Quasics2016Code/Mettaton/src/RobotMap.cpp
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION
END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION
END AUTOGENERATED CODE SOURCE = ROBOTBUILDER ID = ALLOCATION
void RobotMap::init() {
    LiveWindow *lw = LiveWindow::GetInstance();
    driveBaseLeftFront.reset(new Talon(0));
    lw->AddActuator("DriveBase", "LeftFront", std::static_pointer_cast<Talon>(driveBaseLeftFront));
    driveBaseRightFront.reset(new Talon(2));
    lw->AddActuator("DriveBase", "RightFront", std::static_pointer_cast<Talon>(driveBaseRightFront));
    driveBaseLeftRear.reset(new Talon(1));
    lw->AddActuator("DriveBase", "LeftRear", std::static_pointer_cast<Talon>(driveBaseLeftRear));
    driveBaseRightRear.reset(new Talon(3));
    lw->AddActuator("DriveBase", "RightRear", std::static_pointer_cast<Talon>(driveBaseRightRear));
    driveBaseNavX.reset(new AHRS(SPI::Port::kMXP));
    lw->AddSensor("DriveBase", "NavX", std::static_pointer_cast<AHRS>(driveBaseNavX));
    shooterArmLeftArm.reset(new Spark(6));
    lw->AddActuator("ShooterArm", "LeftArm", std::static_pointer_cast<Spark>(shooterArmLeftArm));
    shooterArmRightArm.reset(new Spark(7));
    shooterArmRightArm->SetInverted(true);
    lw->AddActuator("ShooterArm", "RightArm", std::static_pointer_cast<Spark>(shooterArmRightArm));
    shooterArmLeftArmEncoder.reset(new Encoder(4, 5, false, Encoder::k4X));
    lw->AddSensor("ShooterArm", "LeftArmEncoder", shooterArmLeftArmEncoder);
    shooterArmLeftArmEncoder->SetDistancePerPulse(12.8571428571);
    shooterArmLeftArmEncoder->SetPIDSourceType(PIDSourceType::kRate);
    shooterArmRightArmEncoder.reset(new Encoder(6, 7, true, Encoder::k4X));
    lw->AddSensor("ShooterArm", "RightArmEncoder", shooterArmRightArmEncoder);
    shooterArmRightArmEncoder->SetDistancePerPulse(12.8571428571);
    shooterArmRightArmEncoder->SetPIDSourceType(PIDSourceType::kRate);
    shooterLeftWheel.reset(new Victor(4));
    lw->AddActuator("Shooter", "LeftWheel", std::static_pointer_cast<Victor>(shooterLeftWheel));
    shooterRightWheel.reset(new Victor(5));
    lw->AddActuator("Shooter", "RightWheel", std::static_pointer_cast<Victor>(shooterRightWheel));
    shooterIntakePiston.reset(new DoubleSolenoid(1, 0, 1));
    lw->AddActuator("Shooter", "IntakePiston", shooterIntakePiston);
    lightingSerialPort.reset(new SerialPort(115200, SerialPort::kMXP));
}
void RobotMap :: init ( ) { LiveWindow * lw = LiveWindow :: GetInstance ( ) ; driveBaseLeftFront . reset ( new Talon ( 0 ) ) ; lw -> AddActuator ( " " , " " , std :: static_pointer_cast < Talon > ( driveBaseLeftFront ) ) ; driveBaseRightFront . reset ( new Talon ( 2 ) ) ; lw -> AddActuator ( " " , " " , std :: static_pointer_cast < Talon > ( driveBaseRightFront ) ) ; driveBaseLeftRear . reset ( new Talon ( 1 ) ) ; lw -> AddActuator ( " " , " " , std :: static_pointer_cast < Talon > ( driveBaseLeftRear ) ) ; driveBaseRightRear . reset ( new Talon ( 3 ) ) ; lw -> AddActuator ( " " , " " , std :: static_pointer_cast < Talon > ( driveBaseRightRear ) ) ; driveBaseNavX . reset ( new AHRS ( SPI :: Port :: kMXP ) ) ; lw -> AddSensor ( " " , " " , std :: static_pointer_cast < AHRS > ( driveBaseNavX ) ) ; shooterArmLeftArm . reset ( new Spark ( 6 ) ) ; lw -> AddActuator ( " " , " " , std :: static_pointer_cast < Spark > ( shooterArmLeftArm ) ) ; shooterArmRightArm . reset ( new Spark ( 7 ) ) ; shooterArmRightArm -> SetInverted ( true ) ; lw -> AddActuator ( " " , " " , std :: static_pointer_cast < Spark > ( shooterArmRightArm ) ) ; shooterArmLeftArmEncoder . reset ( new Encoder ( 4 , 5 , false , Encoder :: k4X ) ) ; lw -> AddSensor ( " " , " " , shooterArmLeftArmEncoder ) ; shooterArmLeftArmEncoder -> SetDistancePerPulse ( 12.8571428571 ) ; shooterArmLeftArmEncoder -> SetPIDSourceType ( PIDSourceType :: kRate ) ; shooterArmRightArmEncoder . reset ( new Encoder ( 6 , 7 , true , Encoder :: k4X ) ) ; lw -> AddSensor ( " " , " " , shooterArmRightArmEncoder ) ; shooterArmRightArmEncoder -> SetDistancePerPulse ( 12.8571428571 ) ; shooterArmRightArmEncoder -> SetPIDSourceType ( PIDSourceType :: kRate ) ; shooterLeftWheel . reset ( new Victor ( 4 ) ) ; lw -> AddActuator ( " " , " " , std :: static_pointer_cast < Victor > ( shooterLeftWheel ) ) ; shooterRightWheel . reset ( new Victor ( 5 ) ) ; lw -> AddActuator ( " " , " " , std :: static_pointer_cast < Victor > ( shooterRightWheel ) ) ; shooterIntakePiston . reset ( new DoubleSolenoid ( 1 , 0 , 1 ) ) ; lw -> AddActuator ( " " , " " , shooterIntakePiston ) ; lightingSerialPort . reset ( new SerialPort ( 115200 , SerialPort :: kMXP ) ) ; }
END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION
END AUTOGENERATED CODE SOURCE = ROBOTBUILDER ID = ALLOCATION
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS