Coding for Success

Presentation

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Sample code

Below are some examples of various code elements discussed during the presentation.

Naming Conventions

    int intakeState;                  //Variable
    const int INTAKE_OFF = 0;         //Constant
    float kP = 0.01;                  //Member constants
    void setIntakeSpeed(float speed); //Member functions
    intakeRoller = new VictorSP(INTAKE_ROLLER);  //Objects

Wrapper functions

void setIntakeSpeed(float speed) {
        intakeRoller->Set(LimitOutput(speed, 1.0));
    }

State Machine

void intakeStateMachine() {
        switch (intakeState) {
        case INTAKE_OFF:
            SmartDashboard::PutString("Intake", "OFF");
            setIntakeSpeed(0.0);
            break;
        case INTAKE_IN:
            SmartDashboard::PutString("Intake", "IN");
            setIntakeSpeed(0.75);
            break;
        case INTAKE_OUT:
            SmartDashboard::PutString("Intake", "OUT");
            setIntakeSpeed(-1);
            break;
        }
        if (driveGamePad->GetNumberedButton(1)) {
            intakeState = INTAKE_IN;
        } else if (driveGamePad->GetNumberedButton(2)) {
            intakeState = INTAKE_OFF;
        } else if (driveGamePad->GetNumberedButton(3)) {
            intakeState = INTAKE_OFF;
        } else if (driveGamePad->GetNumberedButton(4)) {
            intakeState = INTAKE_OFF;
        } else if (driveGamePad->GetNumberedButton(8)) {
            intakeState = INTAKE_OUT;
        } else {
            intakeState = INTAKE_OFF;
        }
    }
`

References and Other Links

Reference	Link
2056 Website	http://2056.ca
Team Manual	http://2056.ca/team-manual/
WPILib	https://wpilib.screenstepslive.com/s/4485
Team 1114 Code Release	https://www.chiefdelphi.com/media/papers/3180
Team 254 Code Release	https://github.com/Team254/FRC-2017-Public