Skip to content

Transmission Update #2

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
CrashTestCoder wants to merge 3 commits into
base: master
Choose a base branch
from
Open

Transmission Update #2

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
b6fb34c
Transmission Update
Jan 19, 2016
a768ea6
Update Transmission.hpp
CrashTestCoder Jan 19, 2016
f49b310
Update README.md
CrashTestCoder Jan 19, 2016
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 2 additions & 1 deletion README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1 +1,2 @@
# 1771-2016-Robot
# 1771-2016-Robot
the only current errors are spelling errors
44 changes: 35 additions & 9 deletions Transmission.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,32 +8,58 @@
#ifndef SRC_TRANSMISSION_HPP_
#define SRC_TRANSMISSION_HPP_

Solenoid* shift = new Solenoid(0);
#include"robotMap.h"

template<class motorController>
struct Transmission : motorController
Solenoid* shift = new Solenoid(SHIFT_SOLENOID);

struct Transmission : CANTalon
{
public:
explicit Transmission(int t1,int t2):
con1{new motorController(t1)},
con2{new motorController(t2)}
explicit Transmission(int t1,int t2)
{
con1 = new CANTalon(t1);
con1->SetFeedbackDevice(CANTalon::QuadEncoder);
con1->SetControlMode(CANSpeedController::kCurrent);
con1->ConfigNeutralMode(CANSpeedController::kNeutralMode_Coast);
con1->EnableControl();

con2 = new CANTalon(t2);
con2->SetFeedbackDevice(CANTalon::QuadEncoder);
con2->SetControlMode(CANSpeedController::kCurrent);
con2->ConfigNeutralMode(CANSpeedController::kNeutralMode_Coast);
con2->EnableControl();
}
void Shove(double j1)
virtual ~Transmission();

/**
* General percentage based speed control
* params: -1 - 1
*/
void Set(float set)
{
if(con1->GetControlMode()!=CANSpeedController::kPercentVbus)
con1->SetControlMode(CANSpeedController::kPercentVbus);
con1->Set(set);
con2->Set(set);
}

/**
* Prevents the breaker from blowing and
* increases torque in a shoving match
*/
void Shove(double set)
{
shift->Set(0); // Shift to low gear
set-=set/80; // Prevent breaker from blowing
set*=40;
if(con1->GetControlMode()!=CANSpeedController::kCurrent)
con1->SetControlMode(CANSpeedController::kCurrent);
con1->Set(set);
con2->Set(set);
}
private:
motorController *con1,
*con2;
CANTalon *con1,
*con2;
};

#endif /* SRC_TRANSMISSION_HPP_ */