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Updated Elevator to run until hall effect is triggered

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This commit is contained in:
Adam Long 2015-02-07 11:53:41 +00:00
parent 4c9ce0b57b
commit f682b272a6
5 changed files with 7 additions and 4 deletions
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2
Commands/Elevator/Lower.cpp
View File

@ -8,7 +8,7 @@ void Lower::Execute(){
DentRobot::elevator->Run((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2); DentRobot::elevator->Run((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
} }
bool Lower::IsFinished(){ bool Lower::IsFinished(){
return false; return !DentRobot::dio->Get(DentRobot::dio->ELEVATORBOTTOM);
} }
void Lower::End(){ void Lower::End(){
DentRobot::elevator->Run(0.0f); DentRobot::elevator->Run(0.0f);

2
Commands/Elevator/Raise.cpp
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@ -9,7 +9,7 @@ void Raise::Execute(){
DentRobot::elevator->Run(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2); DentRobot::elevator->Run(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
} }
bool Raise::IsFinished(){ bool Raise::IsFinished(){
return false; return !DentRobot::dio->Get(DentRobot::dio->ELEVATORTOP);
} }
void Raise::End(){ void Raise::End(){
DentRobot::elevator->Run(0.0f); DentRobot::elevator->Run(0.0f);

4
OI.cpp
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@ -21,8 +21,8 @@ OI::OI() {
left2->WhileHeld(new CloseCollector()); left2->WhileHeld(new CloseCollector());
left3->WhileHeld(new CollectTote()); left3->WhileHeld(new CollectTote());
left4->WhileHeld(new ReleaseTote()); left4->WhileHeld(new ReleaseTote());
left5->WhileHeld(new Raise()); left5->WhenPressed(new Raise());
left6->WhileHeld(new Lower()); left6->WhenPressed(new Lower());
} }
Joystick* OI::GetRightStick(){ Joystick* OI::GetRightStick(){
return rightStick; return rightStick;

2
Subsystems/DIO.cpp
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@ -9,9 +9,11 @@ void DIO::InitDefaultCommand(){
bool DIO::Get(e_dioSig dioSig){ bool DIO::Get(e_dioSig dioSig){
switch (dioSig){ switch (dioSig){
case ELEVATORTOP: case ELEVATORTOP:
printf("Hit top limit switch\n");
return elevatorTop->Get(); return elevatorTop->Get();
break; break;
case ELEVATORBOTTOM: case ELEVATORBOTTOM:
printf("Hit top bottom switch\n");
return elevatorBottom->Get(); return elevatorBottom->Get();
break; break;
default: default:

1
Subsystems/Elevator.cpp
View File

@ -10,6 +10,7 @@ Elevator::Elevator()/* : PIDSubsystem("Elevator", kP_real, kI_real, 0.0)*/{
void Elevator::InitDefaultCommand(){ void Elevator::InitDefaultCommand(){
} }
void Elevator::Run(double power){ void Elevator::Run(double power){
printf("Elevator Power: %f\n",power);
motor->Set(power); motor->Set(power);
} }
void Elevator::SetOffset(double ht){ void Elevator::SetOffset(double ht){