public Shooter() throws CANTimeoutException {
loadingStick = new CANJaguar(5);
// http://www.chiefdelphi.com/forums/showthread.php?t=101737
// Configuring firstShootMotor in order to control speed with encoder
firstShootingMotor = new CANJaguar(6, CANJaguar.ControlMode.kSpeed);
firstShootingMotor.configEncoderCodesPerRev(256);
firstShootingMotor.enableControl();
firstShootingMotor.changeControlMode(CANJaguar.ControlMode.kVoltage);
firstShootingMotor.enableControl();
// Configuring secondShootMotor in order to control speed with encoder
secondShootingMotor = new CANJaguar(7, CANJaguar.ControlMode.kSpeed);
secondShootingMotor.configEncoderCodesPerRev(256);
secondShootingMotor.enableControl();
secondShootingMotor.changeControlMode(CANJaguar.ControlMode.kVoltage);
secondShootingMotor.enableControl();
angleMotor = new CANJaguar(8);
frontSwitch = new DigitalInput(1);
backSwitch = new DigitalInput(1);
table = NetworkTable.getTable("shooter");
table.putNumber("firstSpeed", 0);
table.putNumber("angle", 0);
}
public Intake() {
preferences = Preferences.getInstance();
leftGate =
new DoubleSolenoid(
ElectricalConstants.rightGateForward, ElectricalConstants.rightGateReverse);
rightGate = new Solenoid(ElectricalConstants.leftGate);
try {
arm = new CANJaguar(ElectricalConstants.armJag);
arm.changeControlMode(CANJaguar.ControlMode.kPercentVbus);
arm.configNeutralMode(CANJaguar.NeutralMode.kBrake);
arm.configFaultTime(0.5);
arm.configPotentiometerTurns(1);
arm.setPositionReference(CANJaguar.PositionReference.kPotentiometer);
arm.setPID(0, 0, 0);
arm.enableControl(0);
} catch (CANTimeoutException ex) {
ex.printStackTrace();
}
rollers = new Victor(ElectricalConstants.rollerVic);
}
/** Disables the climber closed loop puts it into open loop. */
public void disableClosedLoop() {
if (ClimbJag != null) {
try {
ClimbJag.disableControl();
ClimbJag.changeControlMode(CANJaguar.ControlMode.kPercentVbus);
m_closedLoop = false;
} catch (CANTimeoutException ex) {
m_fault = true;
System.err.println("CAN timeout");
}
}
}
public void reInit() {
try {
jagFlip = new CANJaguar(ElectricalConstants.JagFlipper);
jagFlip.changeControlMode(CANJaguar.ControlMode.kPosition);
jagFlip.configFaultTime(0.5);
jagFlip.configNeutralMode(CANJaguar.NeutralMode.kBrake);
jagFlip.configPotentiometerTurns(10);
jagFlip.setPositionReference(CANJaguar.PositionReference.kPotentiometer);
jagFlip.setPID(p, i, d);
jagFlip.enableControl(0);
} catch (CANTimeoutException ex) {
ex.printStackTrace();
}
}
/** Sets up the climber closed loop and puts it in Position mode. */
public void enableClosedLoop() {
if (ClimbJag != null) {
try {
ClimbJag.changeControlMode(CANJaguar.ControlMode.kPosition);
ClimbJag.setPID(150.0, 0.0, 0.0);
double position = ClimbJag.getPosition();
ClimbJag.enableControl(position);
m_closedLoop = true;
} catch (CANTimeoutException ex) {
m_fault = true;
System.err.println("CAN timeout");
}
}
}
private Flipper() {
p = PIDConstants.flipperP;
i = PIDConstants.flipperI;
d = PIDConstants.flipperD;
try {
jagFlip = new CANJaguar(ElectricalConstants.JagFlipper);
jagFlip.changeControlMode(CANJaguar.ControlMode.kPosition);
jagFlip.configFaultTime(0.5);
jagFlip.configNeutralMode(CANJaguar.NeutralMode.kBrake);
jagFlip.configPotentiometerTurns(10);
jagFlip.setPositionReference(CANJaguar.PositionReference.kPotentiometer);
jagFlip.setPID(p, i, d);
jagFlip.enableControl(0);
} catch (CANTimeoutException ex) {
ex.printStackTrace();
}
gotoPosition();
}
