#include <iostream>

Macros
#define	DODEBUG 0

#define	ROBOT_PERIOD 0.02

#define	ARM_CURRENT_THRESHOLD 35

#define	ARM_CURRENT_HOLD 33

#define	ARM_PEAK_TIMEOUT 0

#define	ARM_CURRENT_TIMEOUT 30

#define	CAMERASERVER_DRIVER_CAMERA 1

#define	CAMERASERVER_VISION_CAMERA 0

#define	DRIVETRAIN_LEFT_FRONT_MOTOR 1

#define	DRIVETRAIN_LEFT_REAR_MOTOR 2

#define	DRIVETRAIN_RIGHT_FRONT_MOTOR 3

#define	DRIVETRAIN_RIGHT_REAR_MOTOR 4

#define	TALLON_TPR 4096

#define	ARCADE_KP 0.25

#define	ARCADE_KI 0.0

#define	ARCADE_KD 0.0

#define	SLEW_LIMIT 0.15

#define	R_SLEW_LIMIT 0.04

#define	DRIVETRAIN_LEFT_FRONT_MOTOR_INVERT false

#define	DRIVETRAIN_LEFT_REAR_MOTOR_INVERT false

#define	DRIVETRAIN_RIGHT_FRONT_MOTOR_INVERT true

#define	DRIVETRAIN_RIGHT_REAR_MOTOR_INVERT true

#define	XBOX_DEADZONE_RIGHT_JOY 0.1

#define	XBOX_DEADZONE_LEFT_JOY 0.1

#define	CLIMB_ARM_MOTOR 5

#define	CLIMB_ARM_MOTOR_2 7

#define	CLIMB_LEG_MOTOR 8

#define	CRAWL_LEFT_MOTOR 1

#define	CRAWL_RIGHT_MOTOR 0

#define	CLIMB_ULTRASONIC 1

#define	OPTICAL_PIN 7

#define	DRIVETRAIN_RADIAL_SENSITIVITY_CUTOFF 0.8

#define	CLIMB_M 0.6

#define	CLIMB_B 0.3

#define	CLIMB_MAX_HEIGHT 100

#define	LEG_PIN_TOP 1

#define	LEG_PIN_MIDDLE 5

#define	LEG_PIN_BOTTOM 6

#define	ARM_PIN_LOWERED 4

#define	ARM_HOLD_SPEED 0.2

#define	LEG_HOLD_SPEED 0.1

#define	SLIDER_MOTOR 6

#define	PCM_CAN_ID 11

#define	PISTON_ID 7

#define	LIGHT_ID 0

#define	LEDCONTROLLER_ID 2

#define	HatchGripper_FORWARD_ID 1

#define	HatchGripper_REVERSE_ID 2

#define	FLAP_ID_FORWARD 5

#define	FLAP_ID_REVERSE 6

#define	DRIVEWITHJOYSTICK_ROTATION_LIMITER 0.95

#define	XBOX_CONTROLLER_DRIVE_PORT 0

#define	XBOX_CONTROLLER_OPERATOR_PORT 1

#define	XBOX_CONTROLLER_DEBUG_PORT 2

#define	False false

#define	True true

#define	elif else if

#define	Hand frc::GenericHID::JoystickHand

#define	WinGame(_class_) frc::StartRobot<_class_>()

#define	Header(x) std::cout << x

#define	EndHeader() std::cout << "DONE" << std::endl

Macro Definition Documentation

◆ ARCADE_KD

#define ARCADE_KD 0.0

Definition at line 40 of file RobotMap.h.

◆ ARCADE_KI

#define ARCADE_KI 0.0

Definition at line 39 of file RobotMap.h.

◆ ARCADE_KP

#define ARCADE_KP 0.25

Definition at line 38 of file RobotMap.h.

◆ ARM_CURRENT_HOLD

#define ARM_CURRENT_HOLD 33

Definition at line 21 of file RobotMap.h.

◆ ARM_CURRENT_THRESHOLD

#define ARM_CURRENT_THRESHOLD 35

Definition at line 20 of file RobotMap.h.

◆ ARM_CURRENT_TIMEOUT

#define ARM_CURRENT_TIMEOUT 30

Definition at line 23 of file RobotMap.h.

