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Code Issues Releases Wiki Activity

Changed CAN Talons to Victors

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This commit is contained in:
Austen Adler 2015-03-09 18:23:28 -04:00
parent d9aee4a6f1
commit 9d46c0da74
11 changed files with 32 additions and 32 deletions
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8
Commands/Test/CheckDrive.cpp
View File

@ -12,16 +12,16 @@ void CheckDrive::Initialize(){
}
void CheckDrive::Execute(){
switch(motor){
case DRIVE_FRONT_LEFT_CAN:
case DRIVE_FRONT_LEFT:
DentRobot::drivetrain->TestMotor(DentRobot::drivetrain->FRONTLEFT, 1);
break;
case DRIVE_FRONT_RIGHT_CAN:
case DRIVE_FRONT_RIGHT:
DentRobot::drivetrain->TestMotor(DentRobot::drivetrain->FRONTRIGHT, 1);
break;
case DRIVE_BACK_LEFT_CAN:
case DRIVE_BACK_LEFT:
DentRobot::drivetrain->TestMotor(DentRobot::drivetrain->BACKLEFT, 1);
break;
case DRIVE_BACK_RIGHT_CAN:
case DRIVE_BACK_RIGHT:
DentRobot::drivetrain->TestMotor(DentRobot::drivetrain->BACKRIGHT, 1);
break;
default:

8
Commands/Test/CheckRobot.cpp
View File

@ -5,9 +5,9 @@
#include "CheckRobot.h"
#include "CheckDrive.h"
CheckRobot::CheckRobot(){
AddSequential(new CheckDrive(DRIVE_FRONT_LEFT_CAN));
AddSequential(new CheckDrive(DRIVE_FRONT_RIGHT_CAN));
AddSequential(new CheckDrive(DRIVE_BACK_LEFT_CAN));
AddSequential(new CheckDrive(DRIVE_BACK_RIGHT_CAN));
AddSequential(new CheckDrive(DRIVE_FRONT_LEFT));
AddSequential(new CheckDrive(DRIVE_FRONT_RIGHT));
AddSequential(new CheckDrive(DRIVE_BACK_LEFT));
AddSequential(new CheckDrive(DRIVE_BACK_RIGHT));
}
// vim: ts=2:sw=2:et

20
RobotMap.h
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@ -6,7 +6,7 @@
#define CODE_VERSION 1.0
// Elevator
#define ELEVATOR_CAN 1
#define ELEVATOR 1
#define ELEVATOR_BOTTOM_DIO 9
#define ELEVATOR_MIDDLE_DIO 8
#define ELEVATOR_TOP_DIO 7
@ -14,7 +14,7 @@
#define ELEVATOR_ENCODERB 9
// BinElevator
#define BINELEVATOR_CAN 10
#define BINELEVATOR 0
#define BINELEVATOR_BOTTOM_DIO 6
#define BINELEVATOR_COLELCT_BIN_DIO 7
#define BINELEVATOR_TOP_DIO 12
@ -24,16 +24,16 @@
#define BINELEVATOR_SOLDENOID_TWO 7
// Drivetrain
#define DRIVE_FRONT_LEFT_CAN 8
#define DRIVE_BACK_LEFT_CAN 3
#define DRIVE_FRONT_RIGHT_CAN 4
#define DRIVE_BACK_RIGHT_CAN 5
#define DRIVE_FRONT_LEFT 8
#define DRIVE_BACK_LEFT 3
#define DRIVE_FRONT_RIGHT 4
#define DRIVE_BACK_RIGHT 5
// Collector
#define COLLECTOR_RAMP_CAN 7
#define COLLECTOR_LEFT_CAN 2
#define COLLECTOR_BOTTOM_CAN 11
#define COLLECTOR_RIGHT_CAN 9
#define COLLECTOR_RAMP 7
#define COLLECTOR_LEFT 2
#define COLLECTOR_BOTTOM 11
#define COLLECTOR_RIGHT 9
#define COLLECTOR_SONAR_ANALOG 3
#endif

2
Subsystems/BinElevator.cpp
View File

@ -1,7 +1,7 @@
#include "BinElevator.h"
#include "../RobotMap.h"
BinElevator::BinElevator(){
motor=new CANTalon(BINELEVATOR_CAN);
motor=new Victor(BINELEVATOR);
elevatorEncoder=new Encoder(BINELEVATOR_ENCODERA, BINELEVATOR_ENCODERB, false);
elevatorBottom=new DigitalInput(BINELEVATOR_BOTTOM_DIO);
elevatorTop=new DigitalInput(BINELEVATOR_TOP_DIO);

