team2059/dent
2
0
Fork 0
mirror of https://github.com/team2059/Dent synced 2025-01-07 22:14:14 -05:00
Code Issues Releases Wiki Activity

Use throttle for power of collector (untested)

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

38
src/HHRobot.cpp
View File

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

2
src/HHRobot.h
View File

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

2
src/hhlib

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