C++ Command Based Robot Template

[ozrien]

Originally Posted by Alan Anderson View Post
Omar took the Driving a robot using Mecanum drive example, changed it from PWM to CANTalon, and added gyro features. He just didn't fix the comments, that's all. If you look at the actual code, you won't see any PWM use.

Originally Posted by King Nerd III

Even if the code compiles, it does not mean it'll absolutely work. I have tried to use RobotDrive with the CAN and it does not work for me. If other people have it working, good for them, but in my experience from using the RobotDrive with CANTalons in C++ it will not drive.

Wow, you must not think much of my examples. Well...I'm not sure what else I can do for you besides giving you functional code that I tested on my robot, which is available per Alan's suggestion. I'm not really sure what you are asking for from the community at this point. Do you really think I would not test it on an actual robot before posting it?

At any rate if you're really that unhappy with robotbuilder, then I would recommend using a clean IterativeRobot project. If you don't like RobotDrive, implement your own drive train class.

I'm not sure what problem you are seeing with RobotDrive. The only problem I've heard of and confirmed is that RobotDrive tends to trip MotorSafety occasionally, which is easy to workaround by calling RobotDrive:SetSafetyEnabled(false).

Sparkyshires brought up a good question. I'm not sure if the LiveWindow Sendable interface is implemented (I don't have the code in front of me). If it's not I'm sure you could put together an easy wrapper to hook it up, or someone from the community could recommend a way to go about it.