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Code Issues Releases Wiki Activity

Fixed the driving

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This commit is contained in:
Adam Long 2015-01-19 17:08:25 +00:00
parent 213464dd64
commit d61da0b436
6 changed files with 33 additions and 24 deletions
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25
src/Commands/Drive.cpp
View File

@ -7,17 +7,22 @@ Drive::Drive() : Command("Drive"){
void Drive::Initialize(){
}
void Drive::Execute(){
static float sens=0.7;
float x, y, twist;
x=DentRobot::oi->GetLeftStick()->GetRawAxis(0);
y=DentRobot::oi->GetLeftStick()->GetRawAxis(1);
twist=DentRobot::oi->GetLeftStick()->GetRawAxis(2);
if(true){
x=sens*std::pow(x, 3)+(1.0f-sens)*x;
y=sens*std::pow(y, 3)+(1.0f-sens)*y;
double x,y,z;
//Code to lock the x axis when not holding button 1
if (DentRobot::oi->GetLeftStick()->GetRawButton(1)){
x = DentRobot::oi->GetLeftStick()->GetRawAxis(0);
x /= 1.3;
}else{
x = 0;
}
//DentRobot::drivetrain->DriveMecanum(DentRobot::oi->GetLeftStick()->GetRawAxis(2), DentRobot::oi->GetLeftStick()->GetRawAxis(1), DentRobot::oi->GetLeftStick()->GetRawAxis(0));
DentRobot::drivetrain->DriveMecanum(x, y, twist);
z = DentRobot::oi->GetLeftStick()->GetRawAxis(2);
y = DentRobot::oi->GetLeftStick()->GetRawAxis(1);
if (DentRobot::oi->GetLeftStick()->GetRawAxis(3)<=0.5){
y /= 2;
z /= 2;
}
//X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
DentRobot::drivetrain->DriveMecanum(x,y,z,0.9,0);
}
bool Drive::IsFinished(){
return false;

23
src/Subsystems/Drivetrain.cpp
View File

@ -3,18 +3,21 @@
#include "../Commands/Drive.h"
Drivetrain::Drivetrain() : Subsystem("Drivetrain"){
frontLeft=new CANTalon(40);
frontRight=new CANTalon(41);
backLeft=new CANTalon(42);
backRight=new CANTalon(43);
drive=new RobotDrive(frontLeft, frontRight, backLeft, backRight);
rightFront = new CANTalon(40);
leftFront = new CANTalon(41);
rightRear = new CANTalon(42);
leftRear = new CANTalon(43);
}
void Drivetrain::InitDefaultCommand(){
SetDefaultCommand(new Drive());
}
void Drivetrain::DriveMecanum(float x, float y, float rotation){
drive->MecanumDrive_Cartesian(x, y, rotation);
}
void Drivetrain::DriveArcade(float x, float y){
drive->ArcadeDrive(x, y);
void Drivetrain::DriveMecanum(float x, float y, float z, float sensitivity, float gyro){
double correctY = (sensitivity*(pow(y,3))+(1-sensitivity)*y);
double correctX = -(sensitivity*(pow(x,3))+(1-sensitivity)*x);
double correctZ = -z *.5;
double slowfactor = 2.5;
rightFront->Set((-correctX + correctY - correctZ));
leftFront->Set((correctX + correctY + correctZ)*-1);
rightRear->Set((correctX + correctY - correctZ));
leftRear->Set((-correctX + correctY + correctZ)*-1);
}

4
src/Subsystems/Drivetrain.h
View File

@ -5,12 +5,12 @@
class Drivetrain: public Subsystem
{
private:
CANTalon *frontLeft, *frontRight, *backLeft, *backRight;
CANTalon *rightFront, *leftFront, *rightRear, *leftRear;
RobotDrive *drive;
public:
Drivetrain();
void InitDefaultCommand();
void DriveMecanum(float, float, float);
void DriveMecanum(float,float,float,float,float);
void DriveArcade(float, float);
};
#endif

2
src/Subsystems/Elevator.cpp
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@ -1,6 +1,6 @@
#include "Elevator.h"
#include "../RobotMap.h"
Elevator::Elevator() : PIDSubsystem("Elevator", kP_real, kI_real, 0.0){
Elevator::Elevator()/* : PIDSubsystem("Elevator", kP_real, kI_real, 0.0)*/{
pot=new AnalogPotentiometer(0);
leftMotor=new Talon(1);
rightMotor=new Talon(0);

2
src/Subsystems/Elevator.h
View File

@ -3,7 +3,7 @@
#include "WPILib.h"
#include "Commands/PIDSubsystem.h"
class Elevator: public PIDSubsystem{
class Elevator/*: public PIDSubsystem*/{
private:
AnalogPotentiometer *pot;
Talon *leftMotor, *rightMotor;

1
src/hhlib Submodule

@ -0,0 +1 @@
Subproject commit 181fb1556d4cc96daa430bfce0fb6ce26c7c90c9