mirror of
https://github.com/team2059/Zaphod
synced 2025-01-27 22:21:07 -05:00
Changed function names ToThisCase instead of camelCase
This commit is contained in:
parent
de4a4f448a
commit
e6310554c8
@ -7,7 +7,7 @@ HHBase::HHBase():
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void HHBase::RobotInit(){
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void HHBase::RobotInit(){
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//Checks the state of the drive joystick to make sure it was not moved
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//Checks the state of the drive joystick to make sure it was not moved
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//while plugged in, giving inaccurate readings
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//while plugged in, giving inaccurate readings
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if(!hHBot->checkJoystickValues()){
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if(!hHBot->CheckJoystickValues()){
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printf("***UNPLUG AND REPLUG THE JOYSTICKS***\n");
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printf("***UNPLUG AND REPLUG THE JOYSTICKS***\n");
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}
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}
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}
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}
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@ -20,7 +20,7 @@ void HHBase::TeleopContinuous(){}
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void HHBase::DisabledPeriodic(){}
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void HHBase::DisabledPeriodic(){}
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void HHBase::AutonomousPeriodic(){}
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void HHBase::AutonomousPeriodic(){}
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void HHBase::TeleopPeriodic(){
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void HHBase::TeleopPeriodic(){
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hHBot->handler();
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hHBot->Handler();
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}
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}
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void HHBase::Test(){}
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void HHBase::Test(){}
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START_ROBOT_CLASS(HHBase);
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START_ROBOT_CLASS(HHBase);
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@ -8,19 +8,19 @@ HHRobot::HHRobot():
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dashboard(new HHDashboard()),
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dashboard(new HHDashboard()),
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sonar(new HHSonar()){
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sonar(new HHSonar()){
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}
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}
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bool HHRobot::checkJoystickValues(){
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bool HHRobot::CheckJoystickValues(){
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float x=ControlSystem->rightJoystickAxisValues[1];
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float x=ControlSystem->rightJoystickAxisValues[1];
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float y=ControlSystem->rightJoystickAxisValues[2];
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float y=ControlSystem->rightJoystickAxisValues[2];
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if((-.1 < x && x < .1) && (-.1 < y && y < .1)) {
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if((-.1 < x && x < .1) && (-.1 < y && y < .1)) {
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dashboard->putBoolValue("Joysticks Valid", true);
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dashboard->PutBoolValue("Joysticks Valid", true);
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return true;
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return true;
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} else {
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} else {
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dashboard->putBoolValue("Joysticks Valid", false);
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dashboard->PutBoolValue("Joysticks Valid", false);
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return true;
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return true;
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return false;
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return false;
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}
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}
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}
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}
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void HHRobot::driveRobot(float x, float y){
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void HHRobot::DriveRobot(float x, float y){
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if(y>1.0f) {
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if(y>1.0f) {
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y=1.0f;
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y=1.0f;
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} else if(y!=0.0f&&y<-1.0f) {
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} else if(y!=0.0f&&y<-1.0f) {
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@ -35,35 +35,35 @@ void HHRobot::driveRobot(float x, float y){
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left2->SetRaw(int(leftPower));
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left2->SetRaw(int(leftPower));
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left3->SetRaw(int(leftPower));
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left3->SetRaw(int(leftPower));
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}
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}
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void HHRobot::updateDashboard(){
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void HHRobot::UpdateDashboard(){
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dashboard->putFloatValue("Shooting Power", ControlSystem->throttle);
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dashboard->PutFloatValue("Shooting Power", ControlSystem->throttle);
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}
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}
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//Main function used to handle periodic tasks on the robot
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//Main function used to handle periodic tasks on the robot
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void HHRobot::handler(){
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void HHRobot::Handler(){
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//Periodic tasks that should be run by every loop
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//Periodic tasks that should be run by every loop
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ControlSystem->updateJoysticks();
