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63 lines
1.2 KiB
C
63 lines
1.2 KiB
C
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#ifndef DriveTrain_H
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#define DriveTrain_H
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#include "Commands/Subsystem.h"
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#include "WPILib.h"
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/**
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* The DriveTrain subsystem controls the robot's chassis and reads in
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* information about it's speed and position.
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*/
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class DriveTrain: public Subsystem
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{
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private:
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// Subsystem devices
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SpeedController *frontLeftCIM, *frontRightCIM;
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SpeedController *backLeftCIM, *backRightCIM;
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RobotDrive* drive;
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Encoder *rightEncoder, *leftEncoder;
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Gyro* gyro;
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public:
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DriveTrain();
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/**
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* When other commands aren't using the drivetrain, allow tank drive with
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* the joystick.
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*/
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void InitDefaultCommand();
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/**
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* @param joy PS3 style joystick to use as the input for tank drive.
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*/
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void TankDrive(Joystick* joy);
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/**
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* @param leftAxis Left sides value
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* @param rightAxis Right sides value
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*/
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void TankDrive(double leftAxis, double rightAxis);
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/**
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* Stop the drivetrain from moving.
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*/
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void Stop();
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/**
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* @return The encoder getting the distance and speed of left side of the drivetrain.
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*/
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Encoder* GetLeftEncoder();
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/**
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* @return The encoder getting the distance and speed of right side of the drivetrain.
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*/
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Encoder* GetRightEncoder();
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/**
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* @return The current angle of the drivetrain.
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*/
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double GetAngle();
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};
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#endif
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