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63 lines
1.5 KiB
C++
63 lines
1.5 KiB
C++
//============================================================================
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// Name : Robot.cpp
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// Author :
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// Version :
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// Copyright :
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// Description : Hello World in C++, Ansi-style
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//============================================================================
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#include "WPILib.h"
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/**
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* This is a demo program showing the use of the RobotBase class.
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* The SimpleRobot class is the base of a robot application that will automatically call your
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* Autonomous and OperatorControl methods at the right time as controlled by the switches on
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* the driver station or the field controls.
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*/
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class Robot : public SimpleRobot
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{
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RobotDrive myRobot; // robot drive system
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Joystick stick; // only joystick
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public:
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Robot(void):
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myRobot(1, 2), // these must be initialized in the same order
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stick(1) // as they are declared above.
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{
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myRobot.SetExpiration(0.1);
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}
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/**
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* Drive left & right motors for 2 seconds then stop
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*/
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void Autonomous(void)
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{
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myRobot.SetSafetyEnabled(false);
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myRobot.Drive(-0.5, 0.0); // drive forwards half speed
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Wait(2.0); // for 2 seconds
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myRobot.Drive(0.0, 0.0); // stop robot
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}
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/**
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* Runs the motors with arcade steering.
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*/
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void OperatorControl(void)
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{
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myRobot.SetSafetyEnabled(true);
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while (IsOperatorControl())
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{
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myRobot.ArcadeDrive(stick); // drive with arcade style (use right stick)
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Wait(0.005); // wait for a motor update time
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}
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}
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/**
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* Runs during test mode
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*/
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void Test() {
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}
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};
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START_ROBOT_CLASS(Robot);
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