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Changed values and added daniel mode to Rstick throttle

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This commit is contained in:
Austen Adler 2014-11-01 17:17:35 -07:00
parent e0f3dc5609
commit a408e87edf
1 changed files with 10 additions and 3 deletions
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13
src/Zaphod.cpp
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@ -93,8 +93,8 @@ public:
SmartDashboard::PutNumber("AutoSpeed",0.65f); SmartDashboard::PutNumber("AutoSpeed",0.65f);
SmartDashboard::PutNumber("Auto Distance",57.0f); SmartDashboard::PutNumber("Auto Distance",57.0f);
SmartDashboard::PutNumber("Collector Speed",1.0f); SmartDashboard::PutNumber("Collector Speed",1.0f);
SmartDashboard::PutNumber("AutoPower",0.74f); SmartDashboard::PutNumber("AutoPower",0.72f);
SmartDashboard::PutNumber("AutoCorrection",0.08f); SmartDashboard::PutNumber("AutoCorrection",0.05f);
SmartDashboard::PutNumber("Initial Drive Delay",2.0f); SmartDashboard::PutNumber("Initial Drive Delay",2.0f);
SmartDashboard::PutNumber("Inital Drive Timeout",4.5f); SmartDashboard::PutNumber("Inital Drive Timeout",4.5f);
SmartDashboard::PutNumber("First Shot Start",0.5f); SmartDashboard::PutNumber("First Shot Start",0.5f);
@ -731,6 +731,7 @@ public:
if(currentStep==6){ if(currentStep==6){
runningAuto=false; runningAuto=false;
compressorEnabled=true; compressorEnabled=true;
SmartDashboard::PutBoolean("Compressor Enabled",true);
} }
c++; c++;
//}}} //}}}
@ -808,7 +809,13 @@ public:
setMotorValue(6,1,0); setMotorValue(6,1,0);
} }
//}}} //}}}
driveRobot(-Rstick.GetY(),Rstick.GetZ()+Rstick.GetX()); // Reverse driving direction if throttle is above .5
if(Rstick.GetRawAxis(4)>=0.5f){
driveRobot(Rstick.GetY(),-(Rstick.GetZ()+Rstick.GetX()));
}else{
driveRobot(-Rstick.GetY(),Rstick.GetZ()+Rstick.GetX());
}
} }
//}}} //}}}
runCompressor(i,100); runCompressor(i,100);