team2059/dent
2
0
Fork 0
mirror of https://github.com/team2059/Dent synced 2024-12-18 20:52:29 -05:00
Code Issues Releases Wiki Activity

Minor fixes (untested)

Browse Source
This commit is contained in:
Austen Adler 2015-02-06 20:38:02 -05:00
parent 32834cc28b
commit 4494b9131a
6 changed files with 9 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
Commands/Autonomous/AutoDrive.cpp
View File

@ -1,6 +1,7 @@
#include "AutoDrive.h" #include "AutoDrive.h"
#include <cmath> #include <cmath>
#include "../../DentRobot.h" #include "../../DentRobot.h"
// Drive for a short while then stop. Just for testing
AutoDrive::AutoDrive() : Command("AutoDrive"){ AutoDrive::AutoDrive() : Command("AutoDrive"){
Requires(DentRobot::drivetrain); Requires(DentRobot::drivetrain);
SetTimeout(1.0); SetTimeout(1.0);

1
Commands/Collector/CollectTote.cpp
View File

@ -3,6 +3,7 @@ CollectTote::CollectTote() : Command("CollectTote"){
Requires(DentRobot::collector); Requires(DentRobot::collector);
} }
void CollectTote::Initialize(){ void CollectTote::Initialize(){
SetTimeout(2.0);
} }
void CollectTote::Execute(){ void CollectTote::Execute(){
//TODO check this value to move the motors in the right direction //TODO check this value to move the motors in the right direction

3
Commands/Collector/OpenCollector.cpp
View File

@ -3,10 +3,11 @@ OpenCollector::OpenCollector() : Command("OpenCollector"){
Requires(DentRobot::collector); Requires(DentRobot::collector);
} }
void OpenCollector::Initialize(){ void OpenCollector::Initialize(){
SetTimeout(0.5);
} }
void OpenCollector::Execute(){ void OpenCollector::Execute(){
//TODO check this value to move the motors in the right direction //TODO check this value to move the motors in the right direction
DentRobot::collector->MoveArms(-0.1); DentRobot::collector->MoveArms(-0.1f);
} }
bool OpenCollector::IsFinished(){ bool OpenCollector::IsFinished(){
return DentRobot::collector->ArmSensor(); return DentRobot::collector->ArmSensor();

4
Commands/Collector/ReleaseTote.cpp
View File

@ -3,11 +3,13 @@ ReleaseTote::ReleaseTote() : Command("ReleaseTote"){
Requires(DentRobot::collector); Requires(DentRobot::collector);
} }
void ReleaseTote::Initialize(){ void ReleaseTote::Initialize(){
SetTimeout(2.0);
} }
void ReleaseTote::Execute(){ void ReleaseTote::Execute(){
//TODO check this value to move the motors in the right direction //TODO check this value to move the motors in the right direction
printf("releasing tote\n"); printf("releasing tote\n");
DentRobot::collector->MoveRollers((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2); // Devide by 2 twice because this speed should be half the collector speed
DentRobot::collector->MoveRollers((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2/2);
} }
bool ReleaseTote::IsFinished(){ bool ReleaseTote::IsFinished(){
return DentRobot::collector->BoxCollected(); return DentRobot::collector->BoxCollected();

2
Subsystems/Collector.cpp
View File

@ -10,7 +10,7 @@ Collector::Collector() : Subsystem("Collector") {
} }
void Collector::InitDefaultCommand() { void Collector::InitDefaultCommand() {
} }
void Collector::MoveArms(float a){ void Collector::MoveArms(double a){
windowMotorLeft->Set(a); windowMotorLeft->Set(a);
windowMotorRight->Set(-a); windowMotorRight->Set(-a);
} }

2
Subsystems/Collector.h
View File

@ -10,7 +10,7 @@ class Collector: public Subsystem
public: public:
Collector(); Collector();
void InitDefaultCommand(); void InitDefaultCommand();
void MoveArms(float); void MoveArms(double);
void MoveRollers(double); void MoveRollers(double);
bool ArmSensor(); bool ArmSensor();
bool BoxCollected(); bool BoxCollected();