RedArrow-2014/RedArrowMain.h at master · kjrokos/RedArrow-2014 · GitHub

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#include "WPILib.h"
#include "SmartDashboard/SmartDashboard.h"

#include "Utilities/CxTimer.h"
#include "Utilities/AutonomousManager.h"
#include "Subsystems/ArmControl.h"
#include "Subsystems/FeederControl.h"
#include "Subsystems/TwoStateServoControl.h"
#include "Subsystems/PotentiometerControl.h"
#include "Subsystems/DriveTrain.h"
#include "Subsystems/ShooterControl.h"
#include "Subsystems/MotorControl.h"
#include "Subsystems/DistanceSensor.h"


class BuiltinDefaultCode : public IterativeRobot
{
public:
/**
 * Constructor for this "BuiltinDefaultCode" Class.
 *
 * The constructor creates all of the objects used for the different inputs and outputs of
 * the robot.  Essentially, the constructor defines the input/output mapping for the robot,
 * providing named objects for each of the robot interfaces.
 */
	BuiltinDefaultCode(void);
	~BuiltinDefaultCode(void);

	/********************************** Init Routines *************************************/
	void RobotInit(void);
	void DisabledInit(void);
	void AutonomousInit(void);
	void TeleopInit(void);

	/********************************** Periodic Routines *************************************/
	void DisabledPeriodic(void);
	void AutonomousPeriodic(void);
	void TeleopPeriodic(void);


	void GetDS();
	void ResetSubsystems();
	bool UpdateSubsystems();


//private:
	// Declare variale for the robot drive system
	DriveTrain *m_robotDrive;

	CxTimer *m_t1;

	TwoStateServoControl *m_gripRight;
	TwoStateServoControl *m_gripLeft;
	TwoStateServoControl *m_flag;
	ShooterControl *m_shooter;
	MotorControl *m_roller;
	DistanceSensor *m_distanceSensor;
	MotorControl *m_winch;

private:
	AutonomousManager<BuiltinDefaultCode> *m_autonomousManager;

	float RSy;
	float RSx;
	float RSz;
	bool RS_B1;
	bool RS_B2;
	bool RS_B3;
	bool RS_B4;
	bool RS_B5;
	bool RS_B6;
	bool RS_B7;
	bool RS_B8;
	bool RS_B9;
	bool RS_B10;
	bool RS_B11;

	float LSy;
	float LSx;
	float LSz;
	bool LS_B1;
	bool prev_LS_B2;
	bool LS_B2;
	bool LS_B3;
	bool LS_B4;
	bool LS_B5;
	bool LS_B6;
	bool LS_B7;
	bool LS_B8;
	bool LS_B9;
	bool LS_B10;
	bool LS_B11;


	// Declare a variable to use to access the driver station object
	DriverStation *m_ds;						// driver station object
	SendableChooser *m_autonomousModeChooser;

	// Declare variables for the two joysticks being used
	Joystick *m_rightStick;			// joystick 1 (arcade stick or right tank stick)
	Joystick *m_leftStick;			// joystick 2 (tank left stick)
};