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Added camera, fixed binelevator (untested)

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This commit is contained in:
Austen Adler 2015-02-11 18:34:38 -05:00
parent dd0b13c4a9
commit c77ee7a548
3 changed files with 12 additions and 5 deletions
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3
DentRobot.cpp
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@ -13,6 +13,9 @@ DentRobot::DentRobot(){
elevator=new Elevator(); elevator=new Elevator();
binElevator=new BinElevator(); binElevator=new BinElevator();
aut=new Autonomous(); aut=new Autonomous();
CameraServer::GetInstance()->SetQuality(50);
//the camera name (ex "cam0") can be found through the roborio web interface
CameraServer::GetInstance()->StartAutomaticCapture("cam0");
printf("Initialized"); printf("Initialized");
} }
void DentRobot::RobotInit(){ void DentRobot::RobotInit(){

8
RobotMap.h
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@ -8,10 +8,14 @@
#define ELEVATOR_BOTTOM_DIO 0 #define ELEVATOR_BOTTOM_DIO 0
#define ELEVATOR_COLELCT_TOTE_DIO 1 #define ELEVATOR_COLELCT_TOTE_DIO 1
#define ELEVATOR_READY_TOTE_DIO 2 #define ELEVATOR_READY_TOTE_DIO 2
#define ELEVATOR_COLELCT_CAN_DIO 3
#define ELEVATOR_READY_CAN_DIO 4
#define ELEVATOR_TOP_DIO 5 #define ELEVATOR_TOP_DIO 5
// BinElevator
#define BINELEVATOR_CAN 11
#define BINELEVATOR_BOTTOM_DIO 6
#define BINELEVATOR_COLELCT_BIN_DIO 7
#define BINELEVATOR_TOP_DIO 8
// Drivetrain // Drivetrain
#define DRIVE_FRONT_LEFT_CAN 2 #define DRIVE_FRONT_LEFT_CAN 2
#define DRIVE_BACK_LEFT_CAN 3 #define DRIVE_BACK_LEFT_CAN 3

6
Subsystems/BinElevator.cpp
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@ -1,12 +1,12 @@
#include "BinElevator.h" #include "BinElevator.h"
#include "../RobotMap.h" #include "../RobotMap.h"
BinElevator::BinElevator(){ BinElevator::BinElevator(){
motor=new CANTalon(ELEVATOR_CAN); motor=new CANTalon(BINELEVATOR_CAN);
elevatorEncoder=new Encoder(0,1,false); elevatorEncoder=new Encoder(0,1,false);
offset=0; offset=0;
height=0; height=0;
elevatorBottom=new DigitalInput(ELEVATOR_BOTTOM_DIO); elevatorBottom=new DigitalInput(BINELEVATOR_BOTTOM_DIO);
elevatorTop=new DigitalInput(ELEVATOR_TOP_DIO); elevatorTop=new DigitalInput(BINELEVATOR_TOP_DIO);
//SetAbsoluteTolerance(0.004); //SetAbsoluteTolerance(0.004);
} }
void BinElevator::InitDefaultCommand(){ void BinElevator::InitDefaultCommand(){