OurRobot::OurRobot() : Settings( "/ni-rt/system/RobotSettings.txt" ), mainCompressor( 1 , 6 ), mainDrive( 3 , 4 , 1 , 2 ), driveStick1( 1 ), driveStick2( 2 ), turretStick( 3 ), lift( 7 ), rotateMotor( 5 ), shooter( 7 , 6 , 6 , 16 , 1.f ), bridgeArm( 2 , 3 ), // single board computer's IP address and port turretKinect( getValueFor( "SBC_IP" ) , atoi( getValueFor( "SBC_Port" ).c_str() ) ), // Create a GraphHost pidGraph( 3513 ) { struct timeval rawTime; /* Store the current time into startTime as the fixed starting point * for our graph. */ gettimeofday( &rawTime , NULL ); startTime = rawTime.tv_usec / 1000 + rawTime.tv_sec * 1000; lastTime = startTime; driverStation = DriverStationDisplay::getInstance( atoi( Settings::getValueFor( "DS_Port" ).c_str() ) ); autonModes.addMethod( "Shoot" , &OurRobot::AutonShoot , this ); autonModes.addMethod( "Bridge" , &OurRobot::AutonBridge , this ); autonModes.addMethod( "Feed" , &OurRobot::AutonFeed , this ); // let motors run for up to 1 second uncontrolled before shutting them down mainDrive.SetExpiration( 1.f ); shooter.setPID( atof( getValueFor( "PID_P" ).c_str() ) , atof( getValueFor( "PID_I" ).c_str() ) , atof( getValueFor( "PID_D" ).c_str() ) ); shooter.stop(); isAutoAiming = false; autonMode = 0; }
QString OAuth::settingsLoadCode() { return getValueFor(QString(OAUTH_SETTINGS_PREFIX) + QString(OAUTH_CODE), ""); }
QString OAuth::settingsLoadUsername() { return getValueFor(QString(OAUTH_SETTINGS_PREFIX) + QString(OAUTH_ACCOUNT_USERNAME), ""); }
QString OAuth::settingsLoadAccessToken() { return getValueFor(QString(OAUTH_SETTINGS_PREFIX) + QString(OAUTH_ACCESS_TOKEN), ""); }
QString OAuth::settingsLoadRefreshToken() { return getValueFor(QString(OAUTH_SETTINGS_PREFIX) + QString(OAUTH_REFRESH_TOKEN), ""); }
uint OAuth::settingsLoadExpiresDateTime() { return getValueFor(QString(OAUTH_SETTINGS_PREFIX) + QString(OAUTH_EXPIRES_DATETIME), 0).toUInt(); }