Herbert/Robot.cpp at master · flamespinner/Herbert · GitHub

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#include "WPILib.h"
#include <moduleLib.h>
#include <time.h>

class RobotDemo : public SimpleRobot
{
private:
	enum PWM_OUT
	{
		PWM_TALON_DRIVE1 = 1,
		PWM_TALON_DRIVE2,
		PWM_TALON_DRIVE3,
		PWM_TALON_DRIVE4,
		PWM_TALON_DRIVE5,
		PWM_TALON_DRIVE6,
		PWM_VICTOR_ROLLER,
		PWM_EMPTY_8,
		PWM_EMPTY_9,
		PWM_EMPTY_10
	};
	enum RELAY_OUT
	{
		RELAY_EMTPY_1 = 1,
		RELAY_WINCH_CLUTCH,
		RELAY_COMPRESSOR,
		RELAY_EMPTY_4,
		RELAY_EMPTY_5,
		RELAY_EMPTY_6,
		RELAY_EMPTY_7,
		RELAY_EMPTY_8,
	};
	enum DIO_PORTS
	{
		DIO_COMP_ONBOARD = 1,
		DIO_COMP_OFFBOARD,
		DIO_PRESSURE_SWITCH,
		DIO_EMPTY_4,
		DIO_EMPTY_5,
		DIO_EMPTY_6,
		DIO_EMPTY_7,
		DIO_EMPTY_8,
		DIO_EMPTY_9,
		DIO_EMPTY_10,
		DIO_EMPTY_11,
		DIO_EMPTY_12,
		DIO_EMPTY_13,
		DIO_EMPTY_14
	};

	enum SOLENOID_PORTS
	{
		SOLENOID_CLAW1 = 1,
		SOLENOID_CLAW2,
		SOLENOID_CHOMP3,
		SOLENOID_CHOMP4,
		SOLENOID_PORT_A_RIGHT,
		SOLENOID_PORT_B_RIGHT,
		SOLENOID_PORT_A_LEFT,
		SOLENOID_PORT_B_LEFT
	};

	enum JOYSTICK_ID
	{
		CONTROLLER_MAIN = 1,
		CONTROLLER_SECONDARY,
	};

	RobotDrive driveSystem;
	Joystick leftStick;
	Joystick rightStick;

	struct JoyStickState
	{
		bool Button1Pressed;
		bool Button2Pressed;
		bool Button3Pressed;
		bool Button4Pressed;
		bool Button5Pressed;
		bool Button6Pressed;
		bool Button7Pressed;
		bool Button8Pressed;
		bool Button9Pressed;
		bool Button10Pressed;
		bool Button11Pressed;
		bool Button12Pressed;
	};

	JoyStickState leftState;
	JoyStickState rightState;

	DoubleSolenoid solenoidsRight;
	DoubleSolenoid solenoidsLeft;

	Compressor compressor;
	bool CompressorIsRunning;

	bool netConsoleEnabled;

public:
	RobotDemo(void):
		driveSystem(PWM_TALON_DRIVE1, PWM_TALON_DRIVE2, PWM_TALON_DRIVE3, PWM_TALON_DRIVE4, PWM_TALON_DRIVE5, PWM_TALON_DRIVE6),
		leftStick(CONTROLLER_MAIN),
		rightStick(CONTROLLER_MAIN),
		solenoidsRight(SOLENOID_PORT_A_RIGHT, SOLENOID_PORT_B_RIGHT),
		solenoidsLeft(SOLENOID_PORT_A_LEFT, SOLENOID_PORT_B_LEFT),
		compressor(DIO_PRESSURE_SWITCH, RELAY_COMPRESSOR)
	{
			netConsoleEnabled = (moduleFindByName("NetConsole.out") != NULL);
			if (netConsoleEnabled) cerr << "Robot -- started cerr\n";
			leftStick.SetAxisChannel(Joystick::kTwistAxis, 3);
			driveSystem.SetExpiration(0.1);

	}
	/**
	 * Runs the motors with tankdrive steering.
	 */
	void OperatorControl()
	{
		driveSystem.TankDrive(leftStick, rightStick);

		if(rightStick.GetTrigger()) //If trigger is pressed
		{
			//Compresser code
		}
		else if(rightStick.GetRawButton(3))
		{
			//Arm UP CODE
		}
		//If button number 2 is pressed
		else if(rightStick.GetRawButton(2))
		{
			//Arm Down Code
		}
		else if(rightStick.GetRawbutton(4))
		{
			//CHOMP
		}
		else if(rightStick.GetRawButton(5))
		{
			//CHOMP
		}
	}

};

START_ROBOT_CLASS(RobotDemo);