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https://github.com/wpilibsuite/allwpilib
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767686ae2e
Anywhere in the sample programs where there was just a isOperatorControl() in the while loop for Teleop, added an "&& isEnabled()". Change-Id: Ib81e8bab79923e262c314a073a591855cbf06846
59 lines
1.5 KiB
C++
59 lines
1.5 KiB
C++
#include "WPILib.h"
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/**
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* This is a demo program showing the use of the RobotDrive class.
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* The SampleRobot 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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* WARNING: While it may look like a good choice to use for your code if you're inexperienced,
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* don't. Unless you know what you are doing, complex code will be much more difficult under
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* this system. Use IterativeRobot or Command-Based instead if you're new.
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*/
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class Robot: public SampleRobot
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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() :
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myRobot(0, 1), // these must be initialized in the same order
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stick(0) // 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()
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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()
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{
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myRobot.SetSafetyEnabled(true);
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while (IsOperatorControl() && IsEnabled())
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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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};
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START_ROBOT_CLASS(Robot);
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