public static void init() {
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
driveLeftSpeedController = new Talon(9);
LiveWindow.addActuator("Drive", "Left Speed Controller", (Talon) driveLeftSpeedController);
driveRightSpeedController = new Talon(8);
LiveWindow.addActuator("Drive", "Right Speed Controller", (Talon) driveRightSpeedController);
driveRobotDrive21 = new RobotDrive(driveLeftSpeedController, driveRightSpeedController);
driveRobotDrive21.setSafetyEnabled(true);
driveRobotDrive21.setExpiration(0.1);
driveRobotDrive21.setSensitivity(0.5);
driveRobotDrive21.setMaxOutput(1.0);
driveLeftEncoder = new Encoder(2, 3, false, EncodingType.k4X);
LiveWindow.addSensor("Drive", "LeftEncoder", driveLeftEncoder);
driveLeftEncoder.setDistancePerPulse(1.0);
driveLeftEncoder.setPIDSourceType(PIDSourceType.kRate);
driveRightEncoder = new Encoder(0, 1, false, EncodingType.k4X);
LiveWindow.addSensor("Drive", "RightEncoder", driveRightEncoder);
driveRightEncoder.setDistancePerPulse(1.0);
driveRightEncoder.setPIDSourceType(PIDSourceType.kRate);
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}
public static void init() {
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
driveTrainLeftFront = new Talon(0);
LiveWindow.addActuator("DriveTrain", "Left Front", (Talon) driveTrainLeftFront);
driveTrainLeftRear = new Talon(1);
LiveWindow.addActuator("DriveTrain", "Left Rear", (Talon) driveTrainLeftRear);
driveTrainRightFront = new Talon(2);
LiveWindow.addActuator("DriveTrain", "Right Front", (Talon) driveTrainRightFront);
driveTrainRightRear = new Talon(3);
LiveWindow.addActuator("DriveTrain", "Right Rear", (Talon) driveTrainRightRear);
driveTrainHolonomicDrive =
new RobotDrive(
driveTrainLeftFront, driveTrainLeftRear, driveTrainRightFront, driveTrainRightRear);
driveTrainHolonomicDrive.setSafetyEnabled(false);
driveTrainHolonomicDrive.setExpiration(0.1);
driveTrainHolonomicDrive.setSensitivity(0.5);
driveTrainHolonomicDrive.setMaxOutput(1.0);
driveTrainHolonomicDrive.setInvertedMotor(RobotDrive.MotorType.kFrontRight, true);
driveTrainHolonomicDrive.setInvertedMotor(RobotDrive.MotorType.kRearRight, true);
driveTrainGyro = new AnalogGyro(0);
LiveWindow.addSensor("DriveTrain", "Gyro", driveTrainGyro);
driveTrainGyro.setSensitivity(0.007);
forkliftMotor = new Talon(4);
LiveWindow.addActuator("Forklift", "Motor", (Talon) forkliftMotor);
forkliftEncoder = new Encoder(0, 1, false, EncodingType.k4X);
LiveWindow.addSensor("Forklift", "Encoder", forkliftEncoder);
forkliftEncoder.setDistancePerPulse(0.012);
forkliftEncoder.setPIDSourceType(PIDSourceType.kDisplacement);
toteCaptureLeftWheel = new Talon(8);
LiveWindow.addActuator("Tote Capture", "Left Wheel", (Talon) toteCaptureLeftWheel);
toteCaptureRightWheel = new Talon(9);
LiveWindow.addActuator("Tote Capture", "Right Wheel", (Talon) toteCaptureRightWheel);
containerCaptureMotor = new Talon(10);
LiveWindow.addActuator("Container Capture", "Motor", (Talon) containerCaptureMotor);
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
powerDistributionPanel = new PowerDistributionPanel();
