Added new Robot project using PWM drive train... Much simpler...
Signed-off-by: Jason <jason@dublinschool.org>
This commit is contained in:
Jason
commit
01c462c0c6
283
.cproject
Normal file
283
.cproject
Normal file
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<listOptionValue builtIn="false" value=""C:\Program Files\Gazebo\sdformat\src\win\tinyxml""/>
|
||||
<listOptionValue builtIn="false" value=""C:\Program Files\Gazebo\pthread-w32\include""/>
|
||||
<listOptionValue builtIn="false" value=""C:\Program Files\Gazebo\boost_1_56_0""/>
|
||||
</option>
|
||||
<option id="gnu.cpp.compiler.option.optimization.level.1265709272" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
|
||||
<option id="gnu.cpp.compiler.option.debugging.level.1058836115" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.debugging.level.none" valueType="enumerated"/>
|
||||
<option id="gnu.cpp.compiler.option.dialect.std.2006680120" name="Language standard" superClass="gnu.cpp.compiler.option.dialect.std" useByScannerDiscovery="true" value="gnu.cpp.compiler.dialect.default" valueType="enumerated"/>
|
||||
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|
||||
<option id="gnu.cpp.compiler.option.other.other.1677876881" name="Other flags" superClass="gnu.cpp.compiler.option.other.other" useByScannerDiscovery="false" value="/c /MDd" valueType="string"/>
|
||||
<option id="gnu.cpp.compiler.option.other.pic.594318292" name="Position Independent Code (-fPIC)" superClass="gnu.cpp.compiler.option.other.pic" useByScannerDiscovery="false" value="false" valueType="boolean"/>
|
||||
<option id="gnu.cpp.compiler.option.preprocessor.def.1865235685" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def" useByScannerDiscovery="false" valueType="definedSymbols">
|
||||
<listOptionValue builtIn="false" value="_USE_MATH_DEFINES"/>
|
||||
<listOptionValue builtIn="false" value="WIN32_LEAN_AND_MEAN"/>
|
||||
<listOptionValue builtIn="false" value="NOMINMAX"/>
|
||||
<listOptionValue builtIn="false" value="FRC_SIMULATOR"/>
|
||||
</option>
|
||||
<option id="gnu.cpp.compiler.option.debugging.other.183827657" name="Other debugging flags" superClass="gnu.cpp.compiler.option.debugging.other" useByScannerDiscovery="false" value="/Z7" valueType="string"/>
|
||||
<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1150869869" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
|
||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.cross.c.linker.1090661906" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/>
|
||||
<tool command=""C:\Program Files (x86)\Microsoft Visual Studio 12.0\vc\bin\link"" commandLinePattern="${COMMAND} /ignore:4099 /LIBPATH:"C:\Program Files\Gazebo\FreeImage-vc12-x64-release-debug\x64\Debug\DLL" /LIBPATH:"C:\Program Files (x86)\Windows Kits\8.1\Lib\winv6.3\um\x64" /LIBPATH:"C:\Program Files\Gazebo\boost_1_56_0\lib64-msvc-12.0" /LIBPATH:"${WPILIB}\simulation\lib" /LIBPATH:"C:\Program Files\Gazebo\dlfcn-win32-vc12-x64-release-debug\build\install\Debug\lib" /LIBPATH:"C:\Program Files\Gazebo\pthread-w32\lib\x64" /LIBPATH:"C:\Program Files\Gazebo\ign-math\build\install\Debug\lib" /LIBPATH:"C:\Program Files\Gazebo\libcurl-vc12-x64-release-debug-static-ipv6-sspi-winssl\Debug\lib" /LIBPATH:"C:\Program Files\Gazebo\sdformat\build\install\Debug\lib" /LIBPATH:"C:\Program Files\Gazebo\protobuf-2.6.0-win64-vc12\vsprojects\Debug" /LIBPATH:"C:\Program Files\Gazebo\gazebo\build\install\Debug\lib" /LIBPATH:"C:\Program Files\Gazebo\tbb43_20141023oss\lib\intel64\vc12" /LIBPATH:"C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\lib\amd64" /LIBPATH:"C:\Program Files (x86)\Windows Kits\8.1\Lib\winv6.3\um\x64" ${FLAGS} /OUT:${OUTPUT_PREFIX}${OUTPUT} ${INPUTS} /DEBUG WPILibSim.lib gazebo.lib gazebo_transport.lib gazebo_msgs.lib gazebo_common.lib gazebo_util.lib gazebo_client.lib gazebo_math.lib libprotobuf.lib sdformat.lib dl.lib libcurl_a_debug.lib ignition-math2.lib pthreadVC2.lib gz_msgs.lib IPHlpApi.lib /NODEFAULTLIB:libboost_system-vc120-mt-gd-1_56.lib /NODEFAULTLIB:libboost_thread-vc120-mt-gd-1_56.lib FreeImaged.lib" errorParsers="" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.680547965" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker">
|
||||
