Formatted commas, swapped AutoDrive x and y (untested)

Commands/Autonomous/AutoDrive.cpp

@@ -1,17 +1,17 @@
 #include "AutoDrive.h"
 #include "../../DentRobot.h"
 // Drive for a short while then stop. Just for testing
-AutoDrive::AutoDrive(double duration, double xtmp=-0.75, double ytmp=0) : Command("AutoDrive"){
+AutoDrive::AutoDrive(double duration, double xtmp=0, double ytmp=-0.75) : Command("AutoDrive"){
   Requires(DentRobot::drivetrain);
   SetTimeout(duration);
-  speed=xtmp;
+  x=xtmp;
-  strafe=ytmp;
+  y=ytmp;
 }
 void AutoDrive::Initialize(){
 }
 void AutoDrive::Execute(){
   //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
-  DentRobot::drivetrain->DriveMecanum(strafe,speed,0.0,0.9,0.0);
+  DentRobot::drivetrain->DriveMecanum(x, y, 0.0, 0.9, 0.0);
 }
 bool AutoDrive::IsFinished(){
   return IsTimedOut();

Commands/Autonomous/AutoDrive.h

@@ -8,7 +8,7 @@
 
 class AutoDrive: public Command{
   private:
-    double speed, strafe;
+    double x, y;
   public:
     AutoDrive(double);
     AutoDrive(double, double, double);

Commands/Autonomous/Autonomous.cpp

@@ -15,20 +15,20 @@ Autonomous::Autonomous(int seq){
   switch(seq){
     case 0:
       // Just for testing
-      AddSequential(new AutoDrive(.5,0,.25));
+      // Strafe at .25 power
+      AddSequential(new AutoDrive(0.5, 0.25, 0.0));
       break;
     case 1:
-      // Wait a desigated value, drive to Auto Zone (TM)
+      // Drive to Auto Zone (TM)
       Wait(SmartDashboard::GetNumber("Auto Wait Time"));
-      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.8,0.0));
+      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, 0.8));
       break;
     case 2:
-      // Wait a desigated value, drive to Auto Zone (TM)
+      // Collect a tote, turn, drive to Auto Zone (TM)
       Wait(SmartDashboard::GetNumber("Auto Wait Time"));
       AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
       AddSequential(new BinRaise(1.2));
-      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.75,0.0));
+      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, 0.75));
-      //AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0,-1.0));
       AddSequential(new BinLower(1.0));
       AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
       break;
@@ -37,22 +37,22 @@ Autonomous::Autonomous(int seq){
       printf("Waiting: %f\n", SmartDashboard::GetNumber("Auto Wait Time"));
       Wait(SmartDashboard::GetNumber("Auto Wait Time"));
       printf("Done");
-      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75,0));
+      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, -0.75));
       AddSequential(new CollectTote());
       AddSequential(new Raise());
-      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75,0));
+      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, -0.75));
       AddSequential(new CollectTote());
       AddSequential(new Lower());
       AddSequential(new Raise());
       printf("Three totes?: %d\n", SmartDashboard::GetBoolean("Three totes"));
       if(SmartDashboard::GetBoolean("Three totes")){
-        AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75,0));
+        AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, -0.75));
         AddSequential(new CollectTote());
         AddSequential(new Lower());
         AddSequential(new Raise());
       }
       AddSequential(new Turn(90));
-      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), -0.75,0));
+      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0, -0.75));
       AddSequential(new ReleaseTote());
       break;
     default:

Commands/Autonomous/CollectTote.cpp

@@ -3,7 +3,7 @@
 #include "AutoDrive.h"
 #include "../Collector/RollIn.h"
 CollectTote::CollectTote(){
-  AddParallel(new AutoDrive(1.0, -0.75,0));
+  AddParallel(new AutoDrive(1.0, -0.75, 0.0));
   AddSequential(new RollIn(1.0));
 }
 // vim: ts=2:sw=2:et

Commands/Autonomous/ReleaseTote.cpp

@@ -4,6 +4,6 @@
 #include "../Collector/RollOut.h"
 ReleaseTote::ReleaseTote(){
   AddParallel(new RollOut());
-  AddParallel(new AutoDrive(0.5, 0.75,0));
+  AddParallel(new AutoDrive(0.5, 0, 0.75));
 }
 // vim: ts=2:sw=2:et

Commands/Collector/RollOut.cpp

@@ -8,7 +8,7 @@ void RollOut::Initialize(){
 void RollOut::Execute(){
   //TODO check this value to move the motors in the right direction
   // Devide by 2 twice because this speed should be half the collector speed
-  DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftThrottle()*.8);
+  DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftThrottle() * 0.8);
 }
 bool RollOut::IsFinished(){
   return IsTimedOut();

Commands/Drivetrain/Drive.cpp

@@ -7,10 +7,10 @@ void Drive::Initialize(){
 }
 void Drive::Execute(){
   double x, y, z;
-  //Code to lock the x axis when not holding button 1
   x = DentRobot::oi->GetLeftStick()->GetRawAxis(0);
   z = DentRobot::oi->GetLeftStick()->GetRawAxis(2);
   y = DentRobot::oi->GetLeftStick()->GetRawAxis(1);
+  //Code to lock the x axis when not holding button 1
   //if (DentRobot::oi->GetLeftStick()->GetRawButton(1)){
   //  x=0;
   //}
@@ -18,7 +18,7 @@ void Drive::Execute(){
   //  y=0;
   //}
   //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
-  DentRobot::drivetrain->DriveMecanum(x,y,z,0.9,0);
+  DentRobot::drivetrain->DriveMecanum(x, y, z, 0.9, 0.0);
 }
 bool Drive::IsFinished(){
   return IsTimedOut();

Subsystems/Drivetrain.cpp

@@ -14,7 +14,7 @@ void Drivetrain::InitDefaultCommand(){
 void Drivetrain::DriveMecanum(float x, float y, float z, float sensitivity, float gyro){
   double correctY = (sensitivity*(pow(y, 3))+(1-sensitivity)*y);
   double correctX = -(sensitivity*(pow(x, 3))+(1-sensitivity)*x);
-  double correctZ = -z *.5;
+  double correctZ = -z * 0.5;
   rightFront->Set((-correctX + correctY - correctZ));
   leftFront->Set((correctX + correctY + correctZ)*-1);
   rightRear->Set((correctX + correctY - correctZ));