Sirchangealot

.gitignore

@@ -1,3 +1,4 @@
 /Debug/
 .DS_Store
 /.settings/language.settings.xml
+src/*.o

.travis.yml

@@ -7,5 +7,3 @@ install:
  - sudo apt-get install frc-toolchain clang-format-3.4
 script:
  - make
- - clang-format --style=file -i src/*.cpp src/*.h
- - git diff --exit-code

README.md

@@ -1,3 +1,20 @@
 2015 Robot Code for Pittsford Panthers Robotics
 ===============================================
-[![Build Status](https://travis-ci.org/Pittsford-Robotics-3181/2015Robotics.svg?branch=master)](https://travis-ci.org/Pittsford-Robotics-3181/2015Robotics)
+[![Build Status](https://travis-ci.org/Pittsford-Robotics-3181/2015Robotics.svg?branch=feature/heightpresets)](https://travis-ci.org/Pittsford-Robotics-3181/2015Robotics)
+
+Here is a line-by-line explanation of my code, well at least the TeleopPeriodic() method, because that's where the stuff that people might find confusing is.
+```
+robotDrive->MecanumDrive_Cartesian(rightStick->GetX()*(rightStick->GetThrottle()+1.0f)/2.0f, rightStick->GetY()*(rightStick->GetThrottle()+1.0f)/2.0f, rightStick->GetTwist()*(rightStick->GetThrottle()+1.0f)/2.0f, 0.0f);
+```
+This is just a call to WPILib's Mecanum Drive method, with throttle added.
+```
+liftMotor->Set(min(max(leftStick->GetY()*0.75f + static_cast<float>(sin(GetClock()/1000.0f))*0.25f, static_cast<float>(-lowerLiftSensor->Get())), static_cast<float>(upperLiftSensor->Get())));
+```
+The sin of time is just some anti-wobble. The min/max works like this. First it checks if the joystick Y value (+ wobble) (range -1 to 1) against the lower lift sensor with max(). If the sensor is 1, then the stick works. If it's 0, then the stick can only be a positive value, moving it up. The min() call is just the opposite.
+```
+liftState |= leftStick->GetRawButton(6);
+liftState &= !leftStick->GetRawButton(4);
+leftLiftServo->Set(90 * liftState);
+rightLiftServo->Set(90 * !liftState);
+```
+The |= expands to `liftState = liftState | leftStick->GetRawButto(6);`. &= does the same thing but with &. An | between liftState and button 6 makes it so when button 6 is 1, liftState will become 1, but if button 6 is 0, liftState will not change. The & does the opposite, changing liftState to 0 if button 4 is 1, but leaving it alone if button 4 is 0. Multiplying 90 by liftState on the left and !liftState on the right makes it so when liftState is 1 left will be 90 and right will be 0, and flip them when liftState is 0.

Makefile → makefile

@@ -14,7 +14,7 @@
 #along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 AT = @
-INCDIR = -I$(HOME)/wpilib/cpp/current/include -Isrc/
+INCDIR = -I$(HOME)/wpilib/cpp/current/include
 CPPFLAGS += -g -Wall -W $(INCDIR) -std=c++14 -fPIC
 LFLAGS = -L$(HOME)/wpilib/cpp/current/lib -lwpi
 CXX = arm-frc-linux-gnueabi-g++
@@ -23,9 +23,22 @@ RMCOMMAND = rm -f
 DEPLOYTARGET = roboRIO-$(TEAM).local
 
 SOURCES = $(wildcard src/*.cpp)
-HEADERS = $(wildcard src/*.h)
+HEADERS = $(wildcard src/*.hpp)
 OBJECTS = $(patsubst src/%.cpp,src/%.o,$(wildcard src/*.cpp))
 
+
+
 all: $(OBJECTS)
  test -d bin/ || mkdir -p bin/
  $(CXX) $(CPPFLAGS) $(OBJECTS) $(LFLAGS) -o bin/FRCUserProgram
+clean:
+ @for dir in src; do find $$dir -name \*.o -exec $(RMCOMMAND) {} \; ; done
+ $(RMCOMMAND) bin/*
+
+deploy:
+ ssh lvuser$(AT)$(DEPLOYTARGET) "rm /home/lvuser/FRCUserProgram || true"
+ sftp -oBatchMode=no -b sftpbatchfile lvuser$(AT)$(DEPLOYTARGET)
+ ssh lvuser$(AT)$(DEPLOYTARGET) ". /etc/profile.d/natinst-path.sh; chmod a+x /home/lvuser/FRCUserProgram; /usr/local/frc/bin/frcKillRobot.sh -t -r"
+
+kill-robot:
+ ssh lvuser$(AT)$(DEPLOYTARGET) "/usr/local/frc/bin/frcKillRobot.sh"

sftpbatchfile

@@ -0,0 +1 @@
+put bin/FRCUserProgram /home/lvuser/