mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
44 lines
1.3 KiB
C++
44 lines
1.3 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 CANTalon(DRIVE_FRONT_RIGHT_CAN);
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leftFront = new CANTalon(DRIVE_FRONT_LEFT_CAN);
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rightRear = new CANTalon(DRIVE_BACK_RIGHT_CAN);
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leftRear = new CANTalon(DRIVE_BACK_LEFT_CAN);
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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(float x, float y, float z, float sensitivity, float gyro){
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double correctY = (sensitivity*(pow(y, 3))+(1-sensitivity)*y);
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double correctX = -(sensitivity*(pow(x, 3))+(1-sensitivity)*x);
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double correctZ = -z * 0.5;
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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, float 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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// vim: ts=2:sw=2:et
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