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50 lines
1.5 KiB
C++
50 lines
1.5 KiB
C++
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#include "WPILib.h"
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/**
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* This is a demo program showing how to use Mecanum control with the RobotDrive class.
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*/
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class Robot: public SampleRobot
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{
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// Channels for the wheels
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const static int frontLeftChannel = 2;
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const static int rearLeftChannel = 3;
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const static int frontRightChannel = 1;
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const static int rearRightChannel = 0;
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const static int joystickChannel = 0;
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RobotDrive robotDrive; // robot drive system
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Joystick stick; // only joystick
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public:
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Robot() :
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robotDrive(frontLeftChannel, rearLeftChannel,
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frontRightChannel, rearRightChannel), // these must be initialized in the same order
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stick(joystickChannel) // as they are declared above.
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{
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robotDrive.SetExpiration(0.1);
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robotDrive.SetInvertedMotor(RobotDrive::kFrontLeftMotor, true); // invert the left side motors
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robotDrive.SetInvertedMotor(RobotDrive::kRearLeftMotor, true); // you may need to change or remove this to match your robot
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}
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/**
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* Runs the motors with Mecanum drive.
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*/
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void OperatorControl()
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{
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robotDrive.SetSafetyEnabled(false);
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while (IsOperatorControl())
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{
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// Use the joystick X axis for lateral movement, Y axis for forward movement, and Z axis for rotation.
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// This sample does not use field-oriented drive, so the gyro input is set to zero.
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robotDrive.MecanumDrive_Cartesian(stick.GetX(), stick.GetY(), stick.GetZ());
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Wait(0.005); // wait 5ms to avoid hogging CPU cycles
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}
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}
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};
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START_ROBOT_CLASS(Robot);
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