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ControlSystem->UpdateJoysticks();
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shooter->updateShooterPosition();
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shooter->UpdateShooterPosition();
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//TODO Need to implement a timing system to not break the spike (this function doesn't run the compressor at the moment)
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//TODO Need to implement a timing system to not break the spike (this function doesn't run the compressor at the moment)
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compressorSystem->compressorSystemPeriodic();
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compressorSystem->CompressorSystemPeriodic();
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collector->updateCollector(shooter->isShooting, shooter->getAngle());
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collector->UpdateCollector(shooter->isShooting, shooter->GetAngle());
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if(checkJoystickValues()) {
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if(CheckJoystickValues()) {
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driveRobot(ControlSystem->rightJoystickAxisValues[3]+ControlSystem->rightJoystickAxisValues[1], -ControlSystem->rightJoystickAxisValues[2]);
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DriveRobot(ControlSystem->rightJoystickAxisValues[3]+ControlSystem->rightJoystickAxisValues[1], -ControlSystem->rightJoystickAxisValues[2]);
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}
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}
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updateDashboard();
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UpdateDashboard();
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//Button assignments to actions
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//Button assignments to actions
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if(ControlSystem->leftJoystickValues[SHOOTER_FIRE]) {
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if(ControlSystem->leftJoystickValues[SHOOTER_FIRE]) {
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shooter->startShootingSequence(ControlSystem->throttle);
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shooter->StartShootingSequence(ControlSystem->throttle);
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}
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}
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if(ControlSystem->rightJoystickValues[COLLECTOR_INTAKE]) {
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if(ControlSystem->rightJoystickValues[COLLECTOR_INTAKE]) {
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collector->collectBall();
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collector->CollectBall();
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}
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}
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if(ControlSystem->rightJoystickValues[COLLECTOR_OUTTAKE]) {
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if(ControlSystem->rightJoystickValues[COLLECTOR_OUTTAKE]) {
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collector->releaseBall();
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collector->ReleaseBall();
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}
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}
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if(ControlSystem->rightJoystickValues[COLLECTOR_EXTEND]) {
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if(ControlSystem->rightJoystickValues[COLLECTOR_EXTEND]) {
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compressorSystem->extendCollector();
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compressorSystem->ExtendCollector();
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}
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}
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if(ControlSystem->rightJoystickValues[COLLECTOR_RETRACT]) {
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if(ControlSystem->rightJoystickValues[COLLECTOR_RETRACT]) {
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compressorSystem->retractCollector();
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compressorSystem->RetractCollector();
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}
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}
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}
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}
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@ -24,11 +24,9 @@ class HHRobot{
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public:
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public:
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HHRobot();
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HHRobot();
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float frontSonarLeftV, frontSonarRightV, rearSonarLeftV, rearSonarRightV;
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float frontSonarLeftV, frontSonarRightV, rearSonarLeftV, rearSonarRightV;
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float getFrontSonar();
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bool CheckJoystickValues();
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float getRearSonar();
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void DriveRobot(float,float);
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bool checkJoystickValues();
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void UpdateDashboard();
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void driveRobot(float,float);
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void Handler();
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void updateDashboard();
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void handler();
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};
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};
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#endif
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#endif
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@ -2,26 +2,26 @@
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HHCollector::HHCollector(){
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HHCollector::HHCollector(){
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collectorMotor = new Jaguar(COLLECTOR_SIDECAR, COLLECTOR_MOTOR);
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collectorMotor = new Jaguar(COLLECTOR_SIDECAR, COLLECTOR_MOTOR);
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}
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}
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void HHCollector::updateCollector(bool shooting, float angle){
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void HHCollector::UpdateCollector(bool shooting, float angle){
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//Needed for the auto running of collector when shooting
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//Needed for the auto running of collector when shooting
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if(shooting){
