Permalink
efb85e4 Jan 3, 2017
@jkuszmaul @calcmogul @Kevin-OConnor @bradamiller
49 lines (39 sloc) 946 Bytes
#include <IterativeRobot.h>
#include <Joystick.h>
#include <LiveWindow/LiveWindow.h>
#include <RobotDrive.h>
#include <Timer.h>
class Robot: public frc::IterativeRobot {
public:
Robot() {
myRobot.SetExpiration(0.1);
timer.Start();
}
private:
frc::RobotDrive myRobot { 0, 1 }; // Robot drive system
frc::Joystick stick { 0 }; // Only joystick
frc::LiveWindow* lw = frc::LiveWindow::GetInstance();
frc::Timer timer;
void AutonomousInit() override {
timer.Reset();
timer.Start();
}
void AutonomousPeriodic() override {
// Drive for 2 seconds
if (timer.Get() < 2.0) {
myRobot.Drive(-0.5, 0.0); // Drive forwards half speed
} else {
myRobot.Drive(0.0, 0.0); // Stop robot
}
}
void TeleopInit() override {
}
void TeleopPeriodic() override {
// Drive with arcade style (use right stick)
myRobot.ArcadeDrive(stick);
}
void TestPeriodic() override {
lw->Run();
}
};
START_ROBOT_CLASS(Robot)