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Fixed the axis locking

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This commit is contained in:
Adam Long 2015-01-18 09:54:36 +00:00
parent e3b80c6513
commit c45ab0e9a2
2 changed files with 8 additions and 14 deletions
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20
src/HHRobot.cpp
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@ -9,27 +9,21 @@ HHRobot::HHRobot():
}
void HHRobot::Init(){
printf("Initing\n");
AirCompressor->Start();
}
//Main function used to handle periodic tasks on the robot
void HHRobot::Handler(){
//Code to lock the axis when driving
double x,y,z;
if (DriveStick->GetJoystickButton(1)){
y = 0;
z = 0;
}else{
y = DriveStick->GetJoystickAxis("y");
z = DriveStick->GetJoystickAxis("z");
}
if (DriveStick->GetJoystickButton(2)){
x = 0;
z = 0;
}else{
x = DriveStick->GetJoystickAxis("x");
z = DriveStick->GetJoystickAxis("z");
}else{
x = 0;
}
//X axis, Y axis, Z axis, acceleration, threshold, gyro
RobotDrive->handler(x,y,z,0.5,1,0);
y = DriveStick->GetJoystickAxis("y");
z = DriveStick->GetJoystickAxis("z");
//X axis, Y axis, Z axis, sensitivity, mode threshold, gyro
RobotDrive->handler(x,y,z,0.95,DriveStick->GetThrottle(),0);
//Disables the compressor if the battery voltage is detected to be less than 10 volts
if (PowerDistPanel->GetVoltage()<=10){

2
src/hhlib

@ -1 +1 @@
Subproject commit b8306e85030cbd5fea1e15b60b608efc219477b1
Subproject commit 181fb1556d4cc96daa430bfce0fb6ce26c7c90c9