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if(shooting){
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if(angle <= 40){
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if(angle <= 40){
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collectBall();
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CollectBall();
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}
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}
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}
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}
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if(e_CollectorState == COLLECTING){
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if(e_CollectorState == COLLECTING){
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collectBall();
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CollectBall();
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}
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}
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if(e_CollectorState == RELEASE){
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if(e_CollectorState == RELEASE){
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releaseBall();
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ReleaseBall();
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}
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}
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if(e_CollectorState == STOP){
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if(e_CollectorState == STOP){
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collectorMotor->Set(0);
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collectorMotor->Set(0);
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}
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}
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}
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}
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void HHCollector::collectBall(){
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void HHCollector::CollectBall(){
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collectorMotor->Set(1);
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collectorMotor->Set(1);
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}
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}
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void HHCollector::releaseBall(){
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void HHCollector::ReleaseBall(){
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collectorMotor->Set(255);
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collectorMotor->Set(255);
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}
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}
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@ -4,14 +4,14 @@ class HHCollector{
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private:
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private:
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Jaguar *collectorMotor;
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Jaguar *collectorMotor;
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public:
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public:
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HHCollector();
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enum{
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enum{
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COLLECTING,
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COLLECTING,
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RELEASE,
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RELEASE,
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STOP
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STOP
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}e_CollectorState;
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}e_CollectorState;
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HHCollector();
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void UpdateCollector(bool, float);
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void updateCollector(bool, float);
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void CollectBall();
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void collectBall();
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void ReleaseBall();
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void releaseBall();
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void SpinWithShot(float);
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void spinWithShot(float);
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};
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};
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@ -4,7 +4,7 @@ HHCompressor::HHCompressor(){
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solenoid1=new Solenoid(COMPRESSOR_SOLENOID_ONE);
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solenoid1=new Solenoid(COMPRESSOR_SOLENOID_ONE);
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solenoid2=new Solenoid(COMPRESSOR_SOLENOID_TWO);
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solenoid2=new Solenoid(COMPRESSOR_SOLENOID_TWO);
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}
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}
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void HHCompressor::compressorSystemPeriodic(){
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void HHCompressor::CompressorSystemPeriodic(){
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switch(e_CollectorSolenoidState){
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switch(e_CollectorSolenoidState){
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case EXTENDED:
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case EXTENDED:
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solenoid1->Set(false);
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solenoid1->Set(false);
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@ -19,15 +19,15 @@ void HHCompressor::compressorSystemPeriodic(){
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}
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}
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e_CollectorSolenoidState=IDLE;
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e_CollectorSolenoidState=IDLE;
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}
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}
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void HHCompressor::startCompressing(){
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void HHCompressor::StartCompressing(){
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compressor->Start();
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compressor->Start();
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}
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}
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void HHCompressor::stopCompressing(){
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void HHCompressor::StopCompressing(){
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compressor->Stop();
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compressor->Stop();
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}
