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Preliminary can support

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This commit is contained in:
Adam Long 2015-01-16 15:20:34 +00:00
parent 71e4f36e96
commit 32154cf6aa
5 changed files with 61 additions and 8 deletions
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1
src/HHBase.cpp
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@ -21,6 +21,7 @@ void HHBase::DisabledPeriodic(){}
void HHBase::AutonomousPeriodic(){ void HHBase::AutonomousPeriodic(){
} }
void HHBase::TeleopPeriodic(){ void HHBase::TeleopPeriodic(){
hhbot->Handler();
} }
void HHBase::Test(){} void HHBase::Test(){}
START_ROBOT_CLASS(HHBase); START_ROBOT_CLASS(HHBase);

10
src/HHRobot.cpp
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@ -1,20 +1,16 @@
#include "HHRobot.h" #include "HHRobot.h"
#include "HHBase.h" #include "HHBase.h"
HHRobot::HHRobot(): HHRobot::HHRobot():
// tmpMotor1(new CANTalon(0)),
hhdrive(new RobotDrive(2,0,3,1)),
joystick1(new Extreme3dPro(0)){ joystick1(new Extreme3dPro(0)){
hhdrive->SetExpiration(0.1);
hhdrive->SetInvertedMotor(RobotDrive::kFrontRightMotor, true);
hhdrive->SetInvertedMotor(RobotDrive::kRearLeftMotor,true);
} }
void HHRobot::Init(){ void HHRobot::Init(){
printf("Initing\n"); printf("Initing\n");
printf("Code Version: %f\n",0000.1); 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 //Main function used to handle periodic tasks on the robot
void HHRobot::Handler(){ 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 // vim: ts=2:sw=2:et

2
src/HHRobot.h
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@ -5,7 +5,7 @@
#include "hhlib/input/controller/Joystick.h" #include "hhlib/input/controller/Joystick.h"
class HHRobot{ class HHRobot{
private: private:
RobotDrive *hhdrive; CANTalon *tmpMotor1;
Extreme3dPro *joystick1; Extreme3dPro *joystick1;
public: public:
HHRobot(); HHRobot();

27
src/Makefile Normal file
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@ -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

29
src/Makefile.old Normal file
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@ -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