mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
44 lines
1.2 KiB
C++
44 lines
1.2 KiB
C++
#include "Drivetrain.h"
|
|
#include "../RobotMap.h"
|
|
#include "../Commands/Drivetrain/Drive.h"
|
|
|
|
Drivetrain::Drivetrain() : Subsystem("Drivetrain"){
|
|
rightFront = new CANTalon(DRIVE_FRONT_RIGHT_CAN);
|
|
leftFront = new CANTalon(DRIVE_FRONT_LEFT_CAN);
|
|
rightRear = new CANTalon(DRIVE_BACK_RIGHT_CAN);
|
|
leftRear = new CANTalon(DRIVE_BACK_LEFT_CAN);
|
|
}
|
|
void Drivetrain::InitDefaultCommand(){
|
|
SetDefaultCommand(new Drive());
|
|
}
|
|
void Drivetrain::DriveMecanum(float x, float y, float z, float sensitivity, float gyro){
|
|
double correctY = (sensitivity*(pow(y,3))+(1-sensitivity)*y);
|
|
double correctX = -(sensitivity*(pow(x,3))+(1-sensitivity)*x);
|
|
double correctZ = -z *.5;
|
|
rightFront->Set((-correctX + correctY - correctZ));
|
|
leftFront->Set((correctX + correctY + correctZ)*-1);
|
|
rightRear->Set((correctX + correctY - correctZ));
|
|
leftRear->Set((-correctX + correctY + correctZ)*-1);
|
|
}
|
|
|
|
//Used in pretest
|
|
void Drivetrain::TestMotor(e_motors motor, float power){
|
|
switch(motor){
|
|
case FRONTRIGHT:
|
|
rightFront->Set(power);
|
|
break;
|
|
case FRONTLEFT:
|
|
leftFront->Set(power);
|
|
break;
|
|
case BACKRIGHT:
|
|
rightRear->Set(power);
|
|
break;
|
|
case BACKLEFT:
|
|
leftRear->Set(power);
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
// vim: ts=2:sw=2:et
|