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Cleaned up SampleRobot template and added warning about disabling motor safety (#766)

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This commit is contained in:
Tyler Veness
2017-12-04 20:28:31 -08:00
committed by Peter Johnson
parent 64bfdc1a69
commit 350b741adc
2 changed files with 33 additions and 20 deletions
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21
wpilibcExamples/src/main/cpp/templates/sample/Robot.cpp
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@@ -61,27 +61,30 @@ public:
// "Auto Selector", kAutoNameDefault);
std::cout << "Auto selected: " << autoSelected << std::endl;
// MotorSafety improves safety when motors are updated in loops
// but is disabled here because motor updates are not looped in
// this autonomous mode.
m_robotDrive.SetSafetyEnabled(false);
if (autoSelected == kAutoNameCustom) {
// Custom Auto goes here
std::cout << "Running custom Autonomous" << std::endl;
m_robotDrive.SetSafetyEnabled(false);
// spin at half speed for two seconds
// Spin at half speed for two seconds
m_robotDrive.ArcadeDrive(0.0, 0.5);
frc::Wait(2.0);
// stop robot
// Stop robot
m_robotDrive.ArcadeDrive(0.0, 0.0);
} else {
// Default Auto goes here
std::cout << "Running default Autonomous" << std::endl;
m_robotDrive.SetSafetyEnabled(false);
// drive forwards at half speed for two seconds
// Drive forwards at half speed for two seconds
m_robotDrive.ArcadeDrive(-0.5, 0.0);
frc::Wait(2.0);
// stop robot
// Stop robot
m_robotDrive.ArcadeDrive(0.0, 0.0);
}
}
@@ -92,11 +95,11 @@ public:
void OperatorControl() override {
m_robotDrive.SetSafetyEnabled(true);
while (IsOperatorControl() && IsEnabled()) {
// drive with arcade style (use right stick)
// Drive with arcade style (use right stick)
m_robotDrive.ArcadeDrive(
m_stick.GetY(), m_stick.GetX());
-m_stick.GetY(), m_stick.GetX());
// wait for a motor update time
// The motors will be updated every 5ms
frc::Wait(0.005);
}
}