}
public void robotInit() {
j1 = new Joystick(1);
j2 = new Joystick(0);
shooter = new Victor(2);
shooter2 = new Victor(4);
intake = new Victor(3);
right = new Victor(0);
left = new Victor(1);
rd = new RobotDrive(left, right);
light = new DigitalInput(3);
count = 0;
comp = new Compressor();
inup = new DoubleSolenoid(0, 1);
inup2 = new DoubleSolenoid(2, 3);
gyro = new AnalogGyro(0);
gyro.setSensitivity(.007);
gyro.calibrate();
gyro.reset();
enc = new Encoder(1, 2, true, Encoder.EncodingType.k4X);
enc.setDistancePerPulse(.11977); // circumference of wheel/200 (PPR)
enc.setPIDSourceType(PIDSourceType.kDisplacement);
enc.reset();
out =
new PIDOutput() {
@Override
public void pidWrite(double out) {
rd.setLeftRightMotorOutputs(out, out);
}
};
controller = new PIDController(.007, 0, 0, enc, out);
controller.setAbsoluteTolerance(.25);
controller.disable();
gcontroller = new PIDController(kp, ki, kd, gyro, out);
gcontroller.setAbsoluteTolerance(ktol);
gcontroller.disable();
timerStart = -1;
timeToCancel = -1;
}
public static void init() {
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
climbingClimbingArmExtensionMotor = new VictorSP(7);
LiveWindow.addActuator(
"Climbing", "ClimbingArmExtensionMotor", (VictorSP) climbingClimbingArmExtensionMotor);
climbingClimbingWinchMotor = new Talon(6);
LiveWindow.addActuator("Climbing", "ClimbingWinchMotor", (Talon) climbingClimbingWinchMotor);
climbingArmRotatationSolenoid = new DoubleSolenoid(0, 0, 1);
LiveWindow.addActuator("Climbing", "ArmRotatationSolenoid", climbingArmRotatationSolenoid);
climbingClimbingArmExtensionEncoder = new Encoder(4, 5, false, EncodingType.k4X);
LiveWindow.addSensor(
"Climbing", "ClimbingArmExtensionEncoder", climbingClimbingArmExtensionEncoder);
climbingClimbingArmExtensionEncoder.setDistancePerPulse(1.0);
climbingClimbingArmExtensionEncoder.reset();
climbingClimbingArmExtensionEncoder.setPIDSourceType(PIDSourceType.kRate);
ballIntakeSweeperBarRotationMotor = new Relay(0);
ballIntakeSweeperBarRotationMotor.setSafetyEnabled(false);
LiveWindow.addActuator(
"BallIntake", "SweeperBarRotationMotor", ballIntakeSweeperBarRotationMotor);
ballIntakeSweeperBarPositionSolenoid = new DoubleSolenoid(0, 2, 3);
LiveWindow.addActuator(
"BallIntake", "SweeperBarPositionSolenoid", ballIntakeSweeperBarPositionSolenoid);
drivetrainRightDrivetrainEncoder = new Encoder(0, 1, false, EncodingType.k4X);
LiveWindow.addSensor("Drivetrain", "RightDrivetrainEncoder", drivetrainRightDrivetrainEncoder);
drivetrainRightDrivetrainEncoder.setDistancePerPulse(1.0);
drivetrainRightDrivetrainEncoder.setPIDSourceType(PIDSourceType.kRate);
drivetrainLeftDrivetrainEncoder = new Encoder(2, 3, false, EncodingType.k4X);
LiveWindow.addSensor("Drivetrain", "LeftDrivetrainEncoder", drivetrainLeftDrivetrainEncoder);
drivetrainLeftDrivetrainEncoder.setDistancePerPulse(1.0);
drivetrainLeftDrivetrainEncoder.setPIDSourceType(PIDSourceType.kRate);
drivetrainBackRightMotor = new VictorSP(0);
LiveWindow.addActuator("Drivetrain", "BackRightMotor", (VictorSP) drivetrainBackRightMotor);
