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Merge feature/command-based with t

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This commit is contained in:
Adam Long 2015-02-02 17:39:06 +00:00
commit 7872ab3890
3 changed files with 16 additions and 12 deletions
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4
Commands/Calibrate.cpp
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@ -11,8 +11,8 @@ void Calibrate::Execute(){
} }
bool Calibrate::IsFinished(){ bool Calibrate::IsFinished(){
if(DentRobot::dio->Get(DIO::ELEVATORBOTTOM)){ if(DentRobot::dio->Get(DIO::ELEVATORBOTTOM)){
// 0.99 is a placeholder for the height of the limit switches DentRobot::elevator->ResetEncoder();
DentRobot::elevator->SetHeight(0.99); DentRobot::elevator->SetOffset(0.99);
return true; return true;
} }
return false; return false;

17
Subsystems/Elevator.cpp
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@ -2,8 +2,10 @@
#include "../RobotMap.h" #include "../RobotMap.h"
Elevator::Elevator()/* : PIDSubsystem("Elevator", kP_real, kI_real, 0.0)*/{ Elevator::Elevator()/* : PIDSubsystem("Elevator", kP_real, kI_real, 0.0)*/{
pot=new AnalogPotentiometer(0); pot=new AnalogPotentiometer(0);
leftMotor=new Talon(1); leftMotor=new CANTalon(1);
rightMotor=new Talon(0); rightMotor=new CANTalon(0);
elevatorEncoder=new Encoder(0,1,false);
offset=0;
height=0; height=0;
//SetAbsoluteTolerance(0.004); //SetAbsoluteTolerance(0.004);
} }
@ -13,14 +15,15 @@ float Elevator::GetPotValue(){
return pot->Get(); return pot->Get();
} }
void Elevator::Run(double power){ void Elevator::Run(double power){
// Height supposed to be the location of the elevator
//height+=power;
leftMotor->Set(power); leftMotor->Set(power);
rightMotor->Set(power); rightMotor->Set(power);
} }
void Elevator::SetHeight(double ht){ void Elevator::SetOffset(double ht){
height=ht; offset=ht;
}
void Elevator::ResetEncoder(){
elevatorEncoder->Reset();
} }
double Elevator::GetHeight(){ double Elevator::GetHeight(){
return height; return elevatorEncoder->Get()+offset;
} }

7
Subsystems/Elevator.h
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@ -6,15 +6,16 @@
class Elevator/*: public PIDSubsystem*/{ class Elevator/*: public PIDSubsystem*/{
private: private:
AnalogPotentiometer *pot; AnalogPotentiometer *pot;
Talon *leftMotor, *rightMotor; CANTalon *leftMotor, *rightMotor;
Encoder *elevatorEncoder;
static constexpr double kP_real=4, kI_real=.0f, kP_simulation=18, kI_simulation=.2; static constexpr double kP_real=4, kI_real=.0f, kP_simulation=18, kI_simulation=.2;
double height; double offset, height;
public: public:
Elevator(); Elevator();
void InitDefaultCommand(); void InitDefaultCommand();
float GetPotValue(); float GetPotValue();
void Run(double); void Run(double);
void SetHeight(double); void SetOffset(double);
double GetHeight(); double GetHeight();
}; };
#endif #endif