/** This function is called periodically during test mode */
 public void testPeriodic() {
   jag1.set(0);
   jag2.set(0);
   jag3.set(0);
   jag4.set(0);
   System.out.println(compressor.getPressureSwitchValue());
 }
Exemple #2
0
 protected void usePIDOutput(double output) {
   double speed = shootingMotor.get() + output;
   if (speed > .75 && this.getSetpoint() < 2600) {
     speed = .7;
   } else if (speed > .85 && this.getSetpoint() < 3600) {
     speed = .8;
   } else if (speed < 0) {
     speed = 0;
   }
   shooterSet(speed);
 }
Exemple #3
0
  public void teleopPeriodic() {
    watchdog.feed(); // feed the watchdog
    // Toggle drive mode
    if (!driveToggle && left.getRawButton(2)) {
      driveMode = (driveMode + 1) % 3;
      driveToggle = true;
    } else if (driveToggle && !left.getRawButton(2)) driveToggle = false;

    // Print drive mode to DS & send values to Jaguars
    switch (driveMode) {
      case 0:
        dsLCD.println(DriverStationLCD.Line.kMain6, 1, "Drive mode: Tank  ");
        red.set(left.getY() + gamePad.getY());
        black.set(-right.getY() - gamePad.getThrottle());
        break;
      case 1:
        dsLCD.println(DriverStationLCD.Line.kMain6, 1, "Drive mode: Arcade");
        red.set(right.getX() - right.getY());
        black.set(right.getX() + right.getY());
        break;
      case 2:
        dsLCD.println(DriverStationLCD.Line.kMain6, 1, "Drive mode: Kaj   ");
        red.set(left.getX() - right.getY());
        black.set(left.getX() + right.getY());
        break;
    } /**/
    dsLCD.println(
        DriverStationLCD.Line.kUser3,
        1,
        "1" + photoreceptorL.get() + "2" + photoreceptorM.get() + "3" + photoreceptorR.get());
    dsLCD.println(DriverStationLCD.Line.kUser4, 1, "Encoder in 4,5: " + leftEncoder.get() + "    ");
    dsLCD.println(
        DriverStationLCD.Line.kUser5, 1, "Encoder in 6,7: " + rightEncoder.get() + "    ");

    dsLCD.updateLCD();
  }
 public void autoForward() {
   jag1.set(-AUTO_MOVE_FORWARD_SPEED); // - (gyro.getAngle()/AUTO_GYRO_REDUCTION));
   jag2.set(-AUTO_MOVE_FORWARD_SPEED); // - (gyro.getAngle()/AUTO_GYRO_REDUCTION));
   jag3.set(AUTO_MOVE_FORWARD_SPEED); // - (gyro.getAngle()/AUTO_GYRO_REDUCTION));
   jag4.set(AUTO_MOVE_FORWARD_SPEED); // - (gyro.getAngle()/AUTO_GYRO_REDUCTION));
 }
 public void stop() {
   jag1.set(0);
   jag2.set(0);
   jag3.set(0);
   jag4.set(0);
 }
  public void run() {
    /*
     * Stream Names
     *
     * Voltage Output: "CANJAGUAROV"
     * Current: "CANJAGUARI"
     * Voltage From Battery: "CANJAGUARIV"
     * Tempature: "CANJAGUART"
     */
    while (true) {

      for (int i = 0; i < jaguars.size(); i++) {
        Jaguar j = ((Jaguar) jaguars.elementAt(i));
        dataStreamingModule.sendPacket(j.getBusVoltage(), "CANJAGUARIV" + j.getID());
        dataStreamingModule.sendPacket(j.getOutputVoltage(), "CANJAGUAROV" + j.getID());
        dataStreamingModule.sendPacket(j.getOutputCurrent(), "CANJAGUARI" + j.getID());
        dataStreamingModule.sendPacket(j.getTemperature(), "CANJAGUART" + j.getID());
        dataStreamingModule.sendPacket(j.getX(), "CANJAGUARX" + j.getID());
      }
      try {
        Thread.sleep((long) (1000d / hz));
      } catch (InterruptedException ex) {
      }
    }
  }
Exemple #7
0
 public void shooterSet(double speed) {
   shootingMotor.set(speed);
   shootingMotor2.set(speed);
 }
Exemple #8
0
 public void stopShooter() {
   shootingMotor.set(0);
   shootingMotor2.set(0);
 }
Exemple #9
0
 /** This function is called periodically during autonomous */
 public void autonomousPeriodic() {
   red.set(1);
   black.set(1);
 }