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Added independent speed control for collector motors

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This commit is contained in:
Adam Long 2015-03-21 11:23:29 +00:00
parent a440280b82
commit 76e282b413
2 changed files with 7 additions and 4 deletions
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5
Commands/Collector/RollVar.cpp
View File

@ -8,9 +8,8 @@ void RollVar::Initialize(){
Requires(DentRobot::drivetrain);
}
void RollVar::Execute(){
DentRobot::collector->MoveRollers(DentRobot::oi->GetLeftThrottle() * 1.0);
DentRobot::collector->MoveLeftRoller(speed*DentRobot::oi->GetLeftStick()->GetRawAxis(2));
DentRobot::collector->MoveRightRoller(speed*-DentRobot::oi->GetLeftStick()->GetRawAxis(2));
DentRobot::collector->MoveLeftRoller(1-(speed*(DentRobot::oi->GetLeftStick()->GetRawAxis(2)+1)/2));
DentRobot::collector->MoveRightRoller(-(speed*(DentRobot::oi->GetLeftStick()->GetRawAxis(2)+1)/2));
DentRobot::collector->MoveBottomRollers(speed*1.0);
}
bool RollVar::IsFinished(){

4
Commands/Drivetrain/Drive.cpp
View File

@ -22,8 +22,12 @@ void Drive::Execute(){
x = -x;
y = -y;
}
if(DentRobot::oi->GetLeftStick()->GetRawButton(7)){
DentRobot::drivetrain->DriveMecanum(0.0, 0.0, 0.0, 0.9);
}else{
DentRobot::drivetrain->DriveMecanum(x, y, z, 0.9);
}
}
bool Drive::IsFinished(){
return IsTimedOut();
}