2
Subsystems/BinElevator.h
View File

@ -8,7 +8,7 @@
*/
class BinElevator{
private:
CANTalon *motor; //<! The bin elevator motor
Victor *motor; //<! The bin elevator motor
Encoder *elevatorEncoder; //<! The bin elevator encoder (unused)
DigitalInput *elevatorBottom, //<! The bottom bin elevator sensor (unused)
*elevatorTop; //<! The top bin elevator sensor (unuesd)

8
Subsystems/Collector.cpp
View File

@ -2,10 +2,10 @@
#include "../RobotMap.h"
Collector::Collector(): Subsystem("Collector"){
collectorMotorLeft=new CANTalon(COLLECTOR_LEFT_CAN);
collectorMotorBottom=new CANTalon(COLLECTOR_BOTTOM_CAN);
collectorMotorRamp=new CANTalon(COLLECTOR_RAMP_CAN);
collectorMotorRight=new CANTalon(COLLECTOR_RIGHT_CAN);
collectorMotorLeft=new Victor(COLLECTOR_LEFT);
collectorMotorBottom=new Victor(COLLECTOR_BOTTOM);
collectorMotorRamp=new Victor(COLLECTOR_RAMP);
collectorMotorRight=new Victor(COLLECTOR_RIGHT);
sonarAnalog=new AnalogInput(COLLECTOR_SONAR_ANALOG);
}
void Collector::InitDefaultCommand(){

2
Subsystems/Collector.h
View File

@ -9,7 +9,7 @@
*/
class Collector: public Subsystem{
private:
CANTalon *collectorMotorLeft, //<! Left collector motor
Victor *collectorMotorLeft, //<! Left collector motor
*collectorMotorBottom, //<! Bottom collctor motor
*collectorMotorRamp, //<! Ramp collctor motor
*collectorMotorRight; //<! Right collector motor

8
Subsystems/Drivetrain.cpp
View File

@ -3,10 +3,10 @@
#include "../Commands/Drivetrain/Drive.h"
Drivetrain::Drivetrain(): Subsystem("Drivetrain"){
rightFront = new CANTalon(DRIVE_FRONT_RIGHT_CAN);
leftFront = new CANTalon(DRIVE_FRONT_LEFT_CAN);
rightRear = new CANTalon(DRIVE_BACK_RIGHT_CAN);
leftRear = new CANTalon(DRIVE_BACK_LEFT_CAN);
rightFront = new Victor(DRIVE_FRONT_RIGHT);
leftFront = new Victor(DRIVE_FRONT_LEFT);
rightRear = new Victor(DRIVE_BACK_RIGHT);
leftRear = new Victor(DRIVE_BACK_LEFT);
}
void Drivetrain::InitDefaultCommand(){
SetDefaultCommand(new Drive());

2
Subsystems/Drivetrain.h
View File

@ -9,7 +9,7 @@
*/
class Drivetrain: public Subsystem{
private:
CANTalon *rightFront, //<! Front right motor
Victor *rightFront, //<! Front right motor
*leftFront, //<! Front left motor
*rightRear, //<! Back right motor
*leftRear; //<! Back left motor

2
Subsystems/Elevator.cpp
View File

@ -1,7 +1,7 @@
#include "Elevator.h"
#include "../RobotMap.h"
Elevator::Elevator(){
motor=new CANTalon(ELEVATOR_CAN);
motor=new Victor(ELEVATOR);
elevatorEncoder=new Encoder(ELEVATOR_ENCODERA, ELEVATOR_ENCODERB, false);
elevatorBottom=new DigitalInput(ELEVATOR_BOTTOM_DIO);
elevatorMiddle=new DigitalInput(ELEVATOR_MIDDLE_DIO);

2
Subsystems/Elevator.h
View File

@ -7,7 +7,7 @@
*/
class Elevator{
private:
CANTalon *motor; //<! The elevator motor
Victor *motor; //<! The elevator motor
Encoder *elevatorEncoder; //<! The elevator encoder (unused)
DigitalInput *elevatorBottom, //<! The bottom elevator sensor
*elevatorMiddle, //<! The middle elevator sensor