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Added function to return values of the sonars, front, back, or an individual sonar. TODO: add a delay from when we turn on the sonar to when we turn it back off again

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This commit is contained in:
Austen Adler 2014-07-26 18:23:24 -04:00
parent 47a6b9050b
commit de4a4f448a
3 changed files with 56 additions and 5 deletions
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2
src/HHRobot.cpp
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@ -7,9 +7,7 @@ HHRobot::HHRobot():
compressorSystem(new HHCompressor()),
dashboard(new HHDashboard()),
sonar(new HHSonar()){
//comment
}
//Functions to get sonar values and return as INCH values
bool HHRobot::checkJoystickValues(){
float x=ControlSystem->rightJoystickAxisValues[1];
float y=ControlSystem->rightJoystickAxisValues[2];

57
src/Subsystems/Sonar.cpp
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@ -9,6 +9,59 @@ HHSonar::HHSonar(){
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;
float HHSonar::getInches(std::string from){
switch(from){
case "FRONT":
frontLeftD->Set(1);
float x=(frontLeftA->GetAverageVoltage()/0.00488f)/2.54f;
frontLeftD->Set(0);
//TODO: Delay
frontRightD->Set(1);
float y=(frontRightA->GetAverageVoltage()/0.00488f)/2.54f;
frontRightD->Set(0);
//TODO: Delay
return (x+y)/2;
break;
case "BACK":
backLeftD->Set(1);
float x=(backLeftA->GetAverageVoltage()/0.00488f)/2.54f;
backLeftD->Set(0);
//TODO: Delay
backRightD->Set(1);
float y=(backRightA->GetAverageVoltage()/0.00488f)/2.54f;
backRightD->Set(0);
//TODO: Delay
return (x+y)/2;
break;
case "FRONTLEFT":
frontLeftD->Set(1);
float x=(frontLeftA->GetAverageVoltage()/0.00488f)/2.54f;
frontLeftD->Set(0);
//TODO: Delay
return x;
break;
case "FRONTRIGHT":
frontRightD->Set(1);
float x=(frontRightA->GetAverageVoltage()/0.00488f)/2.54f;
frontRightD->Set(0);
//TODO: Delay
return x;
break;
case "BACKLEFT":
backLeftD->Set(1);
float x=(backLeftA->GetAverageVoltage()/0.00488f)/2.54f;
backLeftD->Set(0);
//TODO: Delay
return x;
break;
case "BACKRIGHT":
backRightD->Set(1);
float x=(backRightA->GetAverageVoltage()/0.00488f)/2.54f;
backRightD->Set(0);
//TODO: Delay
return x;
break;
default:
break;
}
}

2
src/Subsystems/Sonar.h
View File

@ -7,5 +7,5 @@ class HHSonar{
public:
HHSonar();
//from is (in string form) "FRONT", "BACK", "FRONTLEFT", "FRONTRIGHT"...
float getInches(const char* from);
float getInches(std::string from);
};