From 32154cf6aadba51bec68891be2c4bf69fb0f789d Mon Sep 17 00:00:00 2001
From: Adam Long <macadam.long@gmail.com>
Date: Fri, 16 Jan 2015 15:20:34 +0000
Subject: [PATCH] Preliminary can support

---
 src/HHBase.cpp   |  1 +
 src/HHRobot.cpp  | 10 +++-------
 src/HHRobot.h    |  2 +-
 src/Makefile     | 27 +++++++++++++++++++++++++++
 src/Makefile.old | 29 +++++++++++++++++++++++++++++
 5 files changed, 61 insertions(+), 8 deletions(-)
 create mode 100644 src/Makefile
 create mode 100644 src/Makefile.old

diff --git a/src/HHBase.cpp b/src/HHBase.cpp
index 20fbdb7..0023bc3 100644
--- a/src/HHBase.cpp
+++ b/src/HHBase.cpp
@@ -21,6 +21,7 @@ void HHBase::DisabledPeriodic(){}
 void HHBase::AutonomousPeriodic(){
 }
 void HHBase::TeleopPeriodic(){
+  hhbot->Handler();
 }
 void HHBase::Test(){}
 START_ROBOT_CLASS(HHBase);
diff --git a/src/HHRobot.cpp b/src/HHRobot.cpp
index fc70017..e381a4b 100644
--- a/src/HHRobot.cpp
+++ b/src/HHRobot.cpp
@@ -1,20 +1,16 @@
 #include "HHRobot.h"
 #include "HHBase.h"
 HHRobot::HHRobot():
-  //
-  hhdrive(new RobotDrive(2,0,3,1)),
+  tmpMotor1(new CANTalon(0)),
   joystick1(new Extreme3dPro(0)){
-    hhdrive->SetExpiration(0.1);
-	hhdrive->SetInvertedMotor(RobotDrive::kFrontRightMotor, true);
-	hhdrive->SetInvertedMotor(RobotDrive::kRearLeftMotor,true);
   }
 void HHRobot::Init(){
   printf("Initing\n");
   printf("Code Version: %f\n",0000.1);
-  //Put table values initally to avoid annoying refreshing
 }
 //Main function used to handle periodic tasks on the robot
 void HHRobot::Handler(){
-	hhdrive->MecanumDrive_Cartesian(joystick1->GetJoystickAxis("z"), joystick1->GetJoystickAxis("y"), joystick1->GetJoystickAxis("x"));
+  tmpMotor1->Set(joystick1->GetJoystickAxis("y"));
+  SmartDashboard::PutNumber("tmp",joystick1->GetJoystickAxis("y"));
 }
 // vim: ts=2:sw=2:et
diff --git a/src/HHRobot.h b/src/HHRobot.h
index 814029b..21828fd 100644
--- a/src/HHRobot.h
+++ b/src/HHRobot.h
@@ -5,7 +5,7 @@
 #include "hhlib/input/controller/Joystick.h"
 class HHRobot{
   private:
-    RobotDrive *hhdrive;
+    CANTalon *tmpMotor1;
     Extreme3dPro *joystick1;
   public:
     HHRobot();
diff --git a/src/Makefile b/src/Makefile
new file mode 100644
index 0000000..952e810
--- /dev/null
+++ b/src/Makefile
@@ -0,0 +1,27 @@
+CC=arm-frc-linux-gnueabi-g++
+CFLAGS=-std=c++11 -O0 -g3 -Wall -c -fmessage-length=0
+LDFLAGS=-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a
+SOURCES=$(shell find -type f -name "*.cpp")
+OBJECTS=$(SOURCES:.cpp=.o)
+WPILIB=/var/frc/wpilib
+EXEC=bin/FRCUserProgram
+CLEANSER=rm -r
+REMOTEIP=10.20.59.2
+
+all : $(OBJECTS)
+	$(CC) -L$(WPILIB)/lib $(LDFLAGS) -o $(EXEC) $(OBJECTS) -lwpi
+
+%.o : %.cpp
+	$(CC) $(CFLAGS) -I$(WPILIB)/include $^ -o $@
+
+clean:
+	$(CLEANSER) $(OBJECTS)
+
+deploy:
+	@cat bin/FRCUserProgram | ssh admin@$(REMOTEIP) 'cat > /home/lvuser/FRCUserProgram2&&rm /home/lvuser/FRCUserProgram;mv /home/lvuser/FRCUserProgram2 /home/lvuser/FRCUserProgram&&. /etc/profile.d/natinst-path.sh;chmod a+x /home/lvuser/FRCUserProgram;/usr/local/frc/bin/frcKillRobot.sh -t -r'
+
+putkey:
+	@test -d ~/.ssh||mkdir ~/.ssh;test -f ~/.ssh/id_rsa||ssh-keygen -t rsa -f ~/.ssh/id_rsa -b 4096 -q -N '';cat ~/.ssh/id_rsa.pub|ssh -v admin@$(REMOTEIP) 'cat >> /tmp/key;mkdir -p ~/.ssh;cat /tmp/key >> ~/.ssh/authorized_keys;rm /tmp/key'
+
+updatemakefile:
+	@curl -s https://raw.githubusercontent.com/int0x191f2/nameless/master/configure.sh | sh
diff --git a/src/Makefile.old b/src/Makefile.old
new file mode 100644
index 0000000..b265c91
--- /dev/null
+++ b/src/Makefile.old
@@ -0,0 +1,29 @@
+CC=arm-frc-linux-gnueabi-g++
+CFLAGS=-std=c++11 -O0 -g3 -Wall -c -fmessage-length=0
+LDFLAGS=-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a
+SOURCES=$(shell find -type f -name "*.cpp")
+OBJECTS=$(SOURCES:.cpp=.o)
+WPILIB=/var/frc/wpilib
+EXEC=bin/FRCUserProgram
+CLEANSER=rm -r
+REMOTEIP=10.0.1.31
+
+all : $(OBJECTS)
+	$(CC) -L$(WPILIB)/lib $(LDFLAGS) -o $(EXEC) $(OBJECTS) -lwpi
+
+%.o : %.cpp
+	$(CC) $(CFLAGS) -I$(WPILIB)/include $^ -o $@
+
+clean:
+	$(CLEANSER) $(OBJECTS)
+
+deploy:
+	@ssh -v admin@$(REMOTEIP) "rm /home/lvuser/FRCUserProgram"
+	@scp bin/FRCUserProgram admin@$(REMOTEIP)
+	@ssh -v admin@$(REMOTEIP) "/etc/profile.d/natinst-path.sh; chmod a+x /home/lvuser/FRCUserProgram; /usr/local/frc/bin/frcKillRobot.sh -t -r"
+
+putkey:
+	@test -d ~/.ssh||mkdir ~/.ssh;test -f ~/.ssh/id_rsa||ssh-keygen -t rsa -f ~/.ssh/id_rsa -b 4096 -q -N '';cat ~/.ssh/id_rsa.pub|ssh -v admin@$(REMOTEIP) 'cat >> /tmp/key;mkdir -p ~/.ssh;cat /tmp/key >> ~/.ssh/authorized_keys;rm /tmp/key'
+
+updatemakefile:
+	@curl -s https://raw.githubusercontent.com/int0x191f2/nameless/master/configure.sh | sh