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Code Issues Releases Wiki Activity

Moved DIOs into individual classes (untested)

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This commit is contained in:
Austen Adler 2015-02-07 13:03:00 -05:00
parent b26a63bcc1
commit 113f81a0b0
14 changed files with 16 additions and 53 deletions
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3
CommandBase.cpp
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@ -2,12 +2,10 @@
#include "Subsystems/Drivetrain.h"
#include "Subsystems/Collector.h"
#include "Subsystems/Elevator.h"
#include "Subsystems/DIO.h"
#include "Subsystems/AirCompressor.h"
Drivetrain* CommandBase::drivetrain = NULL;
Collector* CommandBase::collector = NULL;
Elevator* CommandBase::elevator = NULL;
DIO* CommandBase::dio = NULL;
AirCompressor* CommandBase::airCompressor = NULL;
OI* CommandBase::oi = NULL;
CommandBase::CommandBase(char const *name) : Command(name) {
@ -18,7 +16,6 @@ void CommandBase::init(){
drivetrain = new Drivetrain();
collector = new Collector();
elevator = new Elevator();
dio = new DIO();
airCompressor = new AirCompressor();
oi = new OI();
}

2
CommandBase.h
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@ -5,7 +5,6 @@
#include "Subsystems/Drivetrain.h"
#include "Subsystems/Collector.h"
#include "Subsystems/Elevator.h"
#include "Subsystems/DIO.h"
#include "Subsystems/AirCompressor.h"
#include "OI.h"
#include "WPILib.h"
@ -18,7 +17,6 @@ class CommandBase: public Command {
static Drivetrain *drivetrain;
static Collector *collector;
static Elevator *elevator;
static DIO* dio;
static AirCompressor *airCompressor;
static OI *oi;
};

2
Commands/Elevator/Calibrate.cpp
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@ -10,7 +10,7 @@ void Calibrate::Execute(){
DentRobot::elevator->Run(-0.4f);
}
bool Calibrate::IsFinished(){
if(DentRobot::dio->Get(DIO::ELEVATORBOTTOM)){
if(DentRobot::elevator->GetElevatorBottom()){
DentRobot::elevator->ResetEncoder();
DentRobot::elevator->SetOffset(0.99);
return true;

2
Commands/Elevator/Lower.cpp
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@ -10,7 +10,7 @@ void Lower::Execute(){
DentRobot::elevator->Run((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
}
bool Lower::IsFinished(){
if (!DentRobot::dio->Get(DentRobot::dio->ELEVATORBOTTOM) || IsTimedOut()){
if (DentRobot::elevator->GetElevatorBottom()||IsTimedOut()){
return true;
}else{
return false;

2
Commands/Elevator/Raise.cpp
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@ -10,7 +10,7 @@ void Raise::Execute(){
DentRobot::elevator->Run(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
}
bool Raise::IsFinished(){
if (!DentRobot::dio->Get(DentRobot::dio->ELEVATORBOTTOM) || IsTimedOut()){
if (DentRobot::elevator->GetElevatorTop()||IsTimedOut()){
return true;
}else{
return false;

2
DentRobot.cpp
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@ -4,7 +4,6 @@ OI* DentRobot::oi=NULL;
Collector* DentRobot::collector=NULL;
Drivetrain* DentRobot::drivetrain=NULL;
Elevator* DentRobot::elevator=NULL;
DIO* DentRobot::dio = NULL;
AirCompressor* DentRobot::airCompressor=NULL;
CommandGroup* DentRobot::aut=NULL;
DentRobot::DentRobot(){
@ -12,7 +11,6 @@ DentRobot::DentRobot(){
collector=new Collector();
drivetrain=new Drivetrain();
elevator=new Elevator();
dio = new DIO();
airCompressor=new AirCompressor();
aut=new Autonomous();
printf("Initialized");

2
DentRobot.h
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@ -3,7 +3,6 @@
#include "WPILib.h"
#include "OI.h"
#include "Subsystems/Elevator.h"
#include "Subsystems/DIO.h"
#include "Subsystems/Drivetrain.h"
#include "Subsystems/Collector.h"
#include "Subsystems/AirCompressor.h"
@ -17,7 +16,6 @@ class DentRobot: public IterativeRobot {
static Collector* collector;
static Drivetrain* drivetrain;
static Elevator* elevator;
static DIO* dio;
static AirCompressor* airCompressor;
static CommandGroup* aut;
void RobotInit();