◆ ARM_HOLD_SPEED

#define ARM_HOLD_SPEED 0.2

Definition at line 80 of file RobotMap.h.

◆ ARM_PEAK_TIMEOUT

#define ARM_PEAK_TIMEOUT 0

Definition at line 22 of file RobotMap.h.

◆ ARM_PIN_LOWERED

#define ARM_PIN_LOWERED 4

Definition at line 77 of file RobotMap.h.

◆ CAMERASERVER_DRIVER_CAMERA

#define CAMERASERVER_DRIVER_CAMERA 1

Definition at line 26 of file RobotMap.h.

◆ CAMERASERVER_VISION_CAMERA

#define CAMERASERVER_VISION_CAMERA 0

Definition at line 27 of file RobotMap.h.

◆ CLIMB_ARM_MOTOR

#define CLIMB_ARM_MOTOR 5

Definition at line 56 of file RobotMap.h.

◆ CLIMB_ARM_MOTOR_2

#define CLIMB_ARM_MOTOR_2 7

Definition at line 57 of file RobotMap.h.

◆ CLIMB_B

#define CLIMB_B 0.3

Definition at line 69 of file RobotMap.h.

◆ CLIMB_LEG_MOTOR

#define CLIMB_LEG_MOTOR 8

Definition at line 58 of file RobotMap.h.

◆ CLIMB_M

#define CLIMB_M 0.6

Definition at line 68 of file RobotMap.h.

◆ CLIMB_MAX_HEIGHT

#define CLIMB_MAX_HEIGHT 100

Definition at line 71 of file RobotMap.h.

◆ CLIMB_ULTRASONIC

#define CLIMB_ULTRASONIC 1

Definition at line 63 of file RobotMap.h.

◆ CRAWL_LEFT_MOTOR

#define CRAWL_LEFT_MOTOR 1

Definition at line 59 of file RobotMap.h.

◆ CRAWL_RIGHT_MOTOR

#define CRAWL_RIGHT_MOTOR 0

Definition at line 60 of file RobotMap.h.

◆ DODEBUG

#define DODEBUG 0

The RobotMap is a mapping from the ports sensors and actuators are wired into to a variable name. This provides flexibility changing wiring, makes checking the wiring easier and significantly reduces the number of magic numbers floating around.

Definition at line 15 of file RobotMap.h.

◆ DRIVETRAIN_LEFT_FRONT_MOTOR

#define DRIVETRAIN_LEFT_FRONT_MOTOR 1

Definition at line 30 of file RobotMap.h.

◆ DRIVETRAIN_LEFT_FRONT_MOTOR_INVERT

#define DRIVETRAIN_LEFT_FRONT_MOTOR_INVERT false

Definition at line 46 of file RobotMap.h.

◆ DRIVETRAIN_LEFT_REAR_MOTOR

#define DRIVETRAIN_LEFT_REAR_MOTOR 2

Definition at line 31 of file RobotMap.h.

◆ DRIVETRAIN_LEFT_REAR_MOTOR_INVERT

#define DRIVETRAIN_LEFT_REAR_MOTOR_INVERT false

Definition at line 47 of file RobotMap.h.

◆ DRIVETRAIN_RADIAL_SENSITIVITY_CUTOFF

#define DRIVETRAIN_RADIAL_SENSITIVITY_CUTOFF 0.8

Definition at line 65 of file RobotMap.h.

◆ DRIVETRAIN_RIGHT_FRONT_MOTOR

#define DRIVETRAIN_RIGHT_FRONT_MOTOR 3

Definition at line 32 of file RobotMap.h.

◆ DRIVETRAIN_RIGHT_FRONT_MOTOR_INVERT

#define DRIVETRAIN_RIGHT_FRONT_MOTOR_INVERT true

Definition at line 48 of file RobotMap.h.

◆ DRIVETRAIN_RIGHT_REAR_MOTOR

#define DRIVETRAIN_RIGHT_REAR_MOTOR 4

Definition at line 33 of file RobotMap.h.

◆ DRIVETRAIN_RIGHT_REAR_MOTOR_INVERT

#define DRIVETRAIN_RIGHT_REAR_MOTOR_INVERT true

Definition at line 49 of file RobotMap.h.