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}
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void HHCompressor::extendCollector(){
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void HHCompressor::ExtendCollector(){
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e_CollectorSolenoidState=EXTENDED;
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e_CollectorSolenoidState=EXTENDED;
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}
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}
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void HHCompressor::retractCollector(){
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void HHCompressor::RetractCollector(){
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e_CollectorSolenoidState=RETRACTED;
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e_CollectorSolenoidState=RETRACTED;
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}
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}
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@ -11,9 +11,9 @@ class HHCompressor{
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IDLE
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IDLE
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}e_CollectorSolenoidState;
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}e_CollectorSolenoidState;
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HHCompressor();
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HHCompressor();
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void compressorSystemPeriodic();
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void CompressorSystemPeriodic();
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void extendCollector();
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void ExtendCollector();
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void retractCollector();
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void RetractCollector();
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void startCompressing();
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void StartCompressing();
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void stopCompressing();
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void StopCompressing();
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};
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};
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@ -3,29 +3,29 @@ JoystickController::JoystickController(){
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rightJoystick=new Joystick(JOYSTICK_RIGHT);
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rightJoystick=new Joystick(JOYSTICK_RIGHT);
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leftJoystick=new Joystick(JOYSTICK_LEFT);
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leftJoystick=new Joystick(JOYSTICK_LEFT);
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}
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}
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void JoystickController::updateJoysticks(){
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void JoystickController::UpdateJoysticks(){
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getRightJoystick();
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GetRightJoystick();
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getLeftJoystick();
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GetLeftJoystick();
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getRightJoystickAxis();
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GetRightJoystickAxis();
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getLeftJoystickAxis();
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GetLeftJoystickAxis();
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throttle=(-leftJoystickAxisValues[4]+1)/2;
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throttle=(-leftJoystickAxisValues[4]+1)/2;
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}
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}
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void JoystickController::getRightJoystick(){
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void JoystickController::GetRightJoystick(){
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for(int i=1;i<13;i++){
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for(int i=1;i<13;i++){
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rightJoystickValues[i]=rightJoystick->GetRawButton(i);
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rightJoystickValues[i]=rightJoystick->GetRawButton(i);
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}
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}
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}
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}
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void JoystickController::getLeftJoystick(){
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void JoystickController::GetLeftJoystick(){
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for(int i=1;i<13;i++){
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for(int i=1;i<13;i++){
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leftJoystickValues[i]=leftJoystick->GetRawButton(i);
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leftJoystickValues[i]=leftJoystick->GetRawButton(i);
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}
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}
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}
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}
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void JoystickController::getRightJoystickAxis(){
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void JoystickController::GetRightJoystickAxis(){
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for(int i=1;i<7;i++){
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for(int i=1;i<7;i++){
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rightJoystickAxisValues[i]=rightJoystick->GetRawAxis(i);
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rightJoystickAxisValues[i]=rightJoystick->GetRawAxis(i);
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}
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}
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}
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}
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void JoystickController::getLeftJoystickAxis(){
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void JoystickController::GetLeftJoystickAxis(){
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for(int i=1;i<7;i++){
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for(int i=1;i<7;i++){
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leftJoystickAxisValues[i]=leftJoystick->GetRawAxis(i);
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leftJoystickAxisValues[i]=leftJoystick->GetRawAxis(i);
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}
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}
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@ -11,9 +11,9 @@ class JoystickController
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float rightJoystickAxisValues[];
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float rightJoystickAxisValues[];
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float throttle;