<option id="gnu.cpp.link.option.libs.231732731" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs"/>
|
||||
<option id="gnu.cpp.link.option.paths.122555745" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths"/>
|
||||
<option id="gnu.cpp.link.option.shared.1816604740" name="Shared (-shared)" superClass="gnu.cpp.link.option.shared" value="false" valueType="boolean"/>
|
||||
<option id="gnu.cpp.link.option.flags.761367792" name="Linker flags" superClass="gnu.cpp.link.option.flags" value="" valueType="string"/>
|
||||
<option id="gnu.cpp.link.option.other.715702568" name="Other options (-Xlinker [option])" superClass="gnu.cpp.link.option.other"/>
|
||||
<option id="gnu.cpp.link.option.userobjs.984105280" name="Other objects" superClass="gnu.cpp.link.option.userobjs"/>
|
||||
<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1789925387" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
|
||||
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
|
||||
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
|
||||
</inputType>
|
||||
<outputType id="cdt.managedbuild.tool.gnu.cpp.linker.output.so.1893130812" outputPrefix="" superClass="cdt.managedbuild.tool.gnu.cpp.linker.output.so"/>
|
||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.cross.archiver.976699519" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/>
|
||||
<tool command="as" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" errorParsers="" id="cdt.managedbuild.tool.gnu.cross.assembler.10555843" name="Cross GCC Assembler" superClass="cdt.managedbuild.tool.gnu.cross.assembler">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.assembler.input.219135409" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
|
||||
</tool>
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
<sourceEntries>
|
||||
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="src"/>
|
||||
</sourceEntries>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
</cconfiguration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<project id="GearsBotCPP.cdt.managedbuild.target.gnu.cross.exe.13534228" name="Executable" projectType="cdt.managedbuild.target.gnu.cross.exe"/>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
|
||||
<storageModule moduleId="refreshScope" versionNumber="2">
|
||||
<configuration configurationName="Windows Simulate"/>
|
||||
<configuration configurationName="Simulate">
|
||||
<resource resourceType="PROJECT" workspacePath="/GearsBotCPP"/>
|
||||
</configuration>
|
||||
<configuration configurationName="Debug">
|
||||
<resource resourceType="PROJECT" workspacePath="/GearsBotCPP"/>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
|
||||
<storageModule moduleId="scannerConfiguration">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;cdt.managedbuild.tool.gnu.cross.cpp.compiler.809153465;cdt.managedbuild.tool.gnu.cpp.compiler.input.1150869869">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;org.eclipse.cdt.msvc.cl.dll.debug.544581750;org.eclipse.cdt.msvc.cl.inputType.1806965547">
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||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.msw.build.clScannerInfo"/>
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||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;org.eclipse.cdt.msvc.cl.c.dll.debug.748290057;org.eclipse.cdt.msvc.cl.inputType.c.690275938">
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<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.msw.build.clScannerInfo"/>
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||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;cdt.managedbuild.tool.gnu.cross.c.compiler.1872033968;cdt.managedbuild.tool.gnu.c.compiler.input.1953150292">
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||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;org.eclipse.cdt.msvc.cl.dll.debug.880390044;org.eclipse.cdt.msvc.cl.inputType.393977355">
