Added sonar code (doesn't work yet)

src/Definitions.h

@@ -45,13 +45,13 @@
 //Ultrasonic (DIO, Analog, etc)
 #define SONAR_FRONT_RIGHT_DIO   4
 #define SONAR_FRONT_LEFT_DIO    4
-#define SONAR_REAR_LEFT_DIO     5
-#define SONAR_REAR_RIGHT_DIO    5
+#define SONAR_BACK_LEFT_DIO     5
+#define SONAR_BACK_RIGHT_DIO    5
 
 #define SONAR_FRONT_RIGHT_ANA   2
 #define SONAR_FRONT_LEFT_ANA    1
-#define SONAR_REAR_LEFT_ANA     3
-#define SONAR_REAR_RIGHT_ANA    4
+#define SONAR_BACK_LEFT_ANA     3
+#define SONAR_BACK_RIGHT_ANA    4
 
 //Joystick buttons
 

src/HHBase.h

@@ -6,12 +6,14 @@
 #include "Subsystems/Shooter.h"
 #include "Subsystems/Collector.h"
 #include "Subsystems/Compressor.h"
+#include "Subsystems/Sonar.h"
 #include "Subsystems/Dashboard.h"
 //Because this is the first header to be included, classes need to be declared here
 class HHRobot;
 class HHShooter;
 class HHCollector;
 class HHCompressor;
+class HHSonar;
 class JoystickController;
 class HHBase : public IterativeRobot{
   private:

src/HHRobot.cpp

@@ -5,45 +5,11 @@ HHRobot::HHRobot():
   shooter(new HHShooter()),
   collector(new HHCollector()),
   compressorSystem(new HHCompressor()),
-  dashboard(new HHDashboard()){
-    left1=new Jaguar(DRIVE_LEFT_SIDECAR, DRIVE_LEFT_MOTOR_ONE);
-    left2=new Jaguar(DRIVE_LEFT_SIDECAR, DRIVE_LEFT_MOTOR_TWO);
-    left3=new Jaguar(DRIVE_LEFT_SIDECAR, DRIVE_LEFT_MOTOR_THREE);
-    right1=new Jaguar(DRIVE_RIGHT_SIDECAR, DRIVE_RIGHT_MOTOR_ONE);
-    right2=new Jaguar(DRIVE_RIGHT_SIDECAR, DRIVE_RIGHT_MOTOR_ONE);
-    right3=new Jaguar(DRIVE_RIGHT_SIDECAR, DRIVE_RIGHT_MOTOR_ONE);
-    frontSonarLeftD=new DigitalOutput(SONAR_LEFT_DIO_SIDECAR, SONAR_FRONT_LEFT_DIO);
-    frontSonarRightD=new DigitalOutput(SONAR_RIGHT_DIO_SIDECAR, SONAR_FRONT_RIGHT_DIO);
-    rearSonarLeftD=new DigitalOutput(SONAR_LEFT_DIO_SIDECAR, SONAR_REAR_LEFT_DIO);
-    rearSonarRightD=new DigitalOutput(SONAR_RIGHT_DIO_SIDECAR, SONAR_REAR_RIGHT_DIO);
-    frontSonarLeftA=new AnalogChannel(SONAR_FRONT_LEFT_ANA);
-    frontSonarRightA=new AnalogChannel(SONAR_FRONT_RIGHT_ANA);
-    rearSonarLeftA=new AnalogChannel(SONAR_REAR_LEFT_ANA);
-    rearSonarRightA=new AnalogChannel(SONAR_REAR_RIGHT_ANA);
+  dashboard(new HHDashboard()),
+  sonar(new HHSonar()){
+    //comment
   }
 //Functions to get sonar values and return as INCH values
-float HHRobot::getFrontSonar(){
-  frontSonarLeftD->Set(1);
-  frontSonarLeftV=(frontSonarLeftA->GetAverageVoltage()/0.00488f)/2.54f;
-  frontSonarLeftD->Set(0);
-  //Probably need some sort of delay here
-  frontSonarRightD->Set(1);
-  frontSonarRightV=(frontSonarRightA->GetAverageVoltage()/0.00488f)/2.54f;
-  frontSonarRightD->Set(0);
-  //Returns the average (useful for throwing out useless readings)
-  return (frontSonarRightV+frontSonarLeftV)/2;
-}
-float HHRobot::getRearSonar(){
-  rearSonarLeftD->Set(1);
-  rearSonarLeftV=(rearSonarLeftA->GetAverageVoltage()/0.00488f)/2.54f;
-  rearSonarLeftD->Set(0);
-  //Probably need some sort of delay here
-  rearSonarRightD->Set(1);
-  rearSonarRightV=(rearSonarRightA->GetAverageVoltage()/0.00488f)/2.54f;
-  rearSonarRightD->Set(0);
-  //Returns the average (useful for throwing out useless readings)
-  return (rearSonarRightV+rearSonarLeftV)/2;
-}
 bool HHRobot::checkJoystickValues(){
   float x=ControlSystem->rightJoystickAxisValues[1];
   float y=ControlSystem->rightJoystickAxisValues[2];

