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https://github.com/team2059/Zaphod
synced 2024-12-18 20:12:28 -05:00
Fixed half speed in auto and in teleop (Untested)
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parent
087604037e
commit
3668bf318d
10
MyRobot.cpp
10
MyRobot.cpp
@ -146,12 +146,12 @@ public:
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}else if(y!=0.0f&&y<-1.0f){
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}else if(y!=0.0f&&y<-1.0f){
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y=-1.0f;
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y=-1.0f;
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}
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}
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if(SmartDashboard::GetBoolean("HalfPower")){
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x/=2;
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y/=2;
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}
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int leftPower=((y+x)/2+1)*127+1;
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int leftPower=((y+x)/2+1)*127+1;
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int rightPower=((y-x)/2+1)*127+1;
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int rightPower=((y-x)/2+1)*127+1;
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if(SmartDashboard::GetBoolean("HalfPower")){
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leftPower/=2;
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rightPower/=2;
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}
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setMotorValue(1,1,leftPower);
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setMotorValue(1,1,leftPower);
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setMotorValue(2,1,leftPower);
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setMotorValue(2,1,leftPower);
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setMotorValue(3,1,leftPower);
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setMotorValue(3,1,leftPower);
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@ -501,6 +501,7 @@ public:
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//}}}
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//}}}
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//}}}
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//}}}
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}
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}
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}
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SmartDashboard::PutNumber("Autonomous step", currentStep);
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SmartDashboard::PutNumber("Autonomous step", currentStep);
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updateDashboard();
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updateDashboard();
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//Compressor{{{
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//Compressor{{{
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@ -511,7 +512,6 @@ public:
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i++;
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i++;
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c++;
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c++;
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Wait(0.005f);
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Wait(0.005f);
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}
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compressing=false;
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compressing=false;
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compressor.Stop();
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compressor.Stop();
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}
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}
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