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