/** Go Straight using the IMU */ public ServoHoldHeadingWithImu(PigeonIMU pigeonImu, IDrivetrain driveTrain, Styles.BasicStyle selectedStyle, ServoParameters parameters, float targetHeading, float maxOutput) { _pidgey = pigeonImu; _driveTrain = driveTrain; _selectedStyle = selectedStyle; _targetHeading = targetHeading; _servoParams = parameters; _maxOutput = maxOutput; }
public CasterDrive() { var leftDriveTalon = new TalonSRX(RobotMap.LEFT_DRIVE_MOTOR); gyro = new PigeonIMU(leftDriveTalon); casters = new CasterModule[] { new CasterModule(leftDriveTalon, new TalonSRX(RobotMap.LEFT_TURN_MOTOR), new Vector2(-14.75, 13.625), 0), //left new CasterModule(new TalonSRX(RobotMap.RIGHT_DRIVE_MOTOR), new TalonSRX(RobotMap.RIGHT_TURN_MOTOR), new Vector2(14.75, 13.625), 0), //right new CasterModule(new TalonSRX(RobotMap.BACK_DRIVE_MOTOR), new TalonSRX(RobotMap.BACK_TURN_MOTOR), new Vector2(0.0, -13.625), 0), //back }; }
private Chassis() { Robotmap map = Robotmap.GetInstance(); //Constants for variables to use left_motor = new TalonSRX(map.GetLeftDrive_ID()); left_motor.SetNeutralMode(NeutralMode.Brake); left_motor.SetInverted(true); // Can invert the direction the motors are moving right_motor = new TalonSRX(map.GetRightDrive_ID()); right_motor.SetNeutralMode(NeutralMode.Brake); right_motor.SetInverted(false); // Can invert the direction the motors are moving drive_assister = new PigeonIMU(map.Get_ID_Pigeon()); //TODO Get real name of pigeon from Christina bumper_switch = Robotmap.GETCANController(); }
/** Go Straight using the IMU */ public ServoHoldHeadingWithImu(PigeonIMU pigeonImu, IDrivetrain driveTrain, Styles.BasicStyle selectedStyle) { _pidgey = pigeonImu; _driveTrain = driveTrain; _selectedStyle = selectedStyle; }