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Added a defined TURN_FACTOR for easily testing variations of the SimpleDrive method

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This commit is contained in:
Jason Cox 2016-02-21 20:50:24 -05:00
parent 91831a1326
commit 46e5a428b1
1 changed files with 27 additions and 1 deletions
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28
src/Robot.cpp
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@ -10,10 +10,15 @@
#define RAMP_LOWER 4 // Button 4 to lower ramp.
#define UNJAM 11
#define DEADZONE_RADIUS 0.01 // Deadzone Radius prevents tiny twitches in the joystick's value from
#define DEADZONE_RADIUS 0.05 // Deadzone Radius prevents tiny twitches in the joystick's value from
// affecting the robot. Use this for cleaning up drive train and shooter.
// Also used for detecting changes in an axis' value.
#define TURN_FACTOR 1.5 // Left(x,y) = y*(1 + TF*x) : x < 0
// = y : x >= 0
// Right(x,y) = y : x < 0
// = y*(1 - TF*x) : x >= 0
#endif // BUTTON_LAYOUT
class Robot: public IterativeRobot
@ -246,6 +251,27 @@ private:
lw->Run();
}
void SimpleDrive()
{
float x = -driver_stick.GetX();
float y = -driver_stick.GetY();
float left = 0;
float right = 0;
if (x > 0)
{
right = y;
left = (1- x*TURN_FACTOR)*y ;
}
else
{
left = y;
right = (1+x*TURN_FACTOR)*y;
}
drive.TankDrive(left, right);
}
void UpdateDrive()
{
float x = -driver_stick.GetX();