joaoemboaba / shooter

Parte do código que será implementado no código principal do Robô

Shooter

// Parte do código que será implementado no código principal do Robô //

// Copyright (c) FIRST and other WPILib contributors. // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project.

#include <frc/XboxController.h> #include <frc/PWMVictorSPX.h> #include <frc/TimedRobot.h> #include <frc/Timer.h> #include <frc/drive/DifferentialDrive.h> #include <frc/livewindow/LiveWindow.h> #include <frc2/command/SubsystemBase.h> #include "ctre/phoenix.h" #include <frc/SpeedControllerGroup.h>

class Robot : public frc::TimedRobot {

public:

double rAccel = 0, lAccel = 0; Robot() { m_timer.Start(); }

void AutonomousInit() override { m_timer.Reset(); m_timer.Start(); }

void AutonomousPeriodic() override { if (m_timer.Get() < 5.0) { m_robotDrive.ArcadeDrive(0.45, 0.0); m_shooterLeft.Set(1.0); m_shooterRight.Set(1.0); m_shooterMiddle.Set(1.0); } else{ m_robotDrive.ArcadeDrive(0.0, 0.0); m_shooterLeft.Set(0); m_shooterRight.Set(0); m_shooterMiddle.Set(0); } }

void TeleopInit() override { lAccel = 0; rAccel = 0; }

void TeleopPeriodic() override { lAccel = m_stick.GetTriggerAxis(lHand); m_shooterMiddle.Set(lAccel); rAccel = m_stick.GetTriggerAxis(rHand); m_shooterLeft.Set(rAccel); m_shooterRight.Set(rAccel); m_robotDrive.ArcadeDrive( m_driverController.GetY(frc::GenericHID::JoystickHand::kLeftHand), m_driverController.GetX(frc::GenericHID::JoystickHand::kRightHand)); }

void TestInit() override {}

void TestPeriodic() override {}

private: // Robot drive system WPI_VictorSPX m_frontLeft{4}; WPI_VictorSPX m_frontRight{5}; WPI_VictorSPX m_rearLeft{6}; WPI_VictorSPX m_rearRight{7}; WPI_VictorSPX m_shooterRight{3}; WPI_VictorSPX m_shooterLeft{2}; WPI_VictorSPX m_shooterMiddle{1};

frc::SpeedControllerGroup m_left{m_frontLeft, m_rearLeft}; frc::SpeedControllerGroup m_right{m_frontRight, m_rearRight}; frc::DifferentialDrive m_robotDrive{m_right,m_left};

WPI_VictorSPX m_leftMotor{4}; WPI_VictorSPX m_rightMotor{5}; frc::XboxController m_driverController{0}; frc::GenericHID::JoystickHand lHand = frc::GenericHID::kLeftHand; frc::GenericHID::JoystickHand rHand = frc::GenericHID::kRightHand;

frc::XboxController m_stick{0}; frc::LiveWindow &m_lw = *frc::LiveWindow::GetInstance(); frc::Timer m_timer; };

#ifndef RUNNING_FRC_TESTS int main() { return frc::StartRobot(); } #endif