3
RobotMap.h
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@ -5,6 +5,8 @@
// Elevator
#define ELEVATOR_CAN 1
#define ELEVATOR_BOTTOM_DIO 0
#define ELEVATOR_TOP_DIO 1
// Drivetrain
#define DRIVE_FRONT_LEFT_CAN 2
@ -17,7 +19,6 @@
#define COLLECTOR_WINDOW_RIGHT_CAN 7
#define COLLECTOR_LEFT_CAN 8
#define COLLECTOR_RIGHT_CAN 9
#define COLLECTOR_CALIBRATOR_DIO 0
// Compressor
#define COMPRESSOR_CAN 10

1
Subsystems/Collector.cpp
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@ -6,7 +6,6 @@ Collector::Collector() : Subsystem("Collector") {
windowMotorRight=new CANTalon(COLLECTOR_WINDOW_RIGHT_CAN);
collectorMotorLeft=new CANTalon(COLLECTOR_LEFT_CAN);
collectorMotorRight=new CANTalon(COLLECTOR_RIGHT_CAN);
boxSwitch=new DigitalInput(COLLECTOR_CALIBRATOR_DIO);
}
void Collector::InitDefaultCommand() {
}

1
Subsystems/Collector.h
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@ -6,7 +6,6 @@ class Collector: public Subsystem
{
private:
CANTalon *windowMotorLeft, *windowMotorRight, *collectorMotorLeft, *collectorMotorRight;
DigitalInput *boxSwitch;
public:
Collector();
void InitDefaultCommand();

21
Subsystems/DIO.cpp
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@ -1,21 +0,0 @@
#include "DIO.h"
#include "../RobotMap.h"
DIO::DIO(){
elevatorTop=new DigitalInput(0);
elevatorBottom=new DigitalInput(1);
}
void DIO::InitDefaultCommand(){
}
bool DIO::Get(e_dioSig dioSig){
switch (dioSig){
case ELEVATORTOP:
return elevatorTop->Get();
break;
case ELEVATORBOTTOM:
return elevatorBottom->Get();
break;
default:
return false;
break;
}
}

17
Subsystems/DIO.h
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@ -1,17 +0,0 @@
#ifndef DIO_H
#define DIO_H
#include "WPILib.h"
class DIO{
private:
DigitalInput *elevatorTop, *elevatorBottom;
public:
DIO();
enum e_dioSig{
ELEVATORTOP,
ELEVATORBOTTOM
};
void InitDefaultCommand();
bool Get(e_dioSig);
};
#endif

8
Subsystems/Elevator.cpp
View File

@ -5,6 +5,8 @@ Elevator::Elevator()/* : PIDSubsystem("Elevator", kP_real, kI_real, 0.0)*/{
elevatorEncoder=new Encoder(0,1,false);
offset=0;
height=0;
elevatorBottom=new DigitalInput(ELEVATOR_BOTTOM_DIO);
elevatorTop=new DigitalInput(ELEVATOR_TOP_DIO);
//SetAbsoluteTolerance(0.004);
}
void Elevator::InitDefaultCommand(){
@ -22,3 +24,9 @@ void Elevator::ResetEncoder(){
double Elevator::GetHeight(){
return elevatorEncoder->Get()+offset;
}
bool Elevator::GetElevatorBottom(){
return elevatorBottom->Get();
}
bool Elevator::GetElevatorTop(){
return elevatorTop->Get();
}

3
Subsystems/Elevator.h
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@ -9,6 +9,7 @@ class Elevator/*: public PIDSubsystem*/{
Encoder *elevatorEncoder;
static constexpr double kP_real=4, kI_real=.0f, kP_simulation=18, kI_simulation=.2;
double offset, height;
DigitalInput *elevatorBottom, *elevatorTop;
public:
Elevator();
void InitDefaultCommand();
@ -16,5 +17,7 @@ class Elevator/*: public PIDSubsystem*/{
void SetOffset(double);
void ResetEncoder();
double GetHeight();
bool GetElevatorTop();
bool GetElevatorBottom();
};
#endif