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adds untested buddy box support

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Brendan Haines 2015-08-18 21:58:14 -06:00
parent 9a46a420d9
commit 82ba59546d
1 changed files with 24 additions and 7 deletions
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31
src/Robot.cpp
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@ -28,7 +28,8 @@ const double backLeftAngle = 3*PI/4;
const double frontRightAngle = -PI/4; const double frontRightAngle = -PI/4;
const double backRightAngle = -3*PI/4; const double backRightAngle = -3*PI/4;
#define InterLink_ID 0 #define Master_InterLink_ID 0
#define Slave_InterLink_ID 1
///// END USER PARAMETERS ///// ///// END USER PARAMETERS /////
@ -44,7 +45,9 @@ class Robot: public IterativeRobot
Talon *backRight; Talon *backRight;
// Input Devices // Input Devices
InterLinkElite *InterLink; InterLinkElite *MasterInterLink;
InterLinkElite *SlaveInterLink;
InterLinkElite *ActiveInterLink;
public: public:
@ -59,7 +62,8 @@ public:
frontRight = new Talon( frontRightChannel ); frontRight = new Talon( frontRightChannel );
backRight = new Talon( backRightChannel ); backRight = new Talon( backRightChannel );
InterLink = new InterLinkElite( InterLink_ID ); MasterInterLink = new InterLinkElite( Master_InterLink_ID );
SlaveInterLink = new InterLinkElite( Slave_InterLink_ID );
ds = DriverStation::GetInstance(); ds = DriverStation::GetInstance();
lw = LiveWindow::GetInstance(); lw = LiveWindow::GetInstance();
} }
@ -83,10 +87,23 @@ public:
void TeleopPeriodic() void TeleopPeriodic()
{ {
double ch6 = InterLink->getCh6(); double throttle;
double aile = InterLink->getAile();
double elev = InterLink->getElev(); bool BuddyBoxEnabled = SmartDashboard::GetBoolean( "Buddy Box Enabled" , false);
double rudd = InterLink->getRudd(); bool SlaveInControl = MasterInterLink->GetCh5();
SmartDashboard::PutBoolean( "Slave In Control", SlaveInControl );
bool SlaveControlsSpeed = SmartDashboard::GetBoolean( "Slave Controls Speed", false );
if( BuddyBoxEnabled && SlaveInControl ) ActiveInterLink = SlaveInterLink;
else ActiveInterLink = MasterInterLink;
if( SlaveInControl && SlaveControlsSpeed ) throttle = SlaveInterLink->getCh6();
else throttle = MasterInterLink->getCh6();
double ch6 = ActiveInterLink->getCh6();
double aile = ActiveInterLink->getAile();
double elev = ActiveInterLink->getElev();
double rudd = ActiveInterLink->getRudd();
SmartDashboard::PutNumber( "Rudder", rudd ); SmartDashboard::PutNumber( "Rudder", rudd );
SmartDashboard::PutNumber( "Throttle", ch6 ); SmartDashboard::PutNumber( "Throttle", ch6 );