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||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.msw.build.clScannerInfo"/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.1297766759;cdt.managedbuild.tool.gnu.cpp.compiler.input.498113544">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;cdt.managedbuild.tool.gnu.c.compiler.mingw.exe.debug.785693711;cdt.managedbuild.tool.gnu.c.compiler.input.778242069">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.exe.debug.1647706237;cdt.managedbuild.tool.gnu.cpp.compiler.input.1338339147">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751;cdt.managedbuild.config.gnu.cross.exe.debug.1104744751.;cdt.managedbuild.tool.gnu.cross.cpp.compiler.1505235107;cdt.managedbuild.tool.gnu.cpp.compiler.input.1033680971">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751;cdt.managedbuild.config.gnu.cross.exe.debug.1104744751.;cdt.managedbuild.tool.gnu.cross.c.compiler.1261239456;cdt.managedbuild.tool.gnu.c.compiler.input.1793678673">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;org.eclipse.cdt.msvc.cl.c.dll.debug.1658947706;org.eclipse.cdt.msvc.cl.inputType.c.2076377067">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.msw.build.clScannerInfo"/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;cdt.managedbuild.tool.gnu.c.compiler.mingw.base.510224028;cdt.managedbuild.tool.gnu.c.compiler.input.323654435">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
</storageModule>
|
||||
</cproject>
|
||||
1
.gitignore
vendored
Normal file
1
.gitignore
vendored
Normal file
@ -0,0 +1 @@
|
||||
/Debug/
|
||||
27
.project
Normal file
27
.project
Normal file
@ -0,0 +1,27 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectDescription>
|
||||
<name>Robot2016</name>
|
||||
<comment></comment>
|
||||
<projects>
|
||||
</projects>
|
||||
<buildSpec>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
|
||||
<triggers>full,incremental,</triggers>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
</buildSpec>
|
||||
<natures>
|
||||
<nature>org.eclipse.cdt.core.cnature</nature>
|
||||
<nature>org.eclipse.cdt.core.ccnature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
|
||||
<nature>edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature</nature>
|
||||
</natures>
|
||||
</projectDescription>
|
||||
13
.settings/org.eclipse.cdt.managedbuilder.core.prefs
Normal file
13
.settings/org.eclipse.cdt.managedbuilder.core.prefs
Normal file
@ -0,0 +1,13 @@
|
||||
eclipse.preferences.version=1
|
||||
environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/CPATH/delimiter=;
|
||||
environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/CPATH/operation=remove
|
||||
environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/CPLUS_INCLUDE_PATH/delimiter=;
|
||||
environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/CPLUS_INCLUDE_PATH/operation=remove
|
||||
environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/C_INCLUDE_PATH/delimiter=;
|
||||
environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/C_INCLUDE_PATH/operation=remove
|
||||
environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/append=true
|
||||
environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/appendContributed=true
|
||||
environment/buildEnvironmentLibrary/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/LIBRARY_PATH/delimiter=;
|
||||
environment/buildEnvironmentLibrary/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/LIBRARY_PATH/operation=remove
|
||||
environment/buildEnvironmentLibrary/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/append=true
|
||||
environment/buildEnvironmentLibrary/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/appendContributed=true
|
||||
11
build.properties
Normal file
11
build.properties
Normal file
@ -0,0 +1,11 @@
|
||||
# Build information
|
||||
out=FRCUserProgram
|
||||
src.dir=src
|
||||
build.dir=build
|
||||
out.exe=Debug/${out}
|
||||
|
||||
# Simulation
|
||||
simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world
|
||||
|
||||
# Use the current C++ library by default
|
||||
cpp-version=current
|
||||
28
build.xml
Normal file
28
build.xml
Normal file
@ -0,0 +1,28 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
|
||||
<project name="FRC Deployment" default="deploy">
|
||||
|
||||
<!--
|
||||
The following properties can be defined to override system level
|
||||
settings. These should not be touched unless you know what you're
|
||||
doing. The primary use is to override the wpilib version when
|
||||
working with older robots that can't compile with the latest
|
||||
libraries.
