void RobotDrive::ArcadeDrive(GenericHID &moveStick, uint32_t moveAxis,
GenericHID &rotateStick, uint32_t rotateAxis,
bool squaredInputs) {
float moveValue = moveStick.GetRawAxis(moveAxis);
float rotateValue = rotateStick.GetRawAxis(rotateAxis);
ArcadeDrive(moveValue, rotateValue, squaredInputs);
}
/**
* Arcade drive implements single stick driving.
* Given a single Joystick, the class assumes the Y axis for the move value and the X axis
* for the rotate value.
* (Should add more information here regarding the way that arcade drive works.)
* @param stick The joystick to use for Arcade single-stick driving. The Y-axis will be selected
* for forwards/backwards and the X-axis will be selected for rotation rate.
* @param squaredInputs If true, the sensitivity will be increased for small values
*/
void RobotDrive::ArcadeDrive(GenericHID &stick, bool squaredInputs)
{
// simply call the full-featured ArcadeDrive with the appropriate values
ArcadeDrive(stick.GetY(), stick.GetX(), squaredInputs);
}
void RobotDrive::TankDrive(GenericHID &leftStick, uint32_t leftAxis,
GenericHID &rightStick, uint32_t rightAxis, bool squaredInputs)
{
TankDrive(leftStick.GetRawAxis(leftAxis), rightStick.GetRawAxis(rightAxis), squaredInputs);
}
void RobotDrive::TankDrive(GenericHID &leftStick, GenericHID &rightStick, bool squaredInputs)
{
TankDrive(leftStick.GetY(), rightStick.GetY(), squaredInputs);
}
void RobotDrive::TankDrive(GenericHID &leftStick, UINT32 leftAxis,
GenericHID &rightStick, UINT32 rightAxis)
{
TankDrive(leftStick.GetRawAxis(leftAxis), rightStick.GetRawAxis(rightAxis));
}
void RobotDrive::TankDrive(GenericHID &leftStick, GenericHID &rightStick)
{
TankDrive(leftStick.GetY(), rightStick.GetY());
}
