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Spike Relay
Code:
#include "WPILib.h"
// Team 1721 mecanum code 2013 By: Zakary Tobine at 2/14/13 10:10
// Needs to add 2 relays; one for motor for shooter; one for frishbee pusher
const char inputShape[255] = {0,1,3,4,5,6,7,9,10,11,12,13,15,16,17,18,19,21,22,23,24,25,27,28,29,30,31,
33,34,35,36,37,38,40,41,42,43,44,46,47,48,49,50,52,53,54,55,56,58,59,60,61,62,
64,65,66,67,68,70,71,72,73,74,76,77,78,79,80,82,83,84,85,86,88,89,90,91,92,94,
95,96,97,98,100,101,102,103,104,106,107,108,109,110,112,113,114,115,116,117,
118,119,120,121,121,122,123,123,124,124,125,125,125,126,126,126,126,126,127,
127,127,127,127,127,127,127,127,127,127,127,127,127,127,127,127,127,127,127,
128,128,128,128,128,129,129,129,130,130,131,131,132,133,133,134,135,136,
137,138,139,140,141,142,144,145,146,147,148,150,151,152,153,154,156,157,158,
159,160,162,163,164,165,166,168,169,170,171,172,174,175,176,177,178,180,181,
182,183,184,186,187,188,189,190,192,193,194,195,196,198,199,200,201,202,204,
205,206,207,208,210,211,212,213,214,216,217,218,219,220,221,223,224,225,226,
227,229,230,231,232,233,235,236,237,238,239,241,242,243,244,245,247,248,249,
250,251,253,254,255};
float InputShape(float userValue)
{
int iUserValue;
iUserValue = (int)(userValue * 127);
iUserValue += 127;
iUserValue = inputShape[iUserValue];
userValue = iUserValue - 127;
userValue /= 127;
return userValue;
}
class RobotDemo : public SimpleRobot
{
RobotDrive myRobot; // robot drive system
Joystick stick; // only joystick
Relay relay1; // Relay 1 for shooter
Relay relay2; // Realy 2 for Pusher
public:
RobotDemo(void):
myRobot(1, 2, 3, 4), // these must be initialized in the same order
stick(1) // as they are declared above.
{
stick.SetAxisChannel(Joystick::kTwistAxis, 3);// Add the 3rd axis
myRobot.SetExpiration(0.1);// The time the motors stop moving after a value is sent
Relay relay1(1,Relay::kForwardOnly);
Relay relay2(2,Relay::kForwardOnly);
}
void Autonomous(void)
{
// Commented out till a later date
//myRobot.SetSafetyEnabled(false);
//myRobot.Drive(-0.5, 0.0); // drive forwards half speed
//Wait(2.0); // for 2 seconds
//myRobot.Drive(0.0, 0.0); // stop robot
}
/**
* Runs the motors with one joystick mecanum.
*/
void OperatorControl(void)
{
myRobot.SetSafetyEnabled(true);
while (IsOperatorControl())
{
float x = InputShape(stick.GetX());
float y = InputShape(stick.GetY());
float z = InputShape(-1*stick.GetTwist());
myRobot.MecanumDrive_Cartesian(x, y, z);// Mecanum drive single joystick drive
if (stick.GetRawButton(1)) // Spike relay for Shooter wheel
relay1.Set(Relay::kOn);
else
relay1.Set(Relay::kOff);
if (stick.GetRawButton(2)) // Spike relay for pusher
relay1.Set(Relay::kOn);
else
relay2.Set(Relay::kOff);
Wait(0.005); // wait for a motor update time
}
}
/**
* Runs during test mode
*/
void Test() {
}
};
START_ROBOT_CLASS(RobotDemo);
this is our code so far but when i try to build it it says
Code:
Build Started in Project 'SimpleTemplate': 2013-02-15 13:40:32
Generation of makefiles started.
Generation of makefiles finished (Elapsed Time: 00:00).
Platform: Wind River VxWorks 6.3
Command: make --no-print-directory BUILD_SPEC=PPC603gnu DEBUG_MODE=1 TRACE=1
Working Directory: C:/WindRiver/wrwb-debugmode-workspace/SimpleTemplate/PPC603gnu
if [ ! -d "`dirname "SimpleTemplate_partialImage/Debug/Objects/SimpleTemplate/MyRobot.o"`" ]; then mkdir -p "`dirname "SimpleTemplate_partialImage/Debug/Objects/SimpleTemplate/MyRobot.o"`"; fi;echo "building SimpleTemplate_partialImage/Debug/Objects/SimpleTemplate/MyRobot.o"; ccppc -g -mcpu=603 -mstrict-align -mno-implicit-fp -mlongcall -ansi -Wall -MD -MP -mlongcall -IC:/WindRiver/vxworks-6.3/target/h -IC:/WindRiver/vxworks-6.3/target/h/WPILib -IC:/WindRiver/vxworks-6.3/target/h/wrn/coreip -DCPU=PPC603 -DTOOL_FAMILY=gnu -DTOOL=gnu -D_WRS_KERNEL -o "SimpleTemplate_partialImage/Debug/Objects/SimpleTemplate/MyRobot.o" -c "C:/WindRiver/wrwb-debugmode-workspace/SimpleTemplate/MyRobot.cpp"
building SimpleTemplate_partialImage/Debug/Objects/SimpleTemplate/MyRobot.o
C:/WindRiver/wrwb-debugmode-workspace/SimpleTemplate/MyRobot.cpp: In constructor `RobotDemo::RobotDemo()':
C:/WindRiver/wrwb-debugmode-workspace/SimpleTemplate/MyRobot.cpp:47: error: no matching function for call to `Relay::Relay()'
C:/WindRiver/vxworks-6.3/target/h/WPILib/Relay.h:26: note: candidates are: Relay::Relay(const Relay&)
C:/WindRiver/vxworks-6.3/target/h/WPILib/Relay.h:32: note: Relay::Relay(UINT8, UINT32, Relay::Direction)
C:/WindRiver/vxworks-6.3/target/h/WPILib/Relay.h:31: note: Relay::Relay(UINT32, Relay::Direction)
C:/WindRiver/wrwb-debugmode-workspace/SimpleTemplate/MyRobot.cpp:47: error: no matching function for call to `Relay::Relay()'
C:/WindRiver/vxworks-6.3/target/h/WPILib/Relay.h:26: note: candidates are: Relay::Relay(const Relay&)
C:/WindRiver/vxworks-6.3/target/h/WPILib/Relay.h:32: note: Relay::Relay(UINT8, UINT32, Relay::Direction)
C:/WindRiver/vxworks-6.3/target/h/WPILib/Relay.h:31: note: Relay::Relay(UINT32, Relay::Direction)
C:\WindRiver\vxworks-6.3\host\x86-win32\bin\make.exe: *** [SimpleTemplate_partialImage/Debug/Objects/SimpleTemplate/MyRobot.o] Error 1
Build Failed in Project 'SimpleTemplate' (Process Exit Value was 2): 2013-02-15 13:40:44 (Elapsed Time: 00:12)
i know im forgetting something i just dont know what lol, any help? thanks
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