I'm pretty sure you'll know most of it already, but just in case for someone else who is trying to get used to c/c++ itself, i'll explain from the very beginning
Code:
#include "WPILib.h"
/**
* This is a demo program 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.
*/
class RobotDemo : public SimpleRobot
{
RobotDrive *myRobot; // robot drive system
Joystick *stick; // only joystick
DriverStation *ds; // driver station
public:
RobotDemo(void)
{
ds = DriverStation::GetInstance();
myRobot = new RobotDrive(1, 2); // create robot drive base
stick = new Joystick(1); // create the joysticks
GetWatchdog().SetExpiration(100);
}
/**
* Drive left & right motors for 2 seconds then stop
*/
void Autonomous(void)
{
GetWatchdog().SetEnabled(false);
myRobot->Drive(0.5, 0.0); // drive forwards half speed
Wait(2000); // for 2 seconds
myRobot->Drive(0.0, 0.0); // stop robot
}
/**
* Runs the motors with arcade steering.
*/
void OperatorControl(void)
{
GetWatchdog().SetEnabled(true);
while (IsOperatorControl())
{
GetWatchdog().Feed();
myRobot->ArcadeDrive(stick); // drive with arcade style (use right stick)
}
}
};
START_ROBOT_CLASS(RobotDemo);
#include "WPILib.h"
<--- You're including header file called "WPILib.h" to your source to use various variables, functions, etc
class RobotDemo : public SimpleRobot
<---You're declaring(and defining below) the class called "RobotDemo" which is derived from class called "SimpleRobot", and you'll access to public members of "SimpleRobot" class.
{
<--- you're now defining the class
RobotDrive *myRobot;
<---you're declaring RobotDrive type pointer variable called "myRobot"
Joystick *stick;
<--- you're declaring Joystick type pointer variable called "stick"
DriverStation *ds;
<--- you're declaring DriverStation type pointer variable called "ds"
public:
<---you're adding public members
RobotDemo(void)
<---you're declaring and defining constructor
{
<--- you're now defining the constructor
ds = DriverStation::GetInstance();
<--- variable "ds" equals whatever value "GetInstance()" function under class called "DriverStation" returns
myRobot = new RobotDrive(1, 2);
<--- you'll assign memory for pointer variable called "myRobot", and the size of that memory will be "RobotDrive(1,2)"
stick = new Joystick(1);
<--- you'll assign memory for pointer variable called "stick", and the size of that memory will be "Joystick(1)"
GetWatchdog().SetExpiration(100);
<--- you'll set the watchdog timer expiration to 100ms
}
<--- you're done defining the constructor
void Autonomous(void)
<--- you're declaring void type function called "Autonomous" taking no parameters
{
<--- you'll now define the function
GetWatchdog().SetEnabled(false);
<--- you'll disable the watchdog timer
myRobot->Drive(0.5, 0.0);
<--- execute "Drive(0.5,0.0)" using arrow operator(->) to access its(myRobot pointer's) member function
Wait(2000);
<--- execute function called "Wait", taking one parameter, which value you put is 2000
myRobot->Drive(0.0, 0.0);
<---- execute "Drive(0.0,0.0)" using arrow operator(->) to access its(myRobot pointer's) member function
}
<--- you're done defining function
void OperatorControl(void)
<--- you're declaring void type function called "OperatorControl" taking no parameters
{
<--- you're defining the function
GetWatchdog().SetEnabled(true);
<--- you're setting watchdog timer
while (IsOperatorControl())
<---repeat while loop until "IsOperatorControl()" equals 0
{
<--- define while loop
GetWatchdog().Feed();
<--- feed the watchdog timer
myRobot->ArcadeDrive(stick);
<---execute "ArcadeDrive" function(and parameter it takes is stick variable) using arrow operator(->) to access its(myRobot pointer's) member function
}
<--- you're done defining while loop
}
<--- you're done defining function
};
<--- you're done defining class
START_ROBOT_CLASS(RobotDemo);
<--- you're calling function called "START_ROBOT_CLASS" with parameter "RobotDemo"