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Merge branch 'develop'

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This commit is contained in:
Austen Adler 2015-03-21 08:16:39 -04:00
parent 42fbba836a
commit 08473d42e1
4 changed files with 18 additions and 8 deletions
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2
Commands/Collector/RollIn.cpp
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@ -13,7 +13,7 @@ void RollIn::Execute(){
//}else{ //}else{
// DentRobot::collector->MoveRollers(cvt*1.5); // DentRobot::collector->MoveRollers(cvt*1.5);
//} //}
DentRobot::collector->MoveRollers(DentRobot::oi->GetLeftThrottle() * 1.0); DentRobot::collector->MoveRollers(DentRobot::oi->GetLeftAxis("left", "throttle") * 1.0);
} }
bool RollIn::IsFinished(){ bool RollIn::IsFinished(){
return IsTimedOut(); return IsTimedOut();

4
Commands/Collector/RollOut.cpp
View File

@ -7,8 +7,8 @@ void RollOut::Initialize(){
} }
void RollOut::Execute(){ void RollOut::Execute(){
// Divide by 2 twice because this speed should be half the collector speed // Divide by 2 twice because this speed should be half the collector speed
DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftThrottle() * 0.8); DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftAxis("right", "trigger") * 0.8);
SmartDashboard::PutNumber("DriveThrottle", -DentRobot::oi->GetLeftThrottle()); SmartDashboard::PutNumber("DriveThrottle", -DentRobot::oi->GetLeftAxis("right", "trigger"));
} }
bool RollOut::IsFinished(){ bool RollOut::IsFinished(){
return IsTimedOut(); return IsTimedOut();

2
Commands/Drivetrain/Drive.cpp
View File

@ -18,7 +18,7 @@ void Drive::Execute(){
// y=0; // y=0;
//} //}
//X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle) //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle)
if(DentRobot::oi->GetLeftStick()->GetRawButton(11)){ if(DentRobot::oi->GetLeftButton("y")){
x = -x; x = -x;
y = -y; y = -y;
} }

18
OI.cpp
View File

@ -27,24 +27,34 @@ OI::OI(){
// Left, right stick press // Left, right stick press
leftLPress = new JoystickButton(leftController, 9); leftLPress = new JoystickButton(leftController, 9);
leftRPress = new JoystickButton(leftController, 10); leftRPress = new JoystickButton(leftController, 10);
// Commands
Raise *raise = new Raise(2.0);
Lower *lower = new Lower(2.0);
leftA->WhileHeld(raise);
leftA->CancelWhenPressed(lower);
leftB->WhenPressed(lower);
leftB->CancelWhenPressed(raise);
} }
float OI::GetLeftAxis(std::string stick, std::string axis){ float OI::GetLeftAxis(std::string stick, std::string axis){
if(stick=="left"){ if(stick=="left"){
if(axis=="x"){ if(axis=="x"){
return leftController->GetX(); return leftController->GetRawAxis(0);
}else if(axis=="y"){ }else if(axis=="y"){
return -leftController->GetY(); return -leftController->GetRawAxis(1);
}else if(axis=="trigger"){ }else if(axis=="trigger"){
//TODO: Figure out what axis this is //TODO: Figure out what axis this is
return leftController->GetRawAxis(4);
return -4; return -4;
} }
}else if(stick=="right"){ }else if(stick=="right"){
if(axis=="x"){ if(axis=="x"){
return leftController->GetTwist(); return leftController->GetRawAxis(2);
}else if(axis=="y"){ }else if(axis=="y"){
return -leftController->GetRawAxis(4); return -leftController->GetRawAxis(3);
}else if(axis=="trigger"){ }else if(axis=="trigger"){
//TODO: Figure out what axis this is //TODO: Figure out what axis this is
return leftController->GetRawAxis(5);
return -4; return -4;
} }
} }