Add RobotInit for some testing I didn't commit

6214frc · Mar 23, 2019 · cc3fb8f · cc3fb8f
1 parent 7c45cb6
commit cc3fb8f
Show file tree

Hide file tree

Showing 2 changed files with 12 additions and 3 deletions.
diff --git a/src/main/cpp/Robot.cpp b/src/main/cpp/Robot.cpp
@@ -1,6 +1,10 @@
 #include "Robot.h"
 #include <iostream>
 
+void Robot::RobotInit() {
+
+}
+
 void Robot::RobotPeriodic() 
 {
 
@@ -22,18 +26,22 @@ void Robot::TeleopPeriodic()
 void Robot::PlayerControl() {
 
   // Drive with arcade style controls
-  speed += (controller.GetRawAxis(5) - previousSpeed)/64;
+  speed += (controller.GetRawAxis(5) - previousSpeed)/8;
   diffDrive.ArcadeDrive(-speed, controller.GetRawAxis(4) * .8);
   previousSpeed = speed;
 
   //"Intake mode" that allows the user to set the intake running constantly until a ball is caught
-  if (controller.GetRawButton(9) && (controller.GetRawAxis(2) == 0))
+  if (controller.GetRawButton(9) && (controller.GetRawAxis(2) < .02))
   {
     cargoMotor.Set(.2);
+    intakeMode = true;
   }
-  if (controller.GetRawAxis(2) > 0)
+  if (controller.GetRawAxis(2) > .02)
   {
+    intakeMode = false;
     cargoMotor.Set(controller.GetRawAxis(2));
+  } else if (!intakeMode) {
+    cargoMotor.Set(0);
   }
 }
 

diff --git a/src/main/include/Robot.h b/src/main/include/Robot.h
@@ -22,6 +22,7 @@ class Robot : public frc::TimedRobot
 
     //As these are the only two classes we utilize they are the only two overridden
     void RobotPeriodic() override;
+    void RobotInit() override;
     void TeleopPeriodic() override;
     void AutonomousPeriodic() override;
     void PlayerControl();