mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
29 lines
772 B
C++
29 lines
772 B
C++
#include "AutoDrive.h"
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#include "../../DentRobot.h"
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// Drive for a short while then stop. Just for testing
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AutoDrive::AutoDrive(double duration, double xtmp, double ytmp, double ztmp, bool useGyro): Command("AutoDrive"){
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Requires(DentRobot::drivetrain);
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SetTimeout(duration);
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x = xtmp;
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y = ytmp;
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z = ztmp;
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gyro = useGyro;
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}
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void AutoDrive::Initialize(){
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DentRobot::drivetrain->ResetGyro();
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}
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void AutoDrive::Execute(){
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//X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle)
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DentRobot::drivetrain->DriveMecanum(x, y, z, 0.9, gyro);
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}
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bool AutoDrive::IsFinished(){
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return IsTimedOut();
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}
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void AutoDrive::End(){
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DentRobot::drivetrain->DriveMecanum(0.0, 0.0, 0.0, 0.9);
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}
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void AutoDrive::Interrupted(){
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End();
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}
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// vim: ts=2:sw=2:et
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