mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
e017f93f16
Also added some references/smart pointers to a couple places that seemed convenient to the user. I haven't updated the constructors for RobotDrive() related examples, pending the results of gerrit change https://usfirst.collab.net/gerrit/#/c/960/ A few things that we are noticing: --It might be nice if ReturnPIDInput() didn't have to be const; when people try to override it, they have to remember to put the const in and if they don't, then the compiler error isn't the most obvious (especially since this is a change). This would also apply to PIDGet() in the PIDSource interface. --SendableChooser still takes raw pointers. This could lead to an issue I had to debug briefly where you accidentally call GetSelected() on autoChooser and put the resulting raw pointer into a unique_ptr, which destroys the pointer when it goes out of scope. Specifically, I was testing the PacGoat example and I ended up with a situation where if auto mode was run once, it was fine, but if it was run twice, the selected command would have been destroyed by the unique_ptr. I believe that this just requires updating SendableChosser to take shared_ptr. --When the samples are compiled with -pedantic, it points out that START_ROBOT_CLASS macro expansion results in a redundant semicolon. Change-Id: Ib4c025a61263d0d2780d4253faa31713e15333a5
50 lines
1.5 KiB
C++
Executable File
50 lines
1.5 KiB
C++
Executable File
#include "WPILib.h"
|
|
|
|
/**
|
|
* This is a demo program showing how to use Mecanum control with the RobotDrive class.
|
|
*/
|
|
class Robot: public SampleRobot
|
|
{
|
|
|
|
// Channels for the wheels
|
|
const static int frontLeftChannel = 2;
|
|
const static int rearLeftChannel = 3;
|
|
const static int frontRightChannel = 1;
|
|
const static int rearRightChannel = 0;
|
|
|
|
const static int joystickChannel = 0;
|
|
|
|
RobotDrive robotDrive; // robot drive system
|
|
Joystick stick; // only joystick
|
|
|
|
public:
|
|
Robot() :
|
|
robotDrive(frontLeftChannel, rearLeftChannel,
|
|
frontRightChannel, rearRightChannel), // these must be initialized in the same order
|
|
stick(joystickChannel) // as they are declared above.
|
|
{
|
|
robotDrive.SetExpiration(0.1);
|
|
robotDrive.SetInvertedMotor(RobotDrive::kFrontLeftMotor, true); // invert the left side motors
|
|
robotDrive.SetInvertedMotor(RobotDrive::kRearLeftMotor, true); // you may need to change or remove this to match your robot
|
|
}
|
|
|
|
/**
|
|
* Runs the motors with Mecanum drive.
|
|
*/
|
|
void OperatorControl()
|
|
{
|
|
robotDrive.SetSafetyEnabled(false);
|
|
while (IsOperatorControl() && IsEnabled())
|
|
{
|
|
// Use the joystick X axis for lateral movement, Y axis for forward movement, and Z axis for rotation.
|
|
// This sample does not use field-oriented drive, so the gyro input is set to zero.
|
|
robotDrive.MecanumDrive_Cartesian(stick.GetX(), stick.GetY(), stick.GetZ());
|
|
|
|
Wait(0.005); // wait 5ms to avoid hogging CPU cycles
|
|
}
|
|
}
|
|
|
|
};
|
|
|
|
START_ROBOT_CLASS(Robot)
|