RobotDemo(void)
{
kicker_in_motion = false;
sol = new Solenoid(2);
rightstick = new Joystick(1);
leftstick = new Joystick(2);
lonelystick = new Joystick (3);
Motor1=new Jaguar(1);
Motor2=new Jaguar(2);
Motor3=new Jaguar(3);
Motor4=new Jaguar(4);
BallGathererMotor9 = new Jaguar(9);
myRobot=new RobotDrive(Motor1,Motor2,Motor4,Motor3);
rlyLED=new Relay(8,Relay::kForwardOnly);
cam = &AxisCamera::GetInstance("10.8.12.11");
cam->WriteResolution(AxisCameraParams::kResolution_160x120);
myRobot->SetExpiration(0.5);
ControllBox = & DriverStation::GetInstance()->GetEnhancedIO();
shooter1 = new Jaguar(5); //front left
shooter2 = new Jaguar(6);
shooter3 = new Jaguar(7);
shooter4 = new Jaguar(8);
//shooterDin = new DigitalInput(1);
shootercontador = new Counter(1);
shootercontador->Start();
shooterspeedTask = new Task("ShooterSpeed",(FUNCPTR)&shooterspeedloop);
kickerTask = new Task ("Kicker", (FUNCPTR)&kickerloop);
Upperlimit = new DigitalInput(3);
Lowerlimit = new DigitalInput(2);
kickermotor = new Relay (6, Relay::kBothDirections);
BridgeBootMotor10 = new Jaguar(10);
kicker_cancel = false;
kicker_down = false;
}
RobotDemo(void):
myRobot(1, 2), // these must be initialized in the same order
stick(1),
in1(8), in2(7)
{
GetWatchdog().SetExpiration(0.1);
// specify the source
countXhi.SetUpSource(in1);
countXlow.SetUpSource(in1);
countYhi.SetUpSource(in2);
countYlow.SetUpSource(in2);
// setup the counters
countXhi.SetSemiPeriodMode(true);
countXlow.SetSemiPeriodMode(false);
countYhi.SetSemiPeriodMode(true);
countYlow.SetSemiPeriodMode(false);
countXhi.Start();
countXlow.Start();
countYhi.Start();
countYlow.Start();
}
/**
* Start the Counter counting.
* This enables the counter and it starts accumulating counts from the associated
* input channel. The counter value is not reset on starting, and still has the previous value.
*
* @param channel The channel of the digital input used with this counter
*/
void StartCounter(UINT32 channel)
{
Counter *counter = AllocateCounter(channel);
if (counter != NULL)
counter->Start();
}
/**
* Start the Counter counting.
* This enables the counter and it starts accumulating counts from the associated
* input channel. The counter value is not reset on starting, and still has the previous value.
*
* @param slot The slot the digital module is plugged into
* @param channel The channel of the digital input used with this counter
*/
void StartCounter(UINT8 moduleNumber, UINT32 channel)
{
Counter *counter = AllocateCounter(moduleNumber, channel);
if (counter != NULL)
counter->Start();
}
