mirror of
https://github.com/team2059/Dent
synced 2025-01-07 22:14:14 -05:00
33 lines
926 B
C++
33 lines
926 B
C++
#include "HHRobot.h"
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#include "HHBase.h"
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HHRobot::HHRobot():
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DriveStick(new Extreme3dPro(0)),
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AirCompressor(new Compressor(31)),
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PowerDistPanel(new PowerDistributionPanel()),
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//FrontRight,FrontLeft,RearRight,RearLeft
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RobotDrive(new MecanumDrive(40,41,42,43)){
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}
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void HHRobot::Init(){
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printf("Initing\n");
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AirCompressor->Start();
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}
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//Main function used to handle periodic tasks on the robot
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void HHRobot::Handler(){
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//Code to lock the axis when driving
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double x,y,z;
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if (DriveStick->GetJoystickButton(1)){
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x = DriveStick->GetJoystickAxis("x");
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}else{
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x = 0;
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}
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y = DriveStick->GetJoystickAxis("y");
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z = DriveStick->GetJoystickAxis("z");
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//X axis, Y axis, Z axis, sensitivity, mode threshold, gyro
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RobotDrive->handler(x,y,z,0.95,DriveStick->GetThrottle(),0);
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//Compressor Button assignment
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if (DriveStick->GetJoystickButton(4)){
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AirCompressor->Stop();
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}
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}
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// vim: ts=2:sw=2:et
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