◆ DRIVEWITHJOYSTICK_ROTATION_LIMITER

#define DRIVEWITHJOYSTICK_ROTATION_LIMITER 0.95

Definition at line 103 of file RobotMap.h.

◆ elif

#define elif else if

Definition at line 113 of file RobotMap.h.

◆ EndHeader

#define EndHeader ( ) std::cout << "DONE" << std::endl

Definition at line 122 of file RobotMap.h.

◆ False

#define False false

Definition at line 111 of file RobotMap.h.

◆ FLAP_ID_FORWARD

#define FLAP_ID_FORWARD 5

Definition at line 99 of file RobotMap.h.

◆ FLAP_ID_REVERSE

#define FLAP_ID_REVERSE 6

Definition at line 100 of file RobotMap.h.

◆ Hand

#define Hand frc::GenericHID::JoystickHand

Definition at line 116 of file RobotMap.h.

◆ HatchGripper_FORWARD_ID

#define HatchGripper_FORWARD_ID 1

Definition at line 96 of file RobotMap.h.

◆ HatchGripper_REVERSE_ID

#define HatchGripper_REVERSE_ID 2

Definition at line 97 of file RobotMap.h.

◆ Header

#define Header ( x ) std::cout << x

Definition at line 121 of file RobotMap.h.

◆ LEDCONTROLLER_ID

#define LEDCONTROLLER_ID 2

Definition at line 93 of file RobotMap.h.

◆ LEG_HOLD_SPEED

#define LEG_HOLD_SPEED 0.1

Definition at line 81 of file RobotMap.h.

◆ LEG_PIN_BOTTOM

#define LEG_PIN_BOTTOM 6

Definition at line 76 of file RobotMap.h.

◆ LEG_PIN_MIDDLE

#define LEG_PIN_MIDDLE 5

Definition at line 75 of file RobotMap.h.

◆ LEG_PIN_TOP

#define LEG_PIN_TOP 1

Definition at line 74 of file RobotMap.h.

◆ LIGHT_ID

#define LIGHT_ID 0

Definition at line 92 of file RobotMap.h.

◆ OPTICAL_PIN

#define OPTICAL_PIN 7

Definition at line 64 of file RobotMap.h.

◆ PCM_CAN_ID

#define PCM_CAN_ID 11

Definition at line 87 of file RobotMap.h.

◆ PISTON_ID

#define PISTON_ID 7

Definition at line 89 of file RobotMap.h.

◆ R_SLEW_LIMIT

#define R_SLEW_LIMIT 0.04

Definition at line 43 of file RobotMap.h.

◆ ROBOT_PERIOD

#define ROBOT_PERIOD 0.02

Definition at line 17 of file RobotMap.h.

◆ SLEW_LIMIT

#define SLEW_LIMIT 0.15

Definition at line 42 of file RobotMap.h.

◆ SLIDER_MOTOR

#define SLIDER_MOTOR 6

Definition at line 84 of file RobotMap.h.

◆ TALLON_TPR

#define TALLON_TPR 4096

Definition at line 35 of file RobotMap.h.

◆ True

#define True true

Definition at line 112 of file RobotMap.h.

◆ WinGame

#define WinGame ( _class_ ) frc::StartRobot<_class_>()

Definition at line 119 of file RobotMap.h.

◆ XBOX_CONTROLLER_DEBUG_PORT

#define XBOX_CONTROLLER_DEBUG_PORT 2

Definition at line 108 of file RobotMap.h.

◆ XBOX_CONTROLLER_DRIVE_PORT

#define XBOX_CONTROLLER_DRIVE_PORT 0

Definition at line 106 of file RobotMap.h.

◆ XBOX_CONTROLLER_OPERATOR_PORT

#define XBOX_CONTROLLER_OPERATOR_PORT 1

Definition at line 107 of file RobotMap.h.

◆ XBOX_DEADZONE_LEFT_JOY

#define XBOX_DEADZONE_LEFT_JOY 0.1

Definition at line 53 of file RobotMap.h.

◆ XBOX_DEADZONE_RIGHT_JOY

#define XBOX_DEADZONE_RIGHT_JOY 0.1

Definition at line 52 of file RobotMap.h.

Macros