Added basic compressor support

src/CommandBase.cpp

@@ -2,6 +2,7 @@
 #include "Subsystems/Drivetrain.h"
 #include "Subsystems/Collector.h"
 #include "Subsystems/Elevator.h"
+#include "Subsystems/AirCompressor.h"
 #include "Commands/Drive.h"
 #include "Commands/Collect.h"
 #include "Commands/Eject.h"
@@ -10,6 +11,7 @@
 Drivetrain* CommandBase::drivetrain = NULL;
 Collector* CommandBase::collector = NULL;
 Elevator* CommandBase::elevator = NULL;
+AirCompressor* CommandBase::airCompressor = NULL;
 OI* CommandBase::oi = NULL;
 CommandBase::CommandBase(char const *name) : Command(name) {
 }
@@ -20,5 +22,6 @@ void CommandBase::init()
   drivetrain = new Drivetrain();
   collector = new Collector();
   elevator = new Elevator();
+  airCompressor = new AirCompressor();
   oi = new OI();
 }

src/CommandBase.h

@@ -5,6 +5,7 @@
 #include "Subsystems/Drivetrain.h"
 #include "Subsystems/Collector.h"
 #include "Subsystems/Elevator.h"
+#include "Subsystems/AirCompressor.h"
 #include "OI.h"
 #include "WPILib.h"
 
@@ -16,6 +17,7 @@ class CommandBase: public Command {
     static Drivetrain *drivetrain;
     static Collector *collector;
     static Elevator *elevator;
+    static AirCompressor *airCompressor;
     static OI *oi;
 };
 #endif

src/Commands/Compress.cpp

@@ -0,0 +1,18 @@
+#include "Compress.h"
+#include <cmath>
+#include "../DentRobot.h"
+Compress::Compress() : Command("Compress"){
+        Requires(DentRobot::airCompressor);
+}
+void Compress::Initialize(){
+}
+void Compress::Execute(){
+    DentRobot::airCompressor->CreateCompressedAir();
+}
+bool Compress::IsFinished(){
+  return false;
+}
+void Compress::End(){
+}
+void Compress::Interrupted(){
+}

src/Commands/Compress.h

@@ -0,0 +1,18 @@
+#ifndef COMPRESSOR_H
+#define COMPRESSOR_H
+
+#include "../CommandBase.h"
+#include "../DentRobot.h"
+#include "Commands/Command.h"
+#include "WPILib.h"
+
+class Compress: public Command{
+  public:
+    Compress();
+    void Initialize();
+    void Execute();
+    bool IsFinished();
+    void End();
+    void Interrupted();
+};
+#endif

src/DentRobot.cpp

@@ -3,11 +3,13 @@ OI* DentRobot::oi=NULL;
 Collector* DentRobot::collector=NULL;
 Drivetrain* DentRobot::drivetrain=NULL;
 Elevator* DentRobot::elevator=NULL;
+AirCompressor * DentRobot::airCompressor=NULL;
 DentRobot::DentRobot(){
   oi=new OI();
   collector=new Collector();
   drivetrain=new Drivetrain();
   elevator=new Elevator();
+  airCompressor=new AirCompressor();
   printf("Initialized");
 }
 void DentRobot::RobotInit(){

src/DentRobot.h

@@ -5,6 +5,7 @@
 #include "Subsystems/Elevator.h"
 #include "Subsystems/Drivetrain.h"
 #include "Subsystems/Collector.h"
+#include "Subsystems/AirCompressor.h"
 class DentRobot: public IterativeRobot {
 private:
   Command *driveCommand = NULL;
@@ -13,6 +14,7 @@ public:
   static Collector* collector;
   static Drivetrain* drivetrain;
   static Elevator* elevator;
+  static AirCompressor* airCompressor;
   DentRobot();
   void RobotInit();
   void DisabledPeriodic();

src/Subsystems/AirCompressor.cpp

@@ -0,0 +1,14 @@
+#include "AirCompressor.h"
+#include "../RobotMap.h"
+
+AirCompressor::AirCompressor() : Subsystem("AirCompressor") {
+    compressher = new Compressor(31);
+}
+void AirCompressor::InitDefaultCommand() {
+}
+void AirCompressor::CreateCompressedAir() {
+    compressher->Start();
+}
+void AirCompressor::StopCreatingCompressedAir() {
+    compressher->Stop();
+}

src/Subsystems/AirCompressor.h

@@ -0,0 +1,15 @@
+#ifndef AIRCOMPRESSOR_H
+#define AIRCOMPRESSOR_H
+
+#include "WPILib.h"
+class AirCompressor: public Subsystem
+{
+  private:
+      Compressor *compressher;
+  public:
+    AirCompressor();
+    void InitDefaultCommand();
+    void CreateCompressedAir();
+    void StopCreatingCompressedAir();
+};
+#endif

src/Subsystems/Drivetrain.cpp

@@ -15,7 +15,6 @@ void Drivetrain::DriveMecanum(float x, float y, float z, float sensitivity, floa
     double correctY = (sensitivity*(pow(y,3))+(1-sensitivity)*y);
     double correctX = -(sensitivity*(pow(x,3))+(1-sensitivity)*x);
     double correctZ = -z *.5;
-    double slowfactor = 2.5;
     rightFront->Set((-correctX + correctY - correctZ));
     leftFront->Set((correctX + correctY + correctZ)*-1);
     rightRear->Set((correctX + correctY - correctZ));