Spike Relay

[MoMo]

#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

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

[bob.wolff68]

The problem is one of initialization and instantiation. It's unfortunate that C++ is so darned heavily laden with nomenclature and syntax, but alas it is... Please see a snip of your code with my added '// Initialize here' and '// don't initialize here comment

public:
	RobotDemo(void):
		myRobot(1, 2, 3, 4),	// these must be initialized in the same order
		stick(1)		// as they are declared above.
// Initialize here	
	{
	
		stick.SetAxisChannel(Joystick::kTwistAxis, 3);// Add the 3rd axis 
		myRobot.SetExpiration(0.1);// The time the motors stop moving after a value is sent  
// Don't initialize here
		Relay relay1(1,Relay::kForwardOnly);
		Relay relay2(2,Relay::kForwardOnly);
	}

As an example, you'll see, the template declares 'stick' above the snip that I have pasted above, but it INITIALIZES it just above my comment as 'stick(1)'. This is similar to what you want to do. You have properly declared relay1 and relay2 up top, but you didn't initialize them. See the changes below marked with // CHANGE

public:
	RobotDemo(void):
		myRobot(1, 2, 3, 4),	// these must be initialized in the same order
		stick(1),		// as they are declared above.
// CHANGE - added			
                relay1(1,Relay::kForwardOnly),
		relay2(2,Relay::kForwardOnly)
	{
	
		stick.SetAxisChannel(Joystick::kTwistAxis, 3);// Add the 3rd axis 
		myRobot.SetExpiration(0.1);// The time the motors stop moving after a value is sent  
// CHANGE - removed from here
	}