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float throttle;
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JoystickController();
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JoystickController();
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void updateJoysticks();
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void UpdateJoysticks();
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void getRightJoystick();
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void GetRightJoystick();
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void getLeftJoystick();
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void GetLeftJoystick();
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void getLeftJoystickAxis();
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void GetLeftJoystickAxis();
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void getRightJoystickAxis();
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void GetRightJoystickAxis();
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};
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};
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@ -4,19 +4,19 @@ HHDashboard::HHDashboard(){
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SmartDashboard::PutNumber("Shooting Power", 0.0f);
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SmartDashboard::PutNumber("Shooting Power", 0.0f);
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SmartDashboard::PutBoolean("Joysticks Valid", false);
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SmartDashboard::PutBoolean("Joysticks Valid", false);
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}
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}
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float HHDashboard::getFloatValue(const char* key){
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float HHDashboard::GetFloatValue(const char* key){
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float value=SmartDashboard::GetNumber(key);
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float value=SmartDashboard::GetNumber(key);
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return value;
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return value;
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}
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}
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bool HHDashboard::putFloatValue(const char* key, float value){
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bool HHDashboard::PutFloatValue(const char* key, float value){
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SmartDashboard::PutNumber(key,value);
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SmartDashboard::PutNumber(key,value);
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return true;
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return true;
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}
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}
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bool HHDashboard::getBoolValue(const char* key){
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bool HHDashboard::GetBoolValue(const char* key){
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bool value=SmartDashboard::GetBoolean(key);
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bool value=SmartDashboard::GetBoolean(key);
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return value;
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return value;
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}
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}
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bool HHDashboard::putBoolValue(const char* key, bool value){
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bool HHDashboard::PutBoolValue(const char* key, bool value){
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SmartDashboard::PutBoolean(key,value);
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SmartDashboard::PutBoolean(key,value);
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return true;
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return true;
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}
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}
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@ -6,8 +6,8 @@ class HHDashboard{
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HHDashboard();
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HHDashboard();
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//Array used to track the values in the dashboard
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//Array used to track the values in the dashboard
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bool DashboardValues[];
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bool DashboardValues[];
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float getFloatValue(const char* key);
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float GetFloatValue(const char* key);
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bool putFloatValue(const char* key, float value);
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bool PutFloatValue(const char* key, float value);
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bool getBoolValue(const char* key);
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bool GetBoolValue(const char* key);
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bool putBoolValue(const char* key, bool value);
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bool PutBoolValue(const char* key, bool value);
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};
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};
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@ -7,15 +7,15 @@ HHShooter::HHShooter(){
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shooterAngle=new AnalogChannel(SHOOTER_ANGLE_POT);
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shooterAngle=new AnalogChannel(SHOOTER_ANGLE_POT);
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e_ShooterState=IDLE_PRESHOT;
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e_ShooterState=IDLE_PRESHOT;
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}
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}
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void HHShooter::startShootingSequence(float throttle){
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void HHShooter::StartShootingSequence(float throttle){
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//Changes the enum to tell the shooter to be firing
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//Changes the enum to tell the shooter to be firing
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e_ShooterState=FIRING;
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e_ShooterState=FIRING;
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shootingPower=throttle;
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shootingPower=throttle;
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}
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}
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//First step in shooting process
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//First step in shooting process
