Entropy2014/EntropyDrive.h at master · Nick-P-Orr/Entropy2014 · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
#ifndef ENTROPYDRIVE_H_
#define ENTROPYDRIVE_H_

#include "EntropySubsystemTemplate.h"
#include "WPILib.h"

class EntropyDrive : public EntropySubsystemTemplate {

private:

	enum DriveMode
	{
		Rotate = 0,
		Radius
	};

	double previousValue;
	Encoder * m_leftEncoderTest;
	Encoder * m_rightEncoderTest;
	RobotDrive * wpiDrive;

	//The robot drive system motors
	CANJaguar *MotorDriveLeft1;
	CANJaguar *MotorDriveLeft2;
	CANJaguar *MotorDriveRight1;
	CANJaguar *MotorDriveRight2;

	float absolutevalue(float x);
	bool range(float x, float y, float maxthreshold);
	float drive_table_limit(float x, float max, float min);
	void get_index(int &x_index, int &y_index, float moveValue, float rotateValue, DriveMode mode);
	float EntropyDrive::Limit(float num);

	float right_scale(float rotateValue, float moveValue, DriveMode mode);
	float left_scale(float rotateValue, float moveValue, DriveMode mode);

	double addDeadZone(double value);
	float moveValueDampen (float moveValue);

public:

	EntropyDrive () { };

	bool Initialize ();

	void Cleanup ();

	char * GetFeedback() { return NULL; }

	bool DriveRobot(float MoveValue, float RotateValue);

	bool DriveRobotTrig(float MoveValue, float RotateValue);

	void DriveTrainTest( );

	void InitEncoderTest();

	void DisplayEncodersTestDSLine5Line6();

};


#endif