Here is my program so far
.hpp File
#ifndef __EagleRobot_HPP__
#define __EagleRobot_HPP__
/**
* This is Team 2838 Eaglebots 2017 Robot Base Class based on
* the Simple Robot Class.
*/
#include <iostream>
#include <memory>
#include <string>
#include <Joystick.h>
#include <SampleRobot.h>
#include <SmartDashboard/SendableChooser.h>
#include <SmartDashboard/SmartDashboard.h>
#include <RobotDrive.h>
#include <Timer.h>
// New 3rd Party API
#include "CANTalon.h"
// Debug Flags
#define DEBUG_ON 1
#define DEBUG_OFF 0
class EagleBotRobot : public frc::SampleRobot
{
private:
// Robot Drive System
CANTalon drvLF, drvRF; // Drive Motor Left/Right Front Motor
CanTalonSRX drvLB, drvRB; // Drive Motor Left/Right Back Motor -
// Had to change to SRX for proper inverse following.
CANTalon drvSF, drvSB; // Drive Motor Left/Right Sideways Motor
// Robot Control
frc::Joystick DriveStickLeft; // Driver Left Joystick
frc::Joystick DriveStickRight; // Driver Right Joystick
frc::Joystick SpecialOps; // Special Operator Joystick
// Team Functions
void EagleRobotDrive(void); // Drive the robot
// Dashboard Control - from 2017 example code.
// frc::SendableChooser<std::string> chooser;
// const std::string autoNameDefault = "Default";
// const std::string autoNameCustom = "My Auto";
public:
// Constructor;
EagleBotRobot();
/**
* Ran once to initialize the robot before competition start
*/
void RobotInit();
/**
* Drive left & right motors for 2 seconds then stop
*/
void Autonomous();
/**
* Runs the motors with arcade steering.
*/
void OperatorControl() override;
/**
* Runs during test mode
*/
void Test() override;
};
// Utility Functions
#endif // __EagleRobot_HPP__
.cpp FIle
/**
* This is Team 2838 Eaglebots 2017 Robot Base Class based on
* the Simple Robot Class.
*/
#include "EagleRobot.hpp"
const static int EAGLE_DRIVE_R_MASTER = 7;
const static int EAGLE_DRIVE_L_MASTER = 9;
EagleBotRobot::EagleBotRobot() :
drvLF(EAGLE_DRIVE_L_MASTER), // CAN Bus - NEED TO SET
drvRF(EAGLE_DRIVE_R_MASTER),
drvLB(10),
drvRB(8),
drvSF(11),
drvSB(12),
DriveStickLeft(0), // USB
DriveStickRight(1),
SpecialOps(2) //,
// chooser() // New Autonomous Control.
{
}
void EagleBotRobot::RobotInit()
{
// Setup motor followers
drvLF.SetInverted(false);
drvLB.SetModeSelect(CanTalonSRX::kMode_SlaveFollow er);
drvLB.SetDemand(EAGLE_DRIVE_L_MASTER);
drvLB.SetRevMotDuringCloseLoopEn(false);
drvRF.SetInverted(true);
drvRB.SetModeSelect(CanTalonSRX::kMode_SlaveFollow er);
drvRB.SetDemand(EAGLE_DRIVE_R_MASTER);
drvRB.SetRevMotDuringCloseLoopEn(false);
// chooser.AddDefault(autoNameDefault, autoNameDefault);
// chooser.AddObject(autoNameCustom, autoNameCustom);
// frc::SmartDashboard:
utData("Auto Modes", &chooser);
}
void EagleBotRobot::Autonomous()
{
#if 0
auto autoSelected = chooser.GetSelected();
// std::string autoSelected = frc::SmartDashboard::GetString("Auto Selector", autoNameDefault);
std::cout << "Auto selected: " << autoSelected << std::endl;
if (autoSelected == autoNameCustom)
{
// Custom Auto goes here
std::cout << "Running custom Autonomous" << std::endl;
}
else
{
// Default Auto goes here
std::cout << "Running default Autonomous" << std::endl;
}
#endif
}
void EagleBotRobot::OperatorControl()
{
while (IsOperatorControl() && IsEnabled())
{
// drive with arcade style (use right stick)
EagleRobotDrive();
// wait for a motor update time
frc::Wait(0.005);
}
}
/**
* Runs during test mode
*/
void EagleBotRobot::Test()
{
std::cout << "Test Code" << std::endl;
}
// Original Baseline
#if 0
/**
* This is a demo program showing the use of the RobotDrive class.
* The SampleRobot class is the base of a robot application that will
* automatically call your Autonomous and OperatorControl methods at the right
* time as controlled by the switches on the driver station or the field
* controls.
*
* WARNING: While it may look like a good choice to use for your code if you're
* inexperienced, don't. Unless you know what you are doing, complex code will
* be much more difficult under this system. Use IterativeRobot or Command-Based
* instead if you're new.
