mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
35 lines
834 B
C++
35 lines
834 B
C++
#include "Drive.h"
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#include <cmath>
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#include "../../DentRobot.h"
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Drive::Drive() : Command("Drive"){
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Requires(DentRobot::drivetrain);
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}
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void Drive::Initialize(){
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}
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void Drive::Execute(){
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double x,y,z;
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//Code to lock the x axis when not holding button 1
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if (DentRobot::oi->GetLeftStick()->GetRawButton(1)){
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x = DentRobot::oi->GetLeftStick()->GetRawAxis(0);
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x /= 1.3;
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}else{
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x = 0;
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}
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z = DentRobot::oi->GetLeftStick()->GetRawAxis(2);
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y = DentRobot::oi->GetLeftStick()->GetRawAxis(1);
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if (DentRobot::oi->GetLeftStick()->GetRawAxis(3)<=0.5){
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y /= 2;
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z /= 2;
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}
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//X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
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DentRobot::drivetrain->DriveMecanum(x,y,z,0.9,0);
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}
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bool Drive::IsFinished(){
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return false;
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}
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void Drive::End(){
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}
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void Drive::Interrupted(){
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End();
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}
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