mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
40 lines
1017 B
C++
40 lines
1017 B
C++
#include "Drive.h"
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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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x = DentRobot::oi->GetLeftStick()->GetRawAxis(0);
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y = -DentRobot::oi->GetLeftStick()->GetRawAxis(1);
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z = DentRobot::oi->GetLeftStick()->GetRawAxis(2);
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// Lock the x axis when not holding button 1
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//if(DentRobot::oi->GetLeftStick()->GetRawButton(1)){
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// x = 0;
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//}
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//if(DentRobot::oi->GetLeftStick()->GetRawButton(2)){
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// y = 0;
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//}
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//X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle)
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if(DentRobot::oi->GetLeftStick()->GetRawButton(11)){
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x = -x;
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y = -y;
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}
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if(DentRobot::oi->GetLeftStick()->GetRawButton(7)){
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DentRobot::drivetrain->DriveMecanum(0.0, 0.0, 0.0, 0.9);
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}else{
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DentRobot::drivetrain->DriveMecanum(x, y, z, 0.9);
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}
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}
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bool Drive::IsFinished(){
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return IsTimedOut();
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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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// vim: ts=2:sw=2:et
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