src/HHRobot.h

@@ -8,6 +8,7 @@ class HHShooter;
 class HHCollector;
 class HHCompressor;
 class HHDashboard;
+class HHSonar;
 class HHRobot;
 class HHRobot{
   private:
@@ -19,6 +20,7 @@ class HHRobot{
     HHCollector *collector;
     HHCompressor *compressorSystem;
     HHDashboard *dashboard;
+    HHSonar *sonar;
   public:
     HHRobot();
     float frontSonarLeftV, frontSonarRightV, rearSonarLeftV, rearSonarRightV;

src/Subsystems/Compressor.h

@@ -1,6 +1,5 @@
 #include <WPILib.h>
 #include "../Definitions.h"
-
 class HHCompressor{
   private:
     Compressor *compressor;

src/Subsystems/Sonar.cpp

@@ -0,0 +1,14 @@
+#include "Sonar.h"
+HHSonar::HHSonar(){
+  DigitalOutput frontLeftD=new DigitalOutput(SONAR_LEFT_DIO_SIDECAR,SONAR_FRONT_LEFT_DIO);
+  DigitalOutput frontRightD=new DigitalOutput(SONAR_RIGHT_DIO_SIDECAR,SONAR_FRONT_RIGHT_DIO);
+  DigitalOutput backLeftD=new DigitalOutput(SONAR_LEFT_DIO_SIDECAR,SONAR_BACK_LEFT_DIO);
+  DigitalOutput backRightD=new DigitalOutput(SONAR_RIGHT_DIO_SIDECAR,SONAR_BACK_RIGHT_DIO);
+  AnalogChannel frontLeftA=new AnalogChannel(SONAR_FRONT_LEFT_ANA);
+  AnalogChannel frontRightA=new AnalogChannel(SONAR_FRONT_RIGHT_ANA);
+  AnalogChannel backLeftA=new AnalogChannel(SONAR_BACK_LEFT_ANA);
+  AnalogChannel backRightA=new AnalogChannel(SONAR_BACK_RIGHT_ANA);
+}
+float HHSonar::getInches(const char* from){
+  return 10.9f;
+}

src/Subsystems/Sonar.h

@@ -0,0 +1,11 @@
+#include <WPILib.h>
+#include "../Definitions.h"
+class HHSonar{
+  private:
+    DigitalOutput *frontLeftD,*frontRightD,*backLeftD,*backRightD;
+    AnalogChannel *frontLeftA,*frontRightA,*backLeftA,*backRightA;
+  public:
+    HHSonar();
+    //from is (in string form) "FRONT", "BACK", "FRONTLEFT", "FRONTRIGHT"...
+    float getInches(const char* from);
+};