|
||||
-->
|
||||
|
||||
<!-- By default the system version of WPI is used -->
|
||||
<!-- <property name="version" value=""/> -->
|
||||
|
||||
<!-- By default the system team number is used -->
|
||||
<!-- <property name="team-number" value=""/> -->
|
||||
|
||||
<!-- By default the target is set to 10.TE.AM.2 -->
|
||||
<!-- <property name="target" value=""/> -->
|
||||
|
||||
<property file="${user.home}/wpilib/wpilib.properties"/>
|
||||
<property file="build.properties"/>
|
||||
<property file="${user.home}/wpilib/cpp/${version}/ant/build.properties"/>
|
||||
|
||||
<import file="${wpilib.ant.dir}/build.xml"/>
|
||||
|
||||
</project>
|
||||
127
src/Robot.cpp
Normal file
127
src/Robot.cpp
Normal file
@ -0,0 +1,127 @@
|
||||
#include "../wpilib/WPILib.h"
|
||||
#include "Shooter.h"
|
||||
|
||||
#ifndef BUTTON_LAYOUT
|
||||
#define BUTTON_LAYOUT
|
||||
|
||||
#define TRIGGER 1 // I have no idea what the right button number is...
|
||||
#define THUMB 2
|
||||
|
||||
#endif // BUTTON_LAYOUT
|
||||
|
||||
class Robot: public IterativeRobot
|
||||
{
|
||||
Talon left_drive;
|
||||
Talon right_drive;
|
||||
CANTalon shooter1;
|
||||
CANTalon shooter2;
|
||||
CANTalon ramp;
|
||||
RobotDrive drive;
|
||||
Shooter shooter;
|
||||
Joystick driver_stick, operator_stick;
|
||||
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
|
||||
shooter1(10), // shooter drive 1
|
||||
shooter2(11), // shooter drive 2
|
||||
ramp(12),
|
||||
drive(&left_drive, &right_drive),
|
||||
shooter( // initialize Shooter object.
|
||||
&shooter1, &shooter2, &ramp),
|
||||
driver_stick(0), // right stick (operator)
|
||||
operator_stick(1) // left stick (driver)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
private:
|
||||
LiveWindow *lw = LiveWindow::GetInstance();
|
||||
SendableChooser *chooser;
|
||||
const std::string autoNameDefault = "Default";
|
||||
const std::string autoNameCustom = "My Auto";
|
||||
std::string autoSelected;
|
||||
|
||||
void RobotInit()
|
||||
{
|
||||
chooser = new SendableChooser();
|
||||
chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
|
||||
chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
|
||||
SmartDashboard::PutData("Auto Modes", chooser);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* This autonomous (along with the chooser code above) shows how to select between different autonomous modes
|
||||
* using the dashboard. The sendable chooser code works with the Java SmartDashboard. If you prefer the LabVIEW
|
||||
* Dashboard, remove all of the chooser code and uncomment the GetString line to get the auto name from the text box
|
||||
* below the Gyro
|
||||
*
|
||||
* You can add additional auto modes by adding additional comparisons to the if-else structure below with additional strings.
|
||||
* If using the SendableChooser make sure to add them to the chooser code above as well.
