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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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32
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Robot.java
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@@ -96,19 +96,28 @@ public class Robot extends SampleRobot {
// defaultAuto);
System.out.println("Auto selected: " + autoSelected);
// 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);
switch (autoSelected) {
case kCustomAuto:
m_robotDrive.setSafetyEnabled(false);
m_robotDrive.arcadeDrive(0.0, 0.5); // spin at half speed
Timer.delay(2.0); // for 2 seconds
m_robotDrive.arcadeDrive(0.0, 0.0); // stop robot
// Spin at half speed for two seconds
m_robotDrive.arcadeDrive(0.0, 0.5);
Timer.delay(2.0);
// Stop robot
m_robotDrive.arcadeDrive(0.0, 0.0);
break;
case kDefaultAuto:
default:
m_robotDrive.setSafetyEnabled(false);
m_robotDrive.arcadeDrive(-0.5, 0.0); // drive forwards
Timer.delay(2.0); // for 2 seconds
m_robotDrive.arcadeDrive(0.0, 0.0); // stop robot
// Drive forwards for two seconds
m_robotDrive.arcadeDrive(-0.5, 0.0);
Timer.delay(2.0);
// Stop robot
m_robotDrive.arcadeDrive(0.0, 0.0);
break;
}
}
@@ -130,9 +139,10 @@ public class Robot extends SampleRobot {
public void operatorControl() {
m_robotDrive.setSafetyEnabled(true);
while (isOperatorControl() && isEnabled()) {
// drive arcade style
m_robotDrive.arcadeDrive(m_stick.getX(), m_stick.getY());
// wait for a motor update time
// Drive arcade style
m_robotDrive.arcadeDrive(-m_stick.getY(), m_stick.getX());
// The motors will be updated every 5ms
Timer.delay(0.005);
}
}