init as in the constructor function (possibly called RobotDemo)
Can you post your full code? Also does it say the error is on the same line as the line you posted?
#include “WPILib.h”
#include “DriverStation.h”
//#include “Vision/HSLImage.h”
//#include “Vision/AxisCamera.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 ///
class RobotDemo : public SimpleRobot
{
Victor *VictorPair1, *VictorPair2;
RobotDrive *myRobot; // robot drive system
Joystick *RightStick, *LeftStick, *ThirdStick; // only joystick
DriverStation *ds, *dsio; // driver station
Servo *Left_GearServo, *Right_GearServo;
Victor *Dribbler, *CamKicker, *Winch;
DigitalInput *limitSwitchB, *AutoSwitch1, *AutoSwitch2, *AutoSwitch3, *Swltch;
Relay *ArmRelease;
// AxisCamera *camera;
//////////////////////////////////////////////////////////////////////////////////////////////////////
/// PUBLIC ///
public:
RobotDemo(void)
{
VictorPair1 = new Victor(1);
VictorPair2 = new Victor(2);
ds = DriverStation::GetInstance();
myRobot = new RobotDrive(VictorPair1, VictorPair2); // create robot drive base
RightStick = new Joystick(1);// create the joysticks
LeftStick = new Joystick(2);
ThirdStick = new Joystick(3);
AutoSwitch1 = new DigitalInput(1);
AutoSwitch2 = new DigitalInput(2);
AutoSwitch3 = new DigitalInput(3);
limitSwitchB = new DigitalInput(7);
Left_GearServo = new Servo(3);
Right_GearServo = new Servo(4);
Dribbler = new Victor(5);
CamKicker = new Victor(6);
Winch = new Victor(7);
ArmRelease = new Relay(1);
GetWatchdog().SetExpiration(100);
}
///////////////////////////////////////////////////////////////////////////////////////////////////////
/// AUTONOMOUS FIRST ZONE ///
void Autonomous(void)
{
GetWatchdog().SetEnabled(false);
{
{
Right_GearServo->Set(127);
Left_GearServo->Set(127);
}
if (AutoSwitch1->Get()== 1)
{
{
myRobot->Drive(-0.5, 0.0);
Dribbler->Set(1.0);
Wait(1.5);
myRobot->Drive(0.0, 0.0);
CamKicker->Set(-1.0);
Wait(1.0);
CamKicker->Set(0.0);
Dribbler->Set(0.0);
while(limitSwitchB->Get()== 0)
{
CamKicker->Set(-1.0);
}
}
if (limitSwitchB->Get()== 1)
{
CamKicker->Set(0.0);
}
};
////////////////////////////////////////////////////////////////////////////////////////
//////SECOND ZONE/////
if (AutoSwitch2->Get()==1)
{
{
myRobot->Drive(-0.30, 0.0);
Dribbler->Set(1.0);
Wait(2.6);
myRobot->Drive(0.0, 0.0);
CamKicker->Set(-1.0);
Wait(1.0);
CamKicker->Set(0.0);
Dribbler->Set(0.0);
while(limitSwitchB->Get()== 0)
{
CamKicker->Set(-1.0);
}
}
if (limitSwitchB->Get()== 1)
{
CamKicker->Set(0.0);
}
{
myRobot->Drive(-0.30, 0.0);
Dribbler->Set(1.0);
Wait(1.2);
myRobot->Drive(0.0, 0.0);
CamKicker->Set(-1.0);
Wait(1.0);
CamKicker->Set(0.0);
Dribbler->Set(0.0);
while(limitSwitchB->Get()== 0)
{
CamKicker->Set(-1.0);
}
}
if (limitSwitchB->Get()== 1)
{
CamKicker->Set(0.0);
}
};
////////////////////////////////////////////////////////////////////////////////
//////THIRD ZONE//////
if (AutoSwitch3->Get()== 1)
{
{
myRobot->Drive(-0.30, 0.0);
Dribbler->Set(1.0);
Wait(1.3);
myRobot->Drive(0.0, 0.0);
CamKicker->Set(-1.0);
Wait(1.0);
CamKicker->Set(0.0);
Dribbler->Set(0.0);
while(limitSwitchB->Get()== 0)
{
CamKicker->Set(-1.0);
}
}
if (limitSwitchB->Get()== 1)
{
CamKicker->Set(0.0);
}
{
myRobot->Drive(-0.30, 0.0);
Dribbler->Set(1.0);
Wait(1.2);
myRobot->Drive(0.0, 0.0);
CamKicker->Set(-1.0);
