128 lines
2.9 KiB
C++
128 lines
2.9 KiB
C++
#include "../wpilib/WPILib.h"
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#include "Shooter.h"
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#ifndef BUTTON_LAYOUT
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#define BUTTON_LAYOUT
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#define TRIGGER 1 // I have no idea what the right button number is...
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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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{
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Talon left_drive;
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Talon right_drive;
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CANTalon shooter1;
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CANTalon shooter2;
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CANTalon ramp;
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RobotDrive drive;
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Shooter shooter;
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Joystick driver_stick, operator_stick;
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public:
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Robot():
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left_drive(1), // Left DriveTrain Talons plug into PWM channel 1 with a Y-spliter
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right_drive(2), // Right DriveTrain Talons plug // 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(&left_drive, &right_drive),
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shooter( // initialize Shooter object.
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&shooter1, &shooter2, &ramp),
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driver_stick(0), // right stick (operator)
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operator_stick(1) // left stick (driver)
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{
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}
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private:
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LiveWindow *lw = LiveWindow::GetInstance();
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SendableChooser *chooser;
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const std::string autoNameDefault = "Default";
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const std::string autoNameCustom = "My Auto";
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std::string autoSelected;
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void RobotInit()
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{
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chooser = new SendableChooser();
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chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
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chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
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SmartDashboard::PutData("Auto Modes", chooser);
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}
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/**
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* This autonomous (along with the chooser code above) shows how to select between different autonomous modes
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* using the dashboard. The sendable chooser code works with the Java SmartDashboard. If you prefer the LabVIEW
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* Dashboard, remove all of the chooser code and uncomment the GetString line to get the auto name from the text box
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* below the Gyro
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*
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* You can add additional auto modes by adding additional comparisons to the if-else structure below with additional strings.
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* If using the SendableChooser make sure to add them to the chooser code above as well.
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*/
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void AutonomousInit()
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{
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autoSelected = *((std::string*)chooser->GetSelected());
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//std::string autoSelected = SmartDashboard::GetString("Auto Selector", autoNameDefault);
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std::cout << "Auto selected: " << autoSelected << std::endl;
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if(autoSelected == autoNameCustom){
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//Custom Auto goes here
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} else {
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//Default Auto goes here
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}
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}
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void AutonomousPeriodic()
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{
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if(autoSelected == autoNameCustom){
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//Custom Auto goes here
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} else {
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//Default Auto goes here
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}
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}
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void TeleopInit()
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{
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}
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void TeleopPeriodic()
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{
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drive.ArcadeDrive(&driver_stick);
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if(operator_stick.GetRawButton(3))
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{
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ramp.Set(1);
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}
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else if(operator_stick.GetRawButton(4))
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{
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ramp.Set(-1);
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}
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else
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{
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ramp.Set(0);
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}
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if(operator_stick.GetRawButton(THUMB))
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{
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shooter.PickUp();
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}
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else
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{
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shooter.PickUp(false);
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}
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float power = (1.0 - operator_stick.GetThrottle()) / 2.0;
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shooter.SetPower(power);
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}
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void TestPeriodic()
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{
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lw->Run();
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}
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};
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START_ROBOT_CLASS(Robot)
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