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mirror of https://github.com/team2059/Dent synced 2024-12-18 20:52:29 -05:00
dent/Commands/Drivetrain/Drive.cpp
2015-02-07 13:28:08 -05:00

37 lines
895 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
x = DentRobot::oi->GetLeftStick()->GetRawAxis(0);
z = DentRobot::oi->GetLeftStick()->GetRawAxis(2);
y = DentRobot::oi->GetLeftStick()->GetRawAxis(1);
if (DentRobot::oi->GetLeftStick()->GetRawButton(1)){
x=0;
}
if (DentRobot::oi->GetLeftStick()->GetRawButton(2)){
y=0;
}
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(){
End();
}
// vim: ts2:sw=2:et