Spike Relay Help!!!

[blazingswrd]

Hey all,

My team is using a spike relay to power a motor in our elevator. Unfortunately, I've been unable to figure out how the relay class works and all of the examples of the relay class that I've been able to find are all in Java. Where can I find a good example of this class so I can go find and figure it out?

Thanks!

[DavisC]

#include "WPILib.h"

class RobotDemo : public SimpleRobot
{
	RobotDrive myRobot;
	Joystick stick;
	
	// This declares the Relay
	Relay Elevator;

public:
	RobotDemo(void):
		myRobot(1, 2),
		stick(1),
		
		// This sets up the Relay
		Elevator(3)
	
	{
		myRobot.SetExpiration(0.1);
	}

	void Autonomous(void)
	{
		myRobot.SetSafetyEnabled(false);
		myRobot.Drive(0.5, 0.0);
		Wait(2.0);
		myRobot.Drive(0.0, 0.0);
	}

	void OperatorControl(void)
	{
		myRobot.SetSafetyEnabled(true);
		while (IsOperatorControl())
		{
			myRobot.ArcadeDrive(stick);
			
			
			// This sets the relay
			
			// if stick (USB 1), Trigger (Button 1) == pressed
			if(stick.GetRawButton(1) == true)
				// set Elevator (PWM 3) to forward
				Elevator.Set(Relay::kForward);
			else
				// if stick (USB 1), Button 2 == pressed
				if(stick.GetRawButton(2) == true)
					// set Elevator (PWM 3) Reverse
					Elevator.Set(Relay::kReverse);
				else
					// if stick (USB 1), Button 3 == pressed
					if(stick.GetRawButton(3) == true)
						// set Elevator (PWM 3) to Off
						Elevator.Set(Relay::kOff);
			
			Wait(0.005);
		}
	}
};

START_ROBOT_CLASS(RobotDemo);

This uses the Relay on PWM 3 and triggered by Buttons 1, 2, and 3 to run Forward, Reverse, and Off (respectively).

This is the Simple Robot code just modified to have a Relay too.