Moved the compressor code the lib/pnumatics and updated the old code to work with it

src/HHBase.h

@@ -4,7 +4,6 @@
 #include "HHRobot.h"
 #include "Subsystems/Shooter.h"
 #include "Subsystems/Collector.h"
-#include "Subsystems/Compressor.h"
 #include "Subsystems/Sonar.h"
 #include "Subsystems/Dashboard.h"
 #include <string>
@@ -12,9 +11,7 @@
 class HHRobot;
 class HHShooter;
 class HHCollector;
-class HHCompressor;
 class HHSonar;
-class JoystickController;
 class HHBase : public IterativeRobot{
   private:
     HHRobot* hHBot;

src/HHRobot.cpp

@@ -5,9 +5,9 @@ HHRobot::HHRobot():
   drive(new WCDrive(6,1,1,1,2,1,3,2,1,2,2,2,3)),
   driveStick(new Extreme3dPro(1)),
   shootStick(new Extreme3dPro(2)),
+  compressor(new AirCompressor(2,5,1,3)),
   shooter(new HHShooter()),
   collector(new HHCollector()),
-  compressorSystem(new HHCompressor()),
   dashboard(new HHDashboard()){
     //sonar(new HHSonar()){}
     driveTable=NetworkTable::GetTable("ZaphodDrive");
@@ -24,8 +24,7 @@ void HHRobot::Init(){
   //Put table values initally to avoid annoying refreshing
   shooterTable->PutNumber("Target Shooter Angle",90);
   shooterTable->PutNumber("Current Shooter Angle",-420);
-  timer->Start();
+  compressor->StartCompressor();
-  compressorSystem->StartCompressor();
 }
 bool HHRobot::CheckJoystickValues(){
   float x=driveStick->GetJoystickAxis("x");
@@ -44,7 +43,7 @@ void HHRobot::UpdateDashboard(){
 void HHRobot::RunAuto(){
   timer->Reset();
   int step,time;
-  compressorSystem->ExtendCollector();
+  //CollectorExtend
   //TODO I have no idea what rate this loop runs at so we are going to have to fine tune the times
   //Drive for 51 inches/cm/units (or time)
   if(step==2){
@@ -72,16 +71,10 @@ void HHRobot::RunAuto(){
 //Main function used to handle periodic tasks on the robot
 void HHRobot::Handler(){
   double targetAngle = shooterTable->GetNumber("Target Shooter Angle");
-  bool allowCompressing = true;
   //Periodic tasks that should be run by every loop
   shooter->UpdateShooterPosition(targetAngle);
   driveStick->handler();
   shootStick->handler();
-  if(timer->Get()-lastTime>=0.5f){
-    // Update compressor when current time-last time is more than .5 seconds
-    lastTime=timer->Get();
-    compressorSystem->CompressorSystemPeriodic(allowCompressing);
-  }
   collector->UpdateCollector(shooter->isShooting,shooter->GetAngle());
   //TODO Fix whatever the heck is wrong with this
   drive->Update(6,driveStick->GetJoystickAxis("z")+driveStick->GetJoystickAxis("x"),driveStick->GetJoystickAxis("y"));
@@ -102,10 +95,10 @@ void HHRobot::Handler(){
     collector->CollectorStop();
   }
   if(driveStick->GetJoystickButton(COLLECTOR_EXTEND)){
-    compressorSystem->ExtendCollector();
+    //TODO extend collector
   }
   if(driveStick->GetJoystickButton(COLLECTOR_RETRACT)){
-    compressorSystem->RetractCollector();
+    //TODO retract collector
   }
   if(shootStick->GetJoystickButton(SHOOTER_ANGLE_ONE)){
     targetAngle=100;

src/HHRobot.h

@@ -4,10 +4,10 @@
 #include "HHBase.h"
 #include "lib/drive/WCDrive.h"
 #include "lib/controller/Controller.h"
+#include "lib/pneumatics/Compressor.h"
 #include "Definitions.h"
 class HHShooter;
 class HHCollector;
-class HHCompressor;
 class HHDashboard;
 class HHRobot;
 class HHSonar;
@@ -15,10 +15,10 @@ class HHRobot{
   private:
     WCDrive *drive;
     Extreme3dPro *driveStick, *shootStick;
+    AirCompressor *compressor;
     NetworkTable *driveTable, *shooterTable, *collectorTable;
     HHShooter *shooter;
     HHCollector *collector;
-    HHCompressor *compressorSystem;
     HHDashboard *dashboard;
     HHSonar *sonar;
     Timer *timer;

