From e3b80c65131f7636d2dfc7e10384cda26e9abcb1 Mon Sep 17 00:00:00 2001
From: Adam Long <macadam.long@gmail.com>
Date: Sat, 17 Jan 2015 12:28:12 +0000
Subject: [PATCH] Added compressor auto-disable

---
 src/HHBase.cpp  |  3 +++
 src/HHRobot.cpp | 12 ++++++++++--
 src/HHRobot.h   |  3 +++
 3 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/src/HHBase.cpp b/src/HHBase.cpp
index 0023bc3..6afbc03 100644
--- a/src/HHBase.cpp
+++ b/src/HHBase.cpp
@@ -8,11 +8,14 @@ HHBase::HHBase():
     printf("Done\n");
   }
 void HHBase::RobotInit(){
+  hhbot->Init();
 }
 void HHBase::DisabledInit(){}
 void HHBase::AutonomousInit(){
+  hhbot->Init();
 }
 void HHBase::TeleopInit(){
+  hhbot->Init();
 }
 void HHBase::DisabledContinuous(){}
 void HHBase::AutonomousContinuous(){}
diff --git a/src/HHRobot.cpp b/src/HHRobot.cpp
index 5f6f401..9466634 100644
--- a/src/HHRobot.cpp
+++ b/src/HHRobot.cpp
@@ -2,15 +2,17 @@
 #include "HHBase.h"
 HHRobot::HHRobot():
   DriveStick(new Extreme3dPro(0)),
+  AirCompressor(new Compressor(30)),
+  PowerDistPanel(new PowerDistributionPanel()),
   //FrontRight,FrontLeft,RearRight,RearLeft
   RobotDrive(new MecanumDrive(40,41,42,43)){
   }
 void HHRobot::Init(){
   printf("Initing\n");
-  printf("Code Version: %f\n",0000.1);
 }
 //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;
@@ -26,6 +28,12 @@ void HHRobot::Handler(){
     x = DriveStick->GetJoystickAxis("x");
     z = DriveStick->GetJoystickAxis("z");
   }
-  RobotDrive->handler(x,y,z,0);
+  //X axis, Y axis, Z axis, acceleration, threshold, gyro
+  RobotDrive->handler(x,y,z,0.5,1,0);
+
+  //Disables the compressor if the battery voltage is detected to be less than 10 volts
+  if (PowerDistPanel->GetVoltage()<=10){
+    AirCompressor->Stop();
+  }
 }
 // vim: ts=2:sw=2:et
diff --git a/src/HHRobot.h b/src/HHRobot.h
index c1f7b60..91d4033 100644
--- a/src/HHRobot.h
+++ b/src/HHRobot.h
@@ -7,6 +7,9 @@
 class HHRobot{
   private:
     Extreme3dPro *DriveStick;
+    //CAN Devices
+    Compressor *AirCompressor;
+    PowerDistributionPanel *PowerDistPanel;
     MecanumDrive *RobotDrive;
   public:
     HHRobot();