mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
46 lines
1.3 KiB
C++
46 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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rightRear = new CANTalon(DRIVE_BACK_RIGHT_CAN);
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leftRear = new CANTalon(DRIVE_BACK_LEFT_CAN);
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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::DriveArcade(double x, double y, double z, double sensitivity, bool driveStraight) {
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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 = z;
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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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double leftPower=(y-x);
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double rightPower=(y+x);
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leftRear->Set((correctX + correctY + correctZ));
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rightRear->Set((correctX + correctY - correctZ));
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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 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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