src/Subsystems/Compressor.cpp

@@ -1,60 +0,0 @@
-#include "Compressor.h"
-HHCompressor::HHCompressor(){
-  compressor=new Compressor(COMPRESSOR_GAUGE_SIDECAR, COMPRESSOR_GAUGE, COMPRESSOR_RELAY_SIDECAR, COMPRESSOR_RELAY);
-  solenoid1=new Solenoid(COMPRESSOR_SOLENOID_ONE);
-  solenoid2=new Solenoid(COMPRESSOR_SOLENOID_TWO);
-  compressing=false;
-}
-void HHCompressor::CompressorSystemPeriodic(bool compressorEnabled){
-  switch(e_CollectorSolenoidState){
-    case EXTENDED:
-      solenoid1->Set(false);
-      solenoid2->Set(true);
-      break;
-    case RETRACTED:
-      solenoid1->Set(true);
-      solenoid2->Set(false);
-      break;
-    case IDLE:
-      break;
-    default:
-      break;
-  }
-  if(compressorEnabled){
-    printf("Compressor is enabled\n");
-    if(compressing&&compressor->GetPressureSwitchValue()==1){
-      // It is compressing, but the pressure is too high 
-      printf("Condition 1");
-      StopCompressor();
-    }else if(!compressing&&compressor->GetPressureSwitchValue()==0){
-      // It is not compressing and the pressure isn't too high
-      printf("Condition 2");
-      StartCompressor();
-    }
-  }else{
-    printf("Condition 3");
-    if(compressing){
-      // If the compressor is not enabled, but it's still compressing
-      printf("Condition 4");
-      StopCompressor();
-    }
-  }
-  e_CollectorSolenoidState=IDLE;
-}
-void HHCompressor::ExtendCollector(){
-  e_CollectorSolenoidState=EXTENDED;
-}
-void HHCompressor::RetractCollector(){
-  e_CollectorSolenoidState=RETRACTED;
-}
-void HHCompressor::StopCompressor(){
-  printf("Stopping compressor\n");
-  compressor->Stop();
-  compressing=false;
-}
-void HHCompressor::StartCompressor(){
-  printf("Starting compressor\n");
-  compressor->Start();
-  compressing=true;
-}
-// vim: ts=2:sw=2:et

src/lib/pneumatics/Compressor.cpp

@@ -0,0 +1,47 @@
+#include "Compressor.h"
+AirCompressor::AirCompressor(uint8_t compressorGauge, uint8_t compressorRelay){
+  compressor = new Compressor(compressorGauge,compressorRelay);
+  timer = new Timer();
+  lastTime=0;
+  compressing=false;
+}
+AirCompressor::AirCompressor(uint8_t compressorGaugeSidecar, uint8_t compressorGauge, uint8_t compressorRelaySidecar, uint8_t compressorRelay){
+  compressor = new Compressor(compressorGaugeSidecar, compressorGauge, compressorRelaySidecar, compressorRelay);
+  timer = new Timer();
+  lastTime=0;
+  compressing=false;
+}
+void AirCompressor::CompressorSystemPeriodic(){
+  bool compressorEnabled;
+  if(timer->Get()-lastTime>=0.5f){
+    // Update compressor when current time-last time is more than .5 seconds
+    lastTime=timer->Get();
+    compressorEnabled=true;
+  }
+  if(compressorEnabled){
+    if(compressing&&compressor->GetPressureSwitchValue()==1){
+      // It is compressing, but the pressure is too high
+      StopCompressor();
+    }else if(!compressing&&compressor->GetPressureSwitchValue()==0){
+      // It is not compressing and the pressure isn't too high
+      StartCompressor();
+    }
+  }else{
+    if(compressing){
+      // If the compressor is not enabled, but it's still compressing
+      StopCompressor();
+    }
+  }
+  e_CollectorSolenoidState=IDLE;
+}
+void AirCompressor::StopCompressor(){
+  printf("Stopping compressor\n");
+  compressor->Stop();
+  compressing=false;
+}
+void AirCompressor::StartCompressor(){
+  printf("Starting compressor\n");
+  compressor->Start();
+  compressing=true;
+}
+// vim: ts=2:sw=2:et

src/lib/pneumatics/Compressor.h

@@ -1,10 +1,11 @@
 #include <WPILib.h>
-#include "../Definitions.h"
 #include <time.h>
-class HHCompressor{
+class AirCompressor{
   private:
     Compressor *compressor;
-    Solenoid *solenoid1, *solenoid2;
+    //Timer used for keeping time?
+    Timer *timer;
+    double lastTime;
     bool compressing;
   public:
     enum{
@@ -12,10 +13,9 @@ class HHCompressor{
       RETRACTED,
       IDLE
     }e_CollectorSolenoidState;
-    HHCompressor();
+    explicit AirCompressor(uint8_t,uint8_t);
-    void CompressorSystemPeriodic(bool compressorEnabled);
+    AirCompressor(uint8_t,uint8_t,uint8_t,uint8_t);
-    void ExtendCollector();
+    void CompressorSystemPeriodic();
-    void RetractCollector();
     void StopCompressor();
     void StartCompressor();
 };