Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Run wpiformat on merged repo (#1021)

Browse Source
This commit is contained in:
Tyler Veness
2018-05-13 17:09:56 -07:00
committed by Peter Johnson
parent 0babbf317c
commit 6729a7d6b1
481 changed files with 9581 additions and 6828 deletions
Download Patch File Download Diff File Expand all files Collapse all files

67
wpilibcExamples/src/main/cpp/examples/GyroMecanum/src/Robot.cpp
View File

@@ -17,46 +17,45 @@
* (field-oriented controls).
*/
class Robot : public frc::IterativeRobot {
public:
void RobotInit() override {
// invert the left side motors
// you may need to change or remove this to match your robot
m_frontLeft.SetInverted(true);
m_rearLeft.SetInverted(true);
public:
void RobotInit() override {
// Invert the left side motors. You may need to change or remove this to
// match your robot.
m_frontLeft.SetInverted(true);
m_rearLeft.SetInverted(true);
m_gyro.SetSensitivity(kVoltsPerDegreePerSecond);
}
m_gyro.SetSensitivity(kVoltsPerDegreePerSecond);
}
/**
* Mecanum drive is used with the gyro angle as an input.
*/
void TeleopPeriodic() override {
m_robotDrive.DriveCartesian(m_joystick.GetX(),
m_joystick.GetY(), m_joystick.GetZ(),
m_gyro.GetAngle());
}
/**
* Mecanum drive is used with the gyro angle as an input.
*/
void TeleopPeriodic() override {
m_robotDrive.DriveCartesian(m_joystick.GetX(), m_joystick.GetY(),
m_joystick.GetZ(), m_gyro.GetAngle());
}
private:
// Gyro calibration constant, may need to be adjusted
// Gyro value of 360 is set to correspond to one full revolution
static constexpr double kVoltsPerDegreePerSecond = 0.0128;
private:
// Gyro calibration constant, may need to be adjusted. Gyro value of 360 is
// set to correspond to one full revolution.
static constexpr double kVoltsPerDegreePerSecond = 0.0128;
static constexpr int kFrontLeftMotorPort = 0;
static constexpr int kRearLeftMotorPort = 1;
static constexpr int kFrontRightMotorPort = 2;
static constexpr int kRearRightMotorPort = 3;
static constexpr int kGyroPort = 0;
static constexpr int kJoystickPort = 0;
static constexpr int kFrontLeftMotorPort = 0;
static constexpr int kRearLeftMotorPort = 1;
static constexpr int kFrontRightMotorPort = 2;
static constexpr int kRearRightMotorPort = 3;
static constexpr int kGyroPort = 0;
static constexpr int kJoystickPort = 0;
frc::Spark m_frontLeft{kFrontLeftMotorPort};
frc::Spark m_rearLeft{kRearLeftMotorPort};
frc::Spark m_frontRight{kFrontRightMotorPort};
frc::Spark m_rearRight{kRearRightMotorPort};
frc::MecanumDrive m_robotDrive{
m_frontLeft, m_rearLeft, m_frontRight, m_rearRight};
frc::Spark m_frontLeft{kFrontLeftMotorPort};
frc::Spark m_rearLeft{kRearLeftMotorPort};
frc::Spark m_frontRight{kFrontRightMotorPort};
frc::Spark m_rearRight{kRearRightMotorPort};
frc::MecanumDrive m_robotDrive{m_frontLeft, m_rearLeft, m_frontRight,
m_rearRight};
frc::AnalogGyro m_gyro{kGyroPort};
frc::Joystick m_joystick{kJoystickPort};
frc::AnalogGyro m_gyro{kGyroPort};
frc::Joystick m_joystick{kJoystickPort};
};
START_ROBOT_CLASS(Robot)