mirror of
https://github.com/team2059/Dent
synced 2025-01-07 22:14:14 -05:00
58 lines
1.7 KiB
C++
58 lines
1.7 KiB
C++
#include "Drivetrain.h"
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#include "../RobotMap.h"
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#include "../Commands/Drivetrain/Drive.h"
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Drivetrain::Drivetrain(): Subsystem("Drivetrain"){
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rightFront = new Victor(DRIVE_FRONT_RIGHT);
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leftFront = new Victor(DRIVE_FRONT_LEFT);
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rightRear = new Victor(DRIVE_BACK_RIGHT);
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leftRear = new Victor(DRIVE_BACK_LEFT);
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gyro = new Gyro(DRIVE_GYRO_ANALOG);
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}
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void Drivetrain::InitDefaultCommand(){
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SetDefaultCommand(new Drive());
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}
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void Drivetrain::DriveMecanum(double x, double y, double z, double sensitivity, bool driveStraight){
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//TODO: Find the correct value for kP
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double kP=SmartDashboard::GetNumber("Gyro kP");
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double correctX = -(sensitivity*(pow(x, 3))+(1-sensitivity)*x);
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double correctY = -(sensitivity*(pow(y, 3))+(1-sensitivity)*y);
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double correctZ;
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if(driveStraight){
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printf("Driving straight at: %f\n", -gyro->GetAngle()*kP);
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correctZ = -gyro->GetAngle()*kP;
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}else{
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correctZ = -z * 0.5;
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}
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if(DentRobot::oi->GetLeftStick()->GetRawButton(9)){
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correctY /= SmartDashboard::GetNumber("DriveSpeedReductionThresh");
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}
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rightFront->Set(-correctX + correctY - correctZ);
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leftFront->Set((correctX + correctY + correctZ)*-1);
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rightRear->Set(correctX + correctY - correctZ);
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leftRear->Set((-correctX + correctY + correctZ)*-1);
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}
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//Used in pretest
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void Drivetrain::TestMotor(e_motors motor, double power){
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switch(motor){
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case FRONTRIGHT:
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rightFront->Set(power);
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break;
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case FRONTLEFT:
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leftFront->Set(power);
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break;
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case BACKRIGHT:
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rightRear->Set(power);
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break;
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case BACKLEFT:
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leftRear->Set(power);
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break;
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default:
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break;
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}
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}
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void Drivetrain::ResetGyro(){
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gyro->Reset();
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}
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// vim: ts=2:sw=2:et
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