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made code changes

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This commit is contained in:
Austen Adler 2014-02-27 17:17:40 +00:00
parent 9e9ea1e6de
commit 6dbf8665a7
1 changed files with 8 additions and 7 deletions
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15
MyRobot.cpp
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@ -1,7 +1,7 @@
//Sonar code //Sonar code
#include "WPILib.h" #include "WPILib.h"
#include "SmartDashboard/SmartDashboard.h" #include "SmartDashboard/SmartDashboard.h"
//#include "Command.h" #include "Command.h"
#include <iostream> #include <iostream>
#include <math.h> #include <math.h>
#include <vector> #include <vector>
@ -128,8 +128,6 @@ public:
upLimit = 167; upLimit = 167;
} }
} }
void calcRobot(){
}
void shootRobot(float power=0, bool override=false) { void shootRobot(float power=0, bool override=false) {
override=true; override=true;
//Needs a limit to help the driver aim //Needs a limit to help the driver aim
@ -324,15 +322,17 @@ public:
} }
} else { } else {
if(i<=initalDriveTime*200) { if(i<=initalDriveTime*200) {
//Drive initialDriveTime amount of time
driveRobot(1.0f,0.0f); driveRobot(1.0f,0.0f);
//setMotorValue(6, 1, 1);
} else if(i>shooterDelay&&i<shooterDelay+(shooterDuration*200)&&shooterMaxAngle>=potToDegrees(armPot.GetAverageVoltage())) { } else if(i>shooterDelay&&i<shooterDelay+(shooterDuration*200)&&shooterMaxAngle>=potToDegrees(armPot.GetAverageVoltage())) {
driveRobot(0, 0); //Shooting
shootRobot(1, true); driveRobot(0.0f, 0.0f);
shootRobot(1.0f, true);
setMotorValue(6, 1, 1); setMotorValue(6, 1, 1);
} }
if(i>480&&i<430+initalDriveTime){ if(i>480&&i<430+initalDriveTime){
driveRobot(-1,0); driveRobot(-1.0f,0.0f);
setMotorValue(6, 1, 0);
//TODO //TODO
} else if(i>430+initalDriveTime/*&&ballLimit.Get()==1*/) { } else if(i>430+initalDriveTime/*&&ballLimit.Get()==1*/) {
driveRobot(-0.6f,0.0f); driveRobot(-0.6f,0.0f);
@ -340,6 +340,7 @@ public:
//TODO //TODO
} else if(/*ballLimit.Get()==1&&*/i>430+initalDriveTime) { } else if(/*ballLimit.Get()==1&&*/i>430+initalDriveTime) {
driveRobot(1.0f,0.0f); driveRobot(1.0f,0.0f);
setMotorValue(6, 1, 0);
} }
if(i>480&&i<480){ if(i>480&&i<480){
shootRobot(0.25f,true); shootRobot(0.25f,true);