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Code Issues Releases Wiki Activity

Use throttle for power of collector (untested)

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This commit is contained in:
Austen Adler 2015-01-11 02:24:24 +00:00
parent dd03181a04
commit ba21daae67
3 changed files with 22 additions and 20 deletions
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38
src/HHRobot.cpp
View File

@ -4,7 +4,7 @@ HHRobot::HHRobot():
hhdrive(new RobotDrive(2,0,3,1)),
gyro(new Gyro(1)),
collector(new DentCollector(4, 5, 6, 7)),
joystick1(new Extreme3dPro(0)){
driveStick(new Extreme3dPro(0)){
hhdrive->SetExpiration(0.1);
hhdrive->SetInvertedMotor(RobotDrive::kFrontRightMotor, true);
hhdrive->SetInvertedMotor(RobotDrive::kRearLeftMotor,true);
@ -13,32 +13,34 @@ void HHRobot::Init(){
printf("Initing\n");
printf("Code Version: %f\n",0000.1);
gyro->Reset();
//Put table values initally to avoid annoying refreshing
}
//Main function used to handle periodic tasks on the robot
void HHRobot::Handler(){
const float Kp = 0.3;
if(joystick1->GetJoystickButton(1)==1){
hhdrive->MecanumDrive_Cartesian(joystick1->GetJoystickAxis("z"), 0, joystick1->GetJoystickAxis("x"));
}else if(joystick1->GetJoystickButton(2)==1){
hhdrive->MecanumDrive_Cartesian(joystick1->GetJoystickAxis("z"), joystick1->GetJoystickAxis("y"), 0);
}else if(joystick1->GetJoystickButton(3)==1){
hhdrive->Drive(joystick1->GetJoystickAxis("y"), joystick1->GetJoystickAxis("y")*Kp*-gyro->GetAngle());
if(driveStick->GetJoystickButton(1)==1){
hhdrive->MecanumDrive_Cartesian(driveStick->GetJoystickAxis("z"), 0, driveStick->GetJoystickAxis("x"));
}else if(driveStick->GetJoystickButton(2)==1){
hhdrive->MecanumDrive_Cartesian(driveStick->GetJoystickAxis("z"), driveStick->GetJoystickAxis("y"), 0);
}else if(driveStick->GetJoystickButton(3)==1){
hhdrive->Drive(driveStick->GetJoystickAxis("y"), driveStick->GetJoystickAxis("y")*Kp*-gyro->GetAngle());
}else{
hhdrive->MecanumDrive_Cartesian(joystick1->GetJoystickAxis("z"), joystick1->GetJoystickAxis("y"), joystick1->GetJoystickAxis("x"));
hhdrive->MecanumDrive_Cartesian(driveStick->GetJoystickAxis("z"), driveStick->GetJoystickAxis("y"), driveStick->GetJoystickAxis("x"));
}
if(joystick1->GetJoystickButton(11)){
collector->Collect(-1.0f);
}else if(joystick1->GetJoystickButton(12)){
collector->Collect(1.0f);
}else if(joystick1->GetJoystickButton(9)){
collector->Raise(255);
}else if(joystick1->GetJoystickButton(10)){
collector->Raise(1);
if(driveStick->GetJoystickButton(11)==1){
collector->Collect(driveStick->GetThrottle());
}else if(driveStick->GetJoystickButton(12)==1){
collector->Collect(-driveStick->GetThrottle());
}else if(driveStick->GetJoystickButton(9)==1){
collector->Raise(driveStick->GetThrottle());
}else if(driveStick->GetJoystickButton(10)==1){
collector->Raise(-driveStick->GetThrottle());
}else{
collector->Rest();
}
SmartDashboard::PutNumber("hambone1", driveStick->GetThrottle());
SmartDashboard::PutNumber("hambone2", driveStick->GetJoystickAxis("joystick"));
SmartDashboard::PutNumber("hambone3", driveStick->GetRawJoystickAxis(3));
printf("hambone2: %f", driveStick->GetThrottle());
Wait(0.005);
// hhdrive->MecanumDrive_Cartesian(joystick1->GetJoystickAxis("z"), joystick1->GetJoystickAxis("y"), joystick1->GetJoystickAxis("x"));
}
// vim: ts=2:sw=2:et

2
src/HHRobot.h
View File

@ -9,7 +9,7 @@ class HHRobot{
RobotDrive *hhdrive;
Gyro *gyro;
DentCollector *collector;
Extreme3dPro *joystick1;
Extreme3dPro *driveStick;
public:
HHRobot();
void Init();

2
src/hhlib

@ -1 +1 @@
Subproject commit 17606cc482c4cdde363c96fda0b6efd92ccdbad9
Subproject commit 38a965dd1f7c6737f722f56c0f7940805ece9917