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Added mecanum drive (kinda works maybe)

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This commit is contained in:
Adam Long 2015-01-16 19:48:58 +00:00
parent 32154cf6aa
commit 4c1e3d1767
5 changed files with 15 additions and 18 deletions
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8
src/HHRobot.cpp
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@ -1,8 +1,9 @@
#include "HHRobot.h" #include "HHRobot.h"
#include "HHBase.h" #include "HHBase.h"
HHRobot::HHRobot(): HHRobot::HHRobot():
tmpMotor1(new CANTalon(0)), DriveStick(new Extreme3dPro(0)),
joystick1(new Extreme3dPro(0)){ //FrontRight,FrontLeft,RearRight,RearLeft
RobotDrive(new MecanumDrive(40,41,42,43)){
} }
void HHRobot::Init(){ void HHRobot::Init(){
printf("Initing\n"); printf("Initing\n");
@ -10,7 +11,6 @@ void HHRobot::Init(){
} }
//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(){
tmpMotor1->Set(joystick1->GetJoystickAxis("y")); RobotDrive->handler(DriveStick->GetJoystickAxis("x"),DriveStick->GetJoystickAxis("y"),DriveStick->GetJoystickAxis("z"),0);
SmartDashboard::PutNumber("tmp",joystick1->GetJoystickAxis("y"));
} }
// vim: ts=2:sw=2:et // vim: ts=2:sw=2:et

5
src/HHRobot.h
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@ -3,10 +3,11 @@
#include <WPILib.h> #include <WPILib.h>
#include "HHBase.h" #include "HHBase.h"
#include "hhlib/input/controller/Joystick.h" #include "hhlib/input/controller/Joystick.h"
#include "hhlib/drive/MecanumDrive.h"
class HHRobot{ class HHRobot{
private: private:
CANTalon *tmpMotor1; Extreme3dPro *DriveStick;
Extreme3dPro *joystick1; MecanumDrive *RobotDrive;
public: public:
HHRobot(); HHRobot();
void Init(); void Init();

7
src/Makefile
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@ -1,12 +1,11 @@
REMOTEIP=10.20.59.2
CC=arm-frc-linux-gnueabi-g++ CC=arm-frc-linux-gnueabi-g++
CFLAGS=-std=c++11 -O0 -g3 -Wall -c -fmessage-length=0 CFLAGS=-std=c++11 -O0 -g3 -Wall -c -fmessage-length=0
LDFLAGS=-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a LDFLAGS=-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a
SOURCES=$(shell find -type f -name "*.cpp") SOURCES=$(shell find -type f -name "*.cpp")
OBJECTS=$(SOURCES:.cpp=.o) OBJECTS=$(SOURCES:.cpp=.o)
WPILIB=/var/frc/wpilib WPILIB=/var/frc/wpilib EXEC=bin/FRCUserProgram
EXEC=bin/FRCUserProgram
CLEANSER=rm -r CLEANSER=rm -r
REMOTEIP=10.20.59.2
all : $(OBJECTS) all : $(OBJECTS)
$(CC) -L$(WPILIB)/lib $(LDFLAGS) -o $(EXEC) $(OBJECTS) -lwpi $(CC) -L$(WPILIB)/lib $(LDFLAGS) -o $(EXEC) $(OBJECTS) -lwpi
@ -15,7 +14,7 @@ all : $(OBJECTS)
$(CC) $(CFLAGS) -I$(WPILIB)/include $^ -o $@ $(CC) $(CFLAGS) -I$(WPILIB)/include $^ -o $@
clean: clean:
$(CLEANSER) $(OBJECTS) $(CLEANSER) $(OBJECTS) bin/FRCUserProgram
deploy: deploy:
@cat bin/FRCUserProgram | ssh admin@$(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' @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'

11
src/Makefile.old
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@ -1,12 +1,11 @@
REMOTEIP=10.20.59.2
CC=arm-frc-linux-gnueabi-g++ CC=arm-frc-linux-gnueabi-g++
CFLAGS=-std=c++11 -O0 -g3 -Wall -c -fmessage-length=0 CFLAGS=-std=c++11 -O0 -g3 -Wall -c -fmessage-length=0
LDFLAGS=-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a LDFLAGS=-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a
SOURCES=$(shell find -type f -name "*.cpp") SOURCES=$(shell find -type f -name "*.cpp")
OBJECTS=$(SOURCES:.cpp=.o) OBJECTS=$(SOURCES:.cpp=.o)
WPILIB=/var/frc/wpilib WPILIB=/var/frc/wpilib EXEC=bin/FRCUserProgram
EXEC=bin/FRCUserProgram
CLEANSER=rm -r CLEANSER=rm -r
REMOTEIP=10.0.1.31
all : $(OBJECTS) all : $(OBJECTS)
$(CC) -L$(WPILIB)/lib $(LDFLAGS) -o $(EXEC) $(OBJECTS) -lwpi $(CC) -L$(WPILIB)/lib $(LDFLAGS) -o $(EXEC) $(OBJECTS) -lwpi
@ -15,12 +14,10 @@ all : $(OBJECTS)
$(CC) $(CFLAGS) -I$(WPILIB)/include $^ -o $@ $(CC) $(CFLAGS) -I$(WPILIB)/include $^ -o $@
clean: clean:
$(CLEANSER) $(OBJECTS) $(CLEANSER) $(OBJECTS) bin/FRCUserProgram
deploy: deploy:
@ssh -v admin@$(REMOTEIP) "rm /home/lvuser/FRCUserProgram" @cat bin/FRCUserProgram | ssh admin@$(REMOTEIP) 'cat > /home/lvuser/FRCUserProgram2&&rm /home/lvuser/FRCUserProgram;mv /home/lvuser/FRCUserProgram2 /home/lvuser/FRCUserProgram&&. /etc/profile.d/natinst-path.sh;chmod a+x /home/lvuser/FRCUserProgram;/usr/local/frc/bin/frcKillRobot.sh -t -r'
@scp bin/FRCUserProgram admin@$(REMOTEIP)
@ssh -v admin@$(REMOTEIP) "/etc/profile.d/natinst-path.sh; chmod a+x /home/lvuser/FRCUserProgram; /usr/local/frc/bin/frcKillRobot.sh -t -r"
putkey: putkey:
@test -d ~/.ssh||mkdir ~/.ssh;test -f ~/.ssh/id_rsa||ssh-keygen -t rsa -f ~/.ssh/id_rsa -b 4096 -q -N '';cat ~/.ssh/id_rsa.pub|ssh -v admin@$(REMOTEIP) 'cat >> /tmp/key;mkdir -p ~/.ssh;cat /tmp/key >> ~/.ssh/authorized_keys;rm /tmp/key' @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'

2
src/hhlib

@ -1 +1 @@
Subproject commit 17606cc482c4cdde363c96fda0b6efd92ccdbad9 Subproject commit b8306e85030cbd5fea1e15b60b608efc219477b1