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Code Issues Releases Wiki Activity

Added pretest code (not working)

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This commit is contained in:
Adam Long 2015-02-07 14:17:20 +00:00
parent 3b63c6ff1e
commit e2a9a695ae
7 changed files with 117 additions and 15 deletions
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17
Commands/Autonomous/Autonomous.cpp
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@ -1,20 +1,7 @@
#include "Autonomous.h"
#include "AutoDrive.h"
#include <cmath>
#include "Commands/CommandGroup.h"
#include "../../DentRobot.h"
Autonomous::Autonomous() : CommandGroup("Autonomous"){
#include ""
Autonomous::Autonomous(){
AddSequential(new AutoDrive());
}
void Autonomous::Initialize(){
}
void Autonomous::Execute(){
}
bool Autonomous::IsFinished(){
return false;
}
void Autonomous::End(){
}
void Autonomous::Interrupted(){
End();
}

11
Commands/Test/Check.cpp Normal file
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@ -0,0 +1,11 @@
#include "Check.h"
#include "Commands/CommandGroup.h"
#include "../../DentRobot.h"
#include "../../RobotMap.h"
#include "CheckDrive.h"
Check::Check(){
AddSequential(new CheckDrive(DRIVE_FRONT_LEFT_CAN));
AddSequential(new CheckDrive(DRIVE_FRONT_RIGHT_CAN));
AddSequential(new CheckDrive(DRIVE_BACK_LEFT_CAN));
AddSequential(new CheckDrive(DRIVE_BACK_RIGHT_CAN));
}

20
Commands/Test/Check.h Normal file
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@ -0,0 +1,20 @@
#ifndef CHECK_H
#define CHECK_H
#include "Commands/Command.h"
#include "../../CommandBase.h"
#include "../../DentRobot.h"
#include "WPILib.h"
class Check: public CommandGroup{
private:
int motor;
public:
Check();
void Initialize();
void Execute();
bool IsFinished();
void End();
void Interrupted();
};
#endif

37
Commands/Test/CheckDrive.cpp Normal file
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@ -0,0 +1,37 @@
#include "CheckDrive.h"
#include <cmath>
#include "Commands/CommandGroup.h"
#include "../../DentRobot.h"
#include "../../RobotMap.h"
CheckDrive::CheckDrive(int motorID) : CommandGroup("CheckDrive"){
Requires(DentRobot::drivetrain);
}
void CheckDrive::Initialize(){
SetTimeout(1.0);
}
void CheckDrive::Execute(){
switch(motor){
case DRIVE_FRONT_LEFT_CAN:
DentRobot::drivetrain->TestMotor(DentRobot::drivetrain->FRONTLEFT,1);
break;
case DRIVE_FRONT_RIGHT_CAN:
DentRobot::drivetrain->TestMotor(DentRobot::drivetrain->FRONTRIGHT,1);
break;
case DRIVE_BACK_LEFT_CAN:
DentRobot::drivetrain->TestMotor(DentRobot::drivetrain->BACKLEFT,1);
break;
case DRIVE_BACK_RIGHT_CAN:
DentRobot::drivetrain->TestMotor(DentRobot::drivetrain->BACKRIGHT,1);
break;
default:
break;
}
}
bool CheckDrive::IsFinished(){
return false;
}
void CheckDrive::End(){
}
void CheckDrive::Interrupted(){
End();
}

20
Commands/Test/CheckDrive.h Normal file
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@ -0,0 +1,20 @@
#ifndef CHECKDRIVE_H
#define CHECKDRIVE_H
#include "Commands/Command.h"
#include "../../CommandBase.h"
#include "../../DentRobot.h"
#include "WPILib.h"
class CheckDrive: public CommandGroup{
private:
int motor;
public:
CheckDrive(int);
void Initialize();
void Execute();
bool IsFinished();
void End();
void Interrupted();
};
#endif

20
Subsystems/Drivetrain.cpp
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@ -20,3 +20,23 @@ void Drivetrain::DriveMecanum(float x, float y, float z, float sensitivity, floa
rightRear->Set((correctX + correctY - correctZ));
leftRear->Set((-correctX + correctY + correctZ)*-1);
}
//Used in pretest
void Drivetrain::TestMotor(e_motors motor, float power){
switch(motor){
case FRONTRIGHT:
rightFront->Set(power);
break;
case FRONTLEFT:
leftFront->Set(power);
break;
case BACKRIGHT:
rightRear->Set(power);
break;
case BACKLEFT:
leftRear->Set(power);
break;
default:
break;
}
}

7
Subsystems/Drivetrain.h
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@ -8,8 +8,15 @@ class Drivetrain: public Subsystem{
RobotDrive *drive;
public:
Drivetrain();
enum e_motors{
FRONTRIGHT,
FRONTLEFT,
BACKRIGHT,
BACKLEFT
};
void InitDefaultCommand();
void DriveMecanum(float,float,float,float,float);
void DriveArcade(float, float);
void TestMotor(e_motors,float);
};
#endif