diff --git a/src/Robot.cpp b/src/Robot.cpp index 95a9c3c..709722a 100644 --- a/src/Robot.cpp +++ b/src/Robot.cpp @@ -43,8 +43,6 @@ class Robot: public IterativeRobot RobotDrive drive; Shooter shooter; Joystick driver_stick, operator_stick; - //DriverStation DriverStation::GetInstance(); - //float power; public: Robot(): left_drive(0), // Left DriveTrain Talons plug into PWM channel 1 with a Y-splitter @@ -79,20 +77,6 @@ private: const std::string autoNameCustom = "My Auto"; std::string autoSelected; - /*void LogData() - { - static PowerDistributionPanel pdp; - static DriverStation DriverStation::GetInstance() = DriverStation::GetInstance(); - static std::vector motors; - - static std::ofstream logA, logB, logC; - timeval tm; - - SmartDashboard::PutBoolean("log A", logA.is_open()); - SmartDashboard::PutBoolean("log B", logB.is_open()); - SmartDashboard::PutBoolean("log C", logC.is_open()); - }*/ - void RobotInit() { chooser = new SendableChooser(); @@ -115,16 +99,6 @@ private: } - - /** - * 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()); @@ -402,27 +376,6 @@ private: LOG(std::endl); } - 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();