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added half speed and increased collector speed

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This commit is contained in:
Adam Long 2015-02-28 07:22:43 +00:00
parent 2a3ddd6041
commit 05d755f87b
3 changed files with 6 additions and 1 deletions
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2
Commands/Collector/RollIn.cpp
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@ -11,7 +11,7 @@ void RollIn::Execute(){
if(cvt>=1.0){ if(cvt>=1.0){
DentRobot::collector->MoveRollers(1.0); DentRobot::collector->MoveRollers(1.0);
}else{ }else{
DentRobot::collector->MoveRollers(cvt); DentRobot::collector->MoveRollers(cvt*1.5);
} }
} }
bool RollIn::IsFinished(){ bool RollIn::IsFinished(){

2
DentRobot.cpp
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@ -42,6 +42,8 @@ void DentRobot::RobotInit(){
SmartDashboard::PutBoolean("Bin Elevator Top", false); SmartDashboard::PutBoolean("Bin Elevator Top", false);
SmartDashboard::PutBoolean("Elevator Bottom", false); SmartDashboard::PutBoolean("Elevator Bottom", false);
SmartDashboard::PutBoolean("Elevator Top", false); SmartDashboard::PutBoolean("Elevator Top", false);
//Drive speed
SmartDashboard::PutNumber("DriveSpeedReductionThresh",2);
} }
void DentRobot::DisabledPeriodic(){ void DentRobot::DisabledPeriodic(){
Scheduler::GetInstance()->Run(); Scheduler::GetInstance()->Run();

3
Subsystems/Drivetrain.cpp
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@ -15,6 +15,9 @@ void Drivetrain::DriveMecanum(float x, float y, float z, float sensitivity, floa
double correctY = (sensitivity*(pow(y,3))+(1-sensitivity)*y); double correctY = (sensitivity*(pow(y,3))+(1-sensitivity)*y);
double correctX = -(sensitivity*(pow(x,3))+(1-sensitivity)*x); double correctX = -(sensitivity*(pow(x,3))+(1-sensitivity)*x);
double correctZ = -z *.5; double correctZ = -z *.5;
if (DentRobot::oi->GetRightStick()->GetRawButton(9)){
correctY /= SmartDashboard::GetNumber("DriveSpeedReductionThresh");
}
rightFront->Set((-correctX + correctY - correctZ)); rightFront->Set((-correctX + correctY - correctZ));
leftFront->Set((correctX + correctY + correctZ)*-1); leftFront->Set((correctX + correctY + correctZ)*-1);
rightRear->Set((correctX + correctY - correctZ)); rightRear->Set((correctX + correctY - correctZ));