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Code Issues Releases Wiki Activity

Minor collector improvements

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This commit is contained in:
Austen Adler 2015-02-14 16:16:03 -05:00
parent c8acfae930
commit 5aab16c8b1
5 changed files with 5 additions and 15 deletions
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2
Commands/Collector/RollIn.cpp
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@ -10,7 +10,7 @@ void RollIn::Execute(){
DentRobot::collector->MoveRollers(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2); DentRobot::collector->MoveRollers(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
} }
bool RollIn::IsFinished(){ bool RollIn::IsFinished(){
return DentRobot::collector->BoxCollected()||IsTimedOut(); return IsTimedOut();
} }
void RollIn::End(){ void RollIn::End(){
DentRobot::collector->MoveRollers(0.0); DentRobot::collector->MoveRollers(0.0);

2
Commands/Collector/RollOut.cpp
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@ -11,7 +11,7 @@ void RollOut::Execute(){
DentRobot::collector->MoveRollers((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2/2); DentRobot::collector->MoveRollers((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2/2);
} }
bool RollOut::IsFinished(){ bool RollOut::IsFinished(){
return DentRobot::collector->BoxCollected(); return IsTimedOut();
} }
void RollOut::End(){ void RollOut::End(){
DentRobot::collector->MoveRollers(0.0f); DentRobot::collector->MoveRollers(0.0f);

2
Commands/Drivetrain/Drive.cpp
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@ -21,7 +21,7 @@ void Drive::Execute(){
DentRobot::drivetrain->DriveMecanum(x,y,z,0.9,0); DentRobot::drivetrain->DriveMecanum(x,y,z,0.9,0);
} }
bool Drive::IsFinished(){ bool Drive::IsFinished(){
return false; return IsTimedOut();
} }
void Drive::End(){ void Drive::End(){
} }

12
Subsystems/Collector.cpp
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@ -1,24 +1,16 @@
#include "Collector.h" #include "Collector.h"
#include "../RobotMap.h" #include "../RobotMap.h"
Collector::Collector() : Subsystem("Collector") { Collector::Collector() : Subsystem("Collector"){
collectorMotorLeft=new CANTalon(COLLECTOR_LEFT_CAN); collectorMotorLeft=new CANTalon(COLLECTOR_LEFT_CAN);
collectorMotorBottom=new CANTalon(COLLECTOR_BOTTOM_CAN); collectorMotorBottom=new CANTalon(COLLECTOR_BOTTOM_CAN);
collectorMotorRight=new CANTalon(COLLECTOR_RIGHT_CAN); collectorMotorRight=new CANTalon(COLLECTOR_RIGHT_CAN);
} }
void Collector::InitDefaultCommand() { void Collector::InitDefaultCommand(){
} }
void Collector::MoveRollers(double a){ void Collector::MoveRollers(double a){
collectorMotorLeft->Set(a); collectorMotorLeft->Set(a);
collectorMotorBottom->Set(a); collectorMotorBottom->Set(a);
collectorMotorRight->Set(-a); collectorMotorRight->Set(-a);
} }
bool Collector::ArmSensor(){
// TODO: include limit switch code
return false;
}
bool Collector::BoxCollected(){
return false;
//return boxSwitch->Get();
}
// vim: ts=2:sw=2:et // vim: ts=2:sw=2:et

2
Subsystems/Collector.h
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@ -10,8 +10,6 @@ class Collector: public Subsystem
Collector(); Collector();
void InitDefaultCommand(); void InitDefaultCommand();
void MoveRollers(double); void MoveRollers(double);
bool ArmSensor();
bool BoxCollected();
}; };
#endif #endif
// vim: ts=2:sw=2:et // vim: ts=2:sw=2:et