mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
Added collector code (untested)
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@ -3,6 +3,7 @@
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HHRobot::HHRobot():
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hhdrive(new RobotDrive(2,0,3,1)),
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gyro(new Gyro(1)),
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collector(new DentCollector(4, 5, 6, 7)),
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joystick1(new Extreme3dPro(0)){
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hhdrive->SetExpiration(0.1);
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hhdrive->SetInvertedMotor(RobotDrive::kFrontRightMotor, true);
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@ -26,6 +27,17 @@ void HHRobot::Handler(){
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}else{
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hhdrive->MecanumDrive_Cartesian(joystick1->GetJoystickAxis("z"), joystick1->GetJoystickAxis("y"), joystick1->GetJoystickAxis("x"));
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}
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if(joystick1->GetJoystickButton(11)){
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collector->Collect(255);
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}else if(joystick1->GetJoystickButton(12)){
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collector->Collect(1);
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}else if(joystick1->GetJoystickButton(9)){
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collector->Raise(255);
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}else if(joystick1->GetJoystickButton(10)){
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collector->Raise(1);
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}else{
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collector->Rest();
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}
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Wait(0.005);
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// hhdrive->MecanumDrive_Cartesian(joystick1->GetJoystickAxis("z"), joystick1->GetJoystickAxis("y"), joystick1->GetJoystickAxis("x"));
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}
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@ -1,12 +1,14 @@
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#ifndef __ZAPHOD_ROBOT_H__
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#define __ZAPHOD_ROBOT_H__
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#ifndef __ROBOT_H__
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#define __ROBOT_H__
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#include <WPILib.h>
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#include "HHBase.h"
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#include "classes/Collector.h"
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#include "hhlib/input/controller/Joystick.h"
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class HHRobot{
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private:
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RobotDrive *hhdrive;
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Gyro *gyro;
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DentCollector *collector;
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Extreme3dPro *joystick1;
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public:
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HHRobot();
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22
src/classes/Collector.cpp
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22
src/classes/Collector.cpp
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@ -0,0 +1,22 @@
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#include "Collector.h"
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DentCollector::DentCollector(int fl, int fr, int rl, int rr){
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frontLeft = new Talon(fl);
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frontRight = new Talon(fr);
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raiserLeft = new Talon(rl);
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raiserRight = new Talon(rr);
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}
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void DentCollector::Collect(int power){
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frontLeft->Set(power);
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frontRight->Set(power);
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}
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void DentCollector::Raise(int power){
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raiserLeft->Set(power);
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raiserRight->Set(power);
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}
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void DentCollector::Rest(){
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raiserLeft->Set(0);
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raiserRight->Set(0);
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frontLeft->Set(0);
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frontRight->Set(0);
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}
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// vim: ts=2:sw=2:et
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15
src/classes/Collector.h
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15
src/classes/Collector.h
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@ -0,0 +1,15 @@
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#ifndef __COLLECTOR_H__
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#include <WPILib.h>
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#define __COLLECTOR_H__
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//#include ""
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class DentCollector{
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private:
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Talon *frontLeft, *frontRight, *raiserLeft, *raiserRight;
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public:
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DentCollector(int, int, int, int);
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void Collect(int);
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void Raise(int);
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void Rest();
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};
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#endif
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// vim: ts=2:sw=2:et
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