Ejemplo n.º 1
0
  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);
  }
Ejemplo n.º 2
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);
  }
Ejemplo n.º 3
0
 /** 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");
     }
   }
 }
Ejemplo n.º 4
0
 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();
   }
 }
Ejemplo n.º 5
0
 /** 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");
     }
   }
 }
Ejemplo n.º 6
0
 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();
 }