Arduino and FRC

[tanguma26]

Hello a friend of mine and myself have been working with the arduino and the system 221 designed to use the arduino for replacement of the C-rio. Anyone has experience programming for this system or program examples for a simple tank drive?
We are trying to introduces robotics were my friend lives which is a small town in Florida and we would like to have it ready for a science fair in the fall.

I made a program and if anyone could help me to check it would be helpful Thank you.

#include <SPI.h>
#include <SD.h>
#include <Ethernet.h>
#include <Servo.h>
#include <EEPROM.h>
#include <RobotOpen.h>



/* I/O Setup */
ROJoystick usb1(1); // Joystick #1




ROPWM leftDrive(0);
ROPWM rightDrive(1);
ROPWM motor1 (2);
ROPWM motor2 (3);
ROPWM motor3 (4);
ROPWM motor4 (5);


void setup()
{
/* Initiate comms */
RobotOpen.begin(&enabled, &disabled, &timedtasks);

//Configure Ditigal I/O
pinMode(SIDECAR_DIGITAL1, OUTPUT);
pinMode(SIDECAR_DIGITAL2, OUTPUT);
pinMode(SIDECAR_DIGITAL3, OUTPUT);
pinMode(SIDECAR_DIGITAL4, OUTPUT);
}


/* This is your primary robot loop - all of your code
* should live here that allows the robot to operate
*/
void enabled() {
// Constantly update PWM values with joystick values
// Analog sticks feed back values from 0-255
// 255 - usb1.leftY() to invert a drive
// This contains all the motors operated by the Aurduino
leftDrive.write(usb1.leftY());
rightDrive.write(usb1.rightY());
motor1.write(usb1.btnX());
motor2.write(usb1.btnB());
motor3.write(usb1.dPadUp());
motor4.write(usb1.btnLShoulder());


// This contains all the DIO, most are spikes or relays.
if (usb1.btnA())
digitalWrite(SIDECAR_DIGITAL1, HIGH);
else
digitalWrite(SIDECAR_DIGITAL1, LOW);

if (usb1.btnStart())
digitalWrite(SIDECAR_DIGITAL2, HIGH);
else
digitalWrite(SIDECAR_DIGITAL2, LOW);

if (usb1.dPadLeft())
digitalWrite(SIDECAR_DIGITAL3, HIGH);
else
digitalWrite(SIDECAR_DIGITAL3, LOW);

if (usb1.dPadRight())
digitalWrite(SIDECAR_DIGITAL4, HIGH);
else
digitalWrite(SIDECAR_DIGITAL4, LOW);










}


/* This is called while the robot is disabled
* All outputs are automatically disabled (PWM, Solenoid, Digital Outs)
*/
void disabled() {
// safety code
}


/* This loop ALWAYS runs - only place code here that can run during a disabled state
* This is also a good spot to put driver station publish code
*/
void timedtasks() {
RODashboard.publish("Uptime Seconds", ROStatus.uptimeSeconds());
// RODashboard.publish("Analog0", analogZero.read()); // Display on dashboard
//RODashboard.debug("voltage1"); //Arduino Reading
//RODashboard.debug("voltage1");//Power board reading
//int sensorValue = analogZero.read();
//float voltage1 = sensorValue * (5.0 / 1023); // Volatge convertion from Arduino
//float voltage2 = voltage1 * (12.0 / 5.0);// Coming from power board


}


// !!! DO NOT MODIFY !!!
void loop() {
RobotOpen.syncDS();
}