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changes putBoolean() and getBoolean() to SendableChooser for buddy box stuff

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Brendan Haines 2015-08-18 22:44:32 -06:00
parent 266b38afce
commit 06dc04c240
1 changed files with 17 additions and 4 deletions
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21
src/Robot.cpp
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@ -49,6 +49,10 @@ class Robot: public IterativeRobot
InterLinkElite *SlaveInterLink; InterLinkElite *SlaveInterLink;
InterLinkElite *ActiveInterLink; InterLinkElite *ActiveInterLink;
// Driver Station Selections
SendableChooser *BuddyBoxEnableChooser;
SendableChooser *SlaveSpeedControlChooser;
public: public:
//////////////////////////////// ////////////////////////////////
@ -69,6 +73,16 @@ public:
SmartDashboard::PutBoolean( "Buddy Box Enabled", false ); SmartDashboard::PutBoolean( "Buddy Box Enabled", false );
SmartDashboard::PutBoolean( "Slave Controls Speed", false ); SmartDashboard::PutBoolean( "Slave Controls Speed", false );
BuddyBoxEnableChooser = new SendableChooser();
BuddyBoxEnableChooser->AddDefault( "Disabled", (void*) false );
BuddyBoxEnableChooser->AddObject( "Enabled", (void*) true );
SmartDashboard::PutData( "Buddy Box Enable", BuddyBoxEnableChooser );
SlaveSpeedControlChooser = new SendableChooser();
SlaveSpeedControlChooser->AddDefault( "Trainer Controls Speed", (void*) false );
SlaveSpeedControlChooser->AddObject( "Slave Controls Speed", (void*) true );
SmartDashboard::PutData( "SlaveSpeedControlChooser", SlaveSpeedControlChooser );
} }
////////////////////// //////////////////////
@ -92,10 +106,10 @@ public:
{ {
double throttle; double throttle;
bool BuddyBoxEnabled = SmartDashboard::GetBoolean( "Buddy Box Enabled" ); bool BuddyBoxEnabled = BuddyBoxEnableChooser->GetSelected();
bool SlaveInControl = MasterInterLink->GetCh5(); bool SlaveInControl = MasterInterLink->GetCh5();
SmartDashboard::PutBoolean( "Slave In Control", SlaveInControl ); SmartDashboard::PutBoolean( "Slave In Control", BuddyBoxEnabled ? SlaveInControl : false );
bool SlaveControlsSpeed = SmartDashboard::GetBoolean( "Slave Controls Speed" ); bool SlaveControlsSpeed = SlaveSpeedControlChooser->GetSelected();
if( BuddyBoxEnabled && SlaveInControl ) ActiveInterLink = SlaveInterLink; if( BuddyBoxEnabled && SlaveInControl ) ActiveInterLink = SlaveInterLink;
else ActiveInterLink = MasterInterLink; else ActiveInterLink = MasterInterLink;
@ -103,7 +117,6 @@ public:
if( SlaveInControl && SlaveControlsSpeed ) throttle = SlaveInterLink->getCh6(); if( SlaveInControl && SlaveControlsSpeed ) throttle = SlaveInterLink->getCh6();
else throttle = MasterInterLink->getCh6(); else throttle = MasterInterLink->getCh6();
double ch6 = ActiveInterLink->getCh6();
double aile = ActiveInterLink->getAile(); double aile = ActiveInterLink->getAile();
double elev = ActiveInterLink->getElev(); double elev = ActiveInterLink->getElev();
double rudd = ActiveInterLink->getRudd(); double rudd = ActiveInterLink->getRudd();