Tank/TurretCode.cpp at main · sksie/Tank · GitHub

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#include "Include4Turret.h"
using namespace frc;
using namespace nt;
frc::Joystick Pilot_Controller{0};

void Robot::TeleopPeriodic()
{

  double y = Pilot_Controller.GetRawAxis(1);
  double s = Pilot_Controller.GetRawAxis(4);

  LeftFrontMotor.Set(ctre::phoenix::motorcontrol::ControlMode::PercentOutput, -y + s);
  LeftBackMotor.Set(ctre::phoenix::motorcontrol::ControlMode::PercentOutput, -y + s);
  RightFrontMotor.Set(ctre::phoenix::motorcontrol::ControlMode::PercentOutput, y + s);
  RightBackMotor.Set(ctre::phoenix::motorcontrol::ControlMode::PercentOutput, y + s);

  double tx = table->GetNumber("tx",0.0);
  double ty = table->GetNumber("ty",0.0);
  double ta = table->GetNumber("ta",0.0);
  double tv = table->GetNumber("tv",0.0);

  if (tv >= 1 )
  {
    if ((tx > 1.0) || (tx < -1.0))
    {
     TurretLeftMotor.Set(ctre::phoenix::motorcontrol::ControlMode::PercentOutput, -0.02*tx);
     TurretRightMotor.Set(ctre::phoenix::motorcontrol::ControlMode::PercentOutput,-0.02*tx );
    }

    else if ((tx > -1.0) && (tx < 1.0))
    {
     TurretLeftMotor.Set(ctre::phoenix::motorcontrol::ControlMode::PercentOutput, 0 );
     TurretRightMotor.Set(ctre::phoenix::motorcontrol::ControlMode::PercentOutput,0 );

    }
  }

  else if (tv = 0)
  {
    TurretLeftMotor.Set(ctre::phoenix::motorcontrol::ControlMode::PercentOutput, 0 );
    TurretRightMotor.Set(ctre::phoenix::motorcontrol::ControlMode::PercentOutput,0 );
  }

  else
  {
    TurretLeftMotor.Set(ctre::phoenix::motorcontrol::ControlMode::PercentOutput, 0 );
    TurretRightMotor.Set(ctre::phoenix::motorcontrol::ControlMode::PercentOutput,0 );
  }

}

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