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 void robotInit() {
try {
drive_control = new Joystick(1);
control = new Joystick(2);
drive = new Drive();
station = DriverStationLCD.getInstance();
camera = AxisCamera.getInstance();
camera.writeResolution(AxisCamera.ResolutionT.k320x240);
camera.writeBrightness(0);
camera.writeMaxFPS(10);
launcher = new CANJaguar(7);
belt1 = new Relay(1);
// belt1.setDirection(Relay.Direction.kBoth);
belt2 = new CANJaguar(8);
turret = new Victor(4);
/*launcher.setPID(0.5, 0.001, 0.0);
launcher.configEncoderCodesPerRev(360);
launcher.changeControlMode(CANJaguar.ControlMode.kSpeed);
launcher.enableControl();*/
launcher.configEncoderCodesPerRev(360);
launcher.setSpeedReference(CANJaguar.SpeedReference.kQuadEncoder);
launcher.setPositionReference(CANJaguar.PositionReference.kQuadEncoder);
/*wheelEncoder = new Encoder(1, 2, true, CounterBase.EncodingType.k4X);
wheelEncoder.setDistancePerPulse(1);
wheelEncoder.setReverseDirection(true);
wheelEncoder.start();*/
csc = new CANSpeedController(.02, 0, 0, launcher);
csc.setInputRange(0, 3000);
csc.enable();
timer = new Timer();
// tracking = new EagleEye();
lights = new Relay(3);
/*try {
serial = new SerialPort(115200);
} catch (Exception ex) {
System.out.println("Cannot open serial connection " + ex);
}*/
} catch (CANTimeoutException ex) {
System.out.println(ex);
}
wedge = new wedge(2, 1, 2);
// servo1 = new Servo(1);
// servo2 = new Servo(2);
// wedge = new Relay(2);
}
public Climber() {
try {
ClimbJag = new CANJaguar(Wiring.climberCANID);
if (ClimbJag != null) {
// encoder configuration
ClimbJag.configEncoderCodesPerRev(ENCODER_LINES);
ClimbJag.setPositionReference(CANJaguar.PositionReference.kQuadEncoder);
ClimbJag.configNeutralMode(CANJaguar.NeutralMode.kBrake);
// We need this ramp rate. Without it rapid reversal causes transients
ClimbJag.setVoltageRampRate(20);
}
} catch (CANTimeoutException ex) {
m_fault = true;
System.out.println("*** Climber CAN Error ***");
}
calibrateEncoder();
}
public CANJaguar construct() {
CANJaguar jag = null;
try {
jag = new CANJaguar(channel, controlMode);
// System.out.println("-----------CREATING JAGUAR AT CHANNEL " + channel +
// "----------------");
// System.out.println("Control Mode:\t\t" + controlMode);
if (usingPID) {
// System.out.println("Speed Reference:\t\t" + speedReference);
jag.setSpeedReference(speedReference);
// System.out.println("Encoder Codes Per Rev:\t\t" + encoderCodesPerRev);
jag.configEncoderCodesPerRev(encoderCodesPerRev);
// System.out.println("P:\t\t" + p);
// System.out.println("I:\t\t" + i);
// System.out.println("D:\t\t" + d);
// System.out.println("Verifying PID:");
// System.out.println("P:\t\t" + jag.getP());
// System.out.println("I:\t\t" + jag.getI());
// System.out.println("D:\t\t" + jag.getD());
jag.setPID(p, i, d);
jag.enableControl();
if (p == 0) {
System.out.println("[WARNING] Created a CANJaguar with P=0!");
}
if (encoderCodesPerRev == 0) {
System.out.println("[WARNING] Created a CANJaguar with encoder codes per revolution=0!");
}
}
// System.out.println("-----------Motor Create Complete----------");
} catch (CANTimeoutException e) {
e.printStackTrace();
}
return jag;
}