|
||||
*/
|
||||
void AutonomousInit()
|
||||
{
|
||||
autoSelected = *((std::string*)chooser->GetSelected());
|
||||
//std::string autoSelected = SmartDashboard::GetString("Auto Selector", autoNameDefault);
|
||||
std::cout << "Auto selected: " << autoSelected << std::endl;
|
||||
|
||||
if(autoSelected == autoNameCustom){
|
||||
//Custom Auto goes here
|
||||
} else {
|
||||
//Default Auto goes here
|
||||
}
|
||||
}
|
||||
|
||||
void AutonomousPeriodic()
|
||||
{
|
||||
if(autoSelected == autoNameCustom){
|
||||
//Custom Auto goes here
|
||||
} else {
|
||||
//Default Auto goes here
|
||||
}
|
||||
}
|
||||
|
||||
void TeleopInit()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void TeleopPeriodic()
|
||||
{
|
||||
drive.ArcadeDrive(&driver_stick);
|
||||
|
||||
if(operator_stick.GetRawButton(3))
|
||||
{
|
||||
ramp.Set(1);
|
||||
}
|
||||
else if(operator_stick.GetRawButton(4))
|
||||
{
|
||||
ramp.Set(-1);
|
||||
}
|
||||
else
|
||||
{
|
||||
ramp.Set(0);
|
||||
}
|
||||
|
||||
if(operator_stick.GetRawButton(THUMB))
|
||||
{
|
||||
shooter.PickUp();
|
||||
}
|
||||
else
|
||||
{
|
||||
shooter.PickUp(false);
|
||||
}
|
||||
|
||||
|
||||
float power = (1.0 - operator_stick.GetThrottle()) / 2.0;
|
||||
shooter.SetPower(power);
|
||||
}
|
||||
|
||||
void TestPeriodic()
|
||||
{
|
||||
lw->Run();
|
||||
}
|
||||
};
|
||||
|
||||
START_ROBOT_CLASS(Robot)
|
||||
90
src/Shooter.h
Normal file
90
src/Shooter.h
Normal file
@ -0,0 +1,90 @@
|
||||
/*
|
||||
* Shooter.h
|
||||
*
|
||||
* Created on: Feb 2, 2016
|
||||
* Author: Jason
|
||||
*/
|
||||
|
||||
#ifndef SRC_SHOOTER_H_
|
||||
#define SRC_SHOOTER_H_
|
||||
|
||||
#define PICKUP_POWER 0.5
|
||||
#define RAMP_LOWER_DURATION 2 //Rotations.
|
||||
|
||||
|
||||
/**
|
||||
* You can use the values assigned to each of these values as the number
|
||||
* of rotations to run the motor down from the "Shoot" position.
|
||||
*
|
||||
* This might not be the best way to do it, and also requires that we
|
||||
* figure out how to read the Hall Effect signal from the motor.
|
||||
*/
|
||||
enum RampState {
|
||||
Shoot = 0, // 0 rotations
|
||||
Half = 1, // 1 rotation?
|
||||
Down = 2, // 2 rotations?
|
||||
Uncalibrated = -1
|
||||
};
|
||||
|
||||
class Shooter {
|
||||
public:
|
||||
/**
|
||||
* Shooter talons and ramp talon.
|
||||
* s2 is also for the pickup-mechanism and can be controlled independently.
|
||||
*
|
||||
*/
|
||||
Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r) {
|
||||
shooterDrive = new RobotDrive(s1, s2);
|
||||
pickup = s2;
|
||||
ramp = r;
|
||||
rampState = Uncalibrated;
|
||||
}
|
||||
|
||||
/**
|
||||
* Call this method on TeleopInit so that the ramp is properly
|
||||
* set at the beginning of the match.
|
||||
*/
|
||||
RampState CalibrateRamp() {
|
||||
// TODO:
|
||||
// Raise ramp until limit switch is triggered,
|
||||
// then lower the ramp to its lower limit.
|
||||
|
||||
return Down;
|
||||
}
|
||||
|
||||
virtual ~Shooter() {
|
||||
delete shooterDrive;
|
||||
delete pickup;
|
||||
delete ramp;
|
||||
}
|
||||
|
||||
void PickUp(bool state = true) {
|
||||
pickup->Set((float) (state * PICKUP_POWER));
|
||||
}
|
||||
|
||||
void SetRamp(RampState state) {
|
||||
// TODO:
|
||||
// Move the Ramp to the set position.
|
||||
}
|
||||
|
||||
/**
|
||||
* Call this to run the pickup backwards if the ball gets jammed somehow...
|
||||
*/
|
||||
void Unjam()
|
||||
{
|
||||
pickup->Set(-1 * PICKUP_POWER);
|
||||
}
|
||||
|
||||
void SetPower(float power) {
|
||||
shooterDrive->TankDrive(power, -power, false);
|
||||
}
|
||||
private:
|
||||
|
||||
RobotDrive *shooterDrive;
|
||||
CANTalon *pickup;
|
||||
CANTalon *ramp;
|
||||
|
||||
RampState rampState;
|
||||
};
|
||||
|
||||
#endif /* SRC_SHOOTER_H_ */
|
||||
Reference in New Issue
Block a user