Wait(1.0);
CamKicker->Set(0.0);
Dribbler->Set(0.0);
while(limitSwitchB->Get()== 0)
{
CamKicker->Set(-1.0);
}
}
if (limitSwitchB->Get()== 1)
{
CamKicker->Set(0.0);
}
{
myRobot->Drive(-0.30, 0.0);
Dribbler->Set(1.0);
Wait(1.3);
myRobot->Drive(0.0, 0.0);
CamKicker->Set(-1.0);
Wait(1.0);
CamKicker->Set(0.0);
Dribbler->Set(0.0);
while(limitSwitchB->Get()== 0)
{
CamKicker->Set(-1.0);
}
}
if (limitSwitchB->Get()== 1)
{
CamKicker->Set(0.0);
}
{
myRobot->Drive(1.0, 0.0);
Wait(0.5);
myRobot->Drive(0.0, 0.0);
}
}
};
};
//////////////////////////////////////////////////////////////////////////////////////////////
/// OPERATOR CONTROL ///
void OperatorControl(void)
{
GetWatchdog().SetEnabled(false);
//GetWatchdog().Feed();
DriverStationEnhancedIO &dsio = DriverStation::GetInstance()->GetEnhancedIO();
/* while (IsOperatorControl())
{
AxisCamera &camera = AxisCamera::GetInstance();
camera.WriteResolution(AxisCamera::kResolution_640x480);
camera.WriteCompression(20);
camera.WriteBrightness(0);
}*/
// Assume that the THIRDSTICK THROTTLE is initially set at 100% (max)
// float Max_DribblerSpeed = ThirdStick->GetThrottle();
/////////////////////////////////////////////////////////////////////////////////////////////
/// Robot Drive ///
while (IsOperatorControl())
{
myRobot->TankDrive(RightStick, LeftStick);
///////////////////////////////////////////////////////////////////////////////////////////
/// Dribbler Control ///
if (ThirdStick->GetRawButton(2))
{
Dribbler->Set(1.0);
};
//////////////////////////////////////////////////////////////////////////////////////////
/// ARM CONTROL ///
/// ARM RELEASE ///
if (ThirdStick->GetRawButton(6))
{
ArmRelease->Set(Relay::kForward);
Winch->Set(0.0);
Dribbler->Set(0.0);
CamKicker->Set(0.0);
}
else if (ThirdStick->GetRawButton(7))
{
ArmRelease->Set(Relay::kReverse);
Winch->Set(0.0);
Dribbler->Set(0.0);
CamKicker->Set(0.0);
}
else
{
ArmRelease->Set(Relay::kOff);
}
/// WINCH ///
if (ThirdStick->GetRawButton(11))
{
Winch->Set(1.0);
CamKicker->Set(0.0);
Dribbler->Set(0.0);
ArmRelease->Set(Relay::kOff);
}
else if (ThirdStick->GetRawButton(10))
{
Winch->Set(-1.0);
CamKicker->Set(0.0);
Dribbler->Set(0.0);
ArmRelease->Set(Relay::kOff);
}
else
{
Winch->Set(0.0);
}
/////////////////////////////////////////////////////////////////////////////////////////////////////
/// CAMKICKER && LIMITSWITCH-B ///
if(ThirdStick-> GetRawButton(4))
{
while (limitSwitchB->Get()== 0)
{
CamKicker->Set(-1.0);
Dribbler->Set(0.0);
Winch->Set(0.0);
ArmRelease->Set(Relay::kOff);
}
CamKicker->Set(0.0);
}
if (ThirdStick->GetTrigger() && (limitSwitchB->Get()== 1))
{
CamKicker->Set(-1.0);
Winch->Set(0.0);
Dribbler->Set(0.0);
ArmRelease->Set(Relay::kOff);
if (limitSwitchB->Get() == 0)
{
CamKicker->Set(0.0);
}
}
/////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////
/// GEAR CONTROL ///
if ( (LeftStick->GetTrigger()) )
{
Left_GearServo -> Set(127);
Right_GearServo -> Set(127);
};
if ( (RightStick->GetTrigger()) )
{
Left_GearServo ->Set(-127);
Right_GearServo ->Set(-127);
};
};
};
};
START_ROBOT_CLASS(RobotDemo);
You’re defining dsio twice in your program. At the top of the file it is declared as a DriverStation*. Remove that (leave ds in there though) at it should build.
Yea, but even when I take it out of class, i get the same warning