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void HHShooter::shootForAngle(float power, float desiredAngle){
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void HHShooter::ShootForAngle(float power, float desiredAngle){
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if(getAngle() <= desiredAngle && power >= 15){
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if(GetAngle() <= desiredAngle && power >= 15){
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shootRaw(power);
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ShootRaw(power);
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e_ShooterState=FIRING;
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e_ShooterState=FIRING;
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}
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}
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else{
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else{
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@ -23,50 +23,50 @@ void HHShooter::shootForAngle(float power, float desiredAngle){
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}
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}
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}
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}
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//Second step in shooting process
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//Second step in shooting process
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//Probably wont need to be used without shootForAngle
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//Probably wont need to be used without ShootForAngle
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void HHShooter::lower(float desiredAngle){
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void HHShooter::Lower(float desiredAngle){
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if(getAngle() >= desiredAngle){
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if(GetAngle() >= desiredAngle){
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shootRaw(-0.1f);
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ShootRaw(-0.1f);
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e_ShooterState=LOWERING;
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e_ShooterState=LOWERING;
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}
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}
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else{
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else{
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shootRaw(0.0f);
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ShootRaw(0.0f);
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e_ShooterState=IDLE_PRESHOT;
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e_ShooterState=IDLE_PRESHOT;
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}
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}
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}
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}
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//Not needed anywhere other than after/before the shooting process
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//Not needed anywhere other than after/before the shooting process
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void HHShooter::stopShooter(){
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void HHShooter::StopShooter(){
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if(e_ShooterState == IDLE_PRESHOT){
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if(e_ShooterState == IDLE_PRESHOT){
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shootRaw(0.0f);
|
ShootRaw(0.0f);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
//Shouldn't be used in any other class but this one
|
//Shouldn't be used in any other class but this one
|
||||||
void HHShooter::shootRaw(float power){
|
void HHShooter::ShootRaw(float power){
|
||||||
shooterLeft1->SetRaw(int(floatToPWM(power)));
|
shooterLeft1->SetRaw(int(FloatToPWM(power)));
|
||||||
shooterLeft2->SetRaw(int(floatToPWM(power)));
|
shooterLeft2->SetRaw(int(FloatToPWM(power)));
|
||||||
shooterRight1->SetRaw(int(floatToPWM(-power)));
|
shooterRight1->SetRaw(int(FloatToPWM(-power)));
|
||||||
shooterRight2->SetRaw(int(floatToPWM(-power)));
|
shooterRight2->SetRaw(int(FloatToPWM(-power)));
|
||||||
}
|
}
|
||||||
//Should be run in a loop
|
//Should be run in a loop
|
||||||
void HHShooter::updateShooterPosition(){
|
void HHShooter::UpdateShooterPosition(){
|
||||||
if(e_ShooterState == IDLE_PRESHOT){
|
if(e_ShooterState == IDLE_PRESHOT){
|
||||||
isShooting=false;
|
isShooting=false;
|
||||||
stopShooter();
|
StopShooter();
|
||||||
}
|
}
|
||||||
if(e_ShooterState == FIRING){
|
if(e_ShooterState == FIRING){
|
||||||
isShooting=true;
|
isShooting=true;
|
||||||
shootForAngle(shootingPower,110);
|
ShootForAngle(shootingPower,110);
|
||||||
}
|
}
|
||||||
if(e_ShooterState == IDLE_POSTSHOT){
|
if(e_ShooterState == IDLE_POSTSHOT){
|
||||||
isShooting=false;
|
isShooting=false;
|
||||||
lower(40);
|
Lower(40);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
float HHShooter::floatToPWM(float input){
|
float HHShooter::FloatToPWM(float input){
|
||||||
return input*127.0+128;
|
return input*127.0+128;
|
||||||
}
|
}
|
||||||
//Returns angle measure in degrees
|
//Returns angle measure in degrees
|
||||||
float HHShooter::getAngle(){
|
float HHShooter::GetAngle(){
|
||||||
float max=-.0003948;
|
float max=-.0003948;
|
||||||
float min=5.0245547;
|
float min=5.0245547;
|
||||||
float b=shooterAngle->GetAverageVoltage()-max;
|
float b=shooterAngle->GetAverageVoltage()-max;
|
||||||
|
@ -14,12 +14,12 @@ class HHShooter{
|
|||||||
}e_ShooterState;
|
}e_ShooterState;
|
||||||
bool isShooting;
|
bool isShooting;
|
||||||
float shootingPower;
|
float shootingPower;
|
||||||
void startShootingSequence(float);
|
void StartShootingSequence(float);
|
||||||
void shootForAngle(float, float);
|
void ShootForAngle(float, float);
|
||||||
void shootRaw(float);
|
void ShootRaw(float);
|
||||||
void lower(float);
|
void Lower(float);
|
||||||
void stopShooter();
|
void StopShooter();
|
||||||
void updateShooterPosition();
|
void UpdateShooterPosition();
|
||||||
float floatToPWM(float input);
|
float FloatToPWM(float input);
|
||||||
float getAngle();
|
float GetAngle();
|
||||||
};
|
};
|
||||||
|
@ -9,7 +9,7 @@ HHSonar::HHSonar(){
|
|||||||
AnalogChannel backLeftA=new AnalogChannel(SONAR_BACK_LEFT_ANA);
|
AnalogChannel backLeftA=new AnalogChannel(SONAR_BACK_LEFT_ANA);
|
||||||
AnalogChannel backRightA=new AnalogChannel(SONAR_BACK_RIGHT_ANA);
|
AnalogChannel backRightA=new AnalogChannel(SONAR_BACK_RIGHT_ANA);
|
||||||
}
|
}
|
||||||
float HHSonar::getInches(std::string from){
|
float HHSonar::GetInches(std::string from){
|
||||||
switch(from){
|
switch(from){
|
||||||
case "FRONT":
|
case "FRONT":
|
||||||
frontLeftD->Set(1);
|
frontLeftD->Set(1);
|
||||||
|
@ -7,5 +7,5 @@ class HHSonar{
|
|||||||
public:
|
public:
|
||||||
HHSonar();
|
HHSonar();
|
||||||
//from is (in string form) "FRONT", "BACK", "FRONTLEFT", "FRONTRIGHT"...
|
//from is (in string form) "FRONT", "BACK", "FRONTLEFT", "FRONTRIGHT"...
|
||||||
float getInches(std::string from);
|
float GetInches(std::string from);
|
||||||
};
|
};
|
||||||
|
Loading…
x
Reference in New Issue
Block a user