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should fix controllability from driver station of enabling/disabling buddy box

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Brendan Haines 2015-08-18 22:15:11 -06:00
parent 82ba59546d
commit 266b38afce
1 changed files with 7 additions and 4 deletions
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11
src/Robot.cpp
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@ -66,6 +66,9 @@ public:
SlaveInterLink = new InterLinkElite( Slave_InterLink_ID ); SlaveInterLink = new InterLinkElite( Slave_InterLink_ID );
ds = DriverStation::GetInstance(); ds = DriverStation::GetInstance();
lw = LiveWindow::GetInstance(); lw = LiveWindow::GetInstance();
SmartDashboard::PutBoolean( "Buddy Box Enabled", false );
SmartDashboard::PutBoolean( "Slave Controls Speed", false );
} }
////////////////////// //////////////////////
@ -89,10 +92,10 @@ public:
{ {
double throttle; double throttle;
bool BuddyBoxEnabled = SmartDashboard::GetBoolean( "Buddy Box Enabled" , false); bool BuddyBoxEnabled = SmartDashboard::GetBoolean( "Buddy Box Enabled" );
bool SlaveInControl = MasterInterLink->GetCh5(); bool SlaveInControl = MasterInterLink->GetCh5();
SmartDashboard::PutBoolean( "Slave In Control", SlaveInControl ); SmartDashboard::PutBoolean( "Slave In Control", SlaveInControl );
bool SlaveControlsSpeed = SmartDashboard::GetBoolean( "Slave Controls Speed", false ); bool SlaveControlsSpeed = SmartDashboard::GetBoolean( "Slave Controls Speed" );
if( BuddyBoxEnabled && SlaveInControl ) ActiveInterLink = SlaveInterLink; if( BuddyBoxEnabled && SlaveInControl ) ActiveInterLink = SlaveInterLink;
else ActiveInterLink = MasterInterLink; else ActiveInterLink = MasterInterLink;
@ -105,9 +108,9 @@ public:
double elev = ActiveInterLink->getElev(); double elev = ActiveInterLink->getElev();
double rudd = ActiveInterLink->getRudd(); double rudd = ActiveInterLink->getRudd();
SmartDashboard::PutNumber( "Rudder", rudd ); SmartDashboard::PutNumber( "Rudder", rudd );
SmartDashboard::PutNumber( "Throttle", ch6 ); SmartDashboard::PutNumber( "Throttle", throttle );
throScale = ch6 + 1; throScale = throttle + 1;
double driveAngle = atan2( -aile*aileScale, elev*elevScale ); double driveAngle = atan2( -aile*aileScale, elev*elevScale );
SmartDashboard::PutNumber( "Drive Angle", driveAngle ); SmartDashboard::PutNumber( "Drive Angle", driveAngle );