*/
class Robot: public frc::SampleRobot {
frc::RobotDrive myRobot { 0, 1 }; // robot drive system
frc::Joystick stick { 0 }; // only joystick
frc::SendableChooser<std::string> chooser;
const std::string autoNameDefault = "Default";
const std::string autoNameCustom = "My Auto";
public:
Robot() {
//Note SmartDashboard is not initialized here, wait until RobotInit to make SmartDashboard calls
myRobot.SetExpiration(0.1);
}
void RobotInit() {
chooser.AddDefault(autoNameDefault, autoNameDefault);
chooser.AddObject(autoNameCustom, autoNameCustom);
frc::SmartDashboard:
utData("Auto Modes", &chooser);
}
/*
* This autonomous (along with the chooser code above) shows how to select
* between different autonomous modes using the dashboard. The sendable
* chooser code works with the Java SmartDashboard. If you prefer the
* LabVIEW Dashboard, remove all of the chooser code and uncomment the
* GetString line to get the auto name from the text box below the Gyro.
*
* You can add additional auto modes by adding additional comparisons to the
* if-else structure below with additional strings. If using the
* SendableChooser make sure to add them to the chooser code above as well.
*/
void Autonomous() {
auto autoSelected = chooser.GetSelected();
// std::string autoSelected = frc::SmartDashboard::GetString("Auto Selector", autoNameDefault);
std::cout << "Auto selected: " << autoSelected << std::endl;
if (autoSelected == autoNameCustom) {
// Custom Auto goes here
std::cout << "Running custom Autonomous" << std::endl;
myRobot.SetSafetyEnabled(false);
myRobot.Drive(-0.5, 1.0); // spin at half speed
frc::Wait(2.0); // for 2 seconds
myRobot.Drive(0.0, 0.0); // stop robot
} else {
// Default Auto goes here
std::cout << "Running default Autonomous" << std::endl;
myRobot.SetSafetyEnabled(false);
myRobot.Drive(-0.5, 0.0); // drive forwards half speed
frc::Wait(2.0); // for 2 seconds
myRobot.Drive(0.0, 0.0); // stop robot
}
}
/*
* Runs the motors with arcade steering.
*/
void OperatorControl() override {
myRobot.SetSafetyEnabled(true);
while (IsOperatorControl() && IsEnabled()) {
// drive with arcade style (use right stick)
myRobot.ArcadeDrive(stick);
// wait for a motor update time
frc::Wait(0.005);
}
}
/*
* Runs during test mode
*/
void Test() override {
}
};
#endif
START_ROBOT_CLASS(EagleBotRobot)
drive.cpp
/**
* This is Team 2838 Eaglebots 2016 Robot Drive Class Functions
*
* showing the use of the RobotBase class.
* The SimpleRobot class is the base of a robot application that will automatically call your
* Autonomous and OperatorControl methods at the right time as controlled by the switches on
* the driver station or the field controls.
*/
#include "EagleRobot.hpp"
// Gains to control robot drive movement
float Kdf = 1.0; // Forward Robot Gain
float Kds = 1.0; // Strafe Robot Gain
float Kdt = 1.0; // Rotate Robot Gain
// Individual drive wheel gains
float Kfl = 1.0; // Front Left Motor Gain
float Kfr = 1.0; // Front Right Motor Gain
float Krl = 1.0; // Rear Left Motor Gain
float Krr = 1.0; // Rear Right Motor Gain
// Drives the Robot
void EagleBotRobot::EagleRobotDrive(void)
{
// The following calculations are done to drive the mercanum wheels
// Calculate the following using tank drive
//
// Variables
// Yl Joystick Left Y Axis (-1.0 - +1.0)
// Yr Joystick Right Y Axis (-1.0 - +1.0)
// Xl Joystick Left X Axis (-1.0 - +1.0)
// Yf Combined Y Forward
// Yt Compined Y Turn
// Kdf Gain - Forward
// Kdt Gain - Turn
// Kds Gain - Strafe
// Kfl, Kfr,
// Krl, Krr Gains - Wheel Gains
// FL, FR, RL, RR Front/Rear Left/Right Wheel Speeds
//
#define TANK_DRIVE
#ifdef TANK_DRIVE
float Yl = -DriveStickLeft.GetY(); // Invert Y axis
float Yr = -DriveStickRight.GetY(); // Invert Y axis
#else // Arcade
// Arcade Drive using joystick rotate.
float Yf = -DriveStick.GetY(); // Invert Fwd
float Xs = DriveStick.GetX(); // Strafe
float Zr = DriveStick.GetTwist(); // Rotate
#endif
// Add Deadband
const float Deadband = 0.2;
if (fabs(Yl) < Deadband)
Yl = 0.0;
if (fabs(Yr) < Deadband)
Yr = 0.0;
// Calculate Motor Speeds -- Need to update
float LF = Yl;
float RF = Yr;
float FS = 0.0; // Need to add link to joysticks
float RS = 0.0;
// Actually set the motor controller
drvRF.Set(LF); // Note R/L back motors are followers
drvLF.Set(RF);
drvSF.Set(FS);
drvSF.Set(RS);
}
I am having errors with the joystick declaration and the GetY function and there are pother errors, I forget what they are at the moment