106 lines
2.1 KiB
C++
106 lines
2.1 KiB
C++
#include "WPILib.h"
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//#include "TankDrive.h"
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#include "Shooter.h"
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/**
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* This sample shows how to use the new CANTalon to just run a motor in a basic
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* throttle mode, in the same manner as you might control a traditional PWM
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* controlled motor.
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*/
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#ifndef BUTTON_LAYOUT
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#define BUTTON_LAYOUT
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#define TRIGGER 1
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#define THUMB 2
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#endif // BUTTON_LAYOUT
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class Robot: public IterativeRobot {
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CANTalon r1_drive;
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CANTalon r2_drive;
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CANTalon l1_drive;
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CANTalon l2_drive;
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CANTalon shooter1;
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CANTalon shooter2;
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CANTalon ramp;
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// Counter ramp_lift;
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RobotDrive drive;
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Shooter shooter;
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Joystick rstick, lstick;
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// update every 0.01 seconds/10 milliseconds.
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// The talon only receives control packets every 10ms.
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//double kUpdatePeriod = 0.010;
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public:
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Robot() :
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r1_drive(1), // right wheel 1
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r2_drive(2), // right wheel 2
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l1_drive(3), // left wheel 1
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l2_drive(4), // left wheel 2
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shooter1(10), // shooter drive 1
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shooter2(11), // shooter drive 2
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ramp(12),
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drive( // initialize RobotDrive object.
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&l1_drive, &r1_drive),
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shooter( // initialize Shooter object.
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&shooter1, &shooter2, &ramp),
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rstick(0), // right stick (operator)
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lstick(1)//, // left stick (driver)
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//ramp_lift(1) // counter for the hall sensor on the
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{
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}
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void DisabledInit() {
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r1_drive.SetSafetyEnabled(false);
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r2_drive.SetSafetyEnabled(false);
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l1_drive.SetSafetyEnabled(false);
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l2_drive.SetSafetyEnabled(false);
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shooter1.SetSafetyEnabled(false);
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shooter2.SetSafetyEnabled(false);
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}
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void TeleopInit() {
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r1_drive.Enable();
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r2_drive.Enable();
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l1_drive.Enable();
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l2_drive.Enable();
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}
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void TeleopPeriodic() {
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drive.ArcadeDrive(&lstick);
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l2_drive.Set(l1_drive.Get());
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r2_drive.Set(r1_drive.Get());
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float power = (1.0 - rstick.GetThrottle()) / 2.0;
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shooter.SetPower(power);
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if(rstick.GetRawButton(TRIGGER))
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{
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// SHOOT THE BALL
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ramp.Set(-1);
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}
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if(rstick.GetRawButton(THUMB))
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{
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// lower the ramp
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ramp.Set(1);
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}
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else
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{
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// raise the ramp to HALF (so it isn't down all the time!)
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ramp.Set(0);
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}
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// How to pickup?
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}
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};
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START_ROBOT_CLASS(Robot)
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