTalon* r1, CANTalon *r2) {
dt1 = RobotDrive(l1, r1); dt1 = new RobotDrive(l1, r1);
dt2 = RobotDrive(l2, r2); dt2 = new RobotDrive(l2, r2);
} }
virtual ~TankDrive() { virtual ~TankDrive() {
delete dt1; delete dt1;
@ -37,7 +37,9 @@ 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(), y = js->GetY(), th = ((1.0 - (js.GetThrottle())) float x = js->GetX();
float y = js->GetY();
float th = -((1.0 - (js->GetThrottle()))
/ 2.0); / 2.0);
// set deadzone // set deadzone
@ -51,12 +53,12 @@ public:
float speed = y * th; float speed = y * th;
float rot = x; // do some math here to smooth out turning? float rot = x; // do some math here to smooth out turning?
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;
}; };
#endif /* SRC_TANKDRIVE_H_ */ #endif /* SRC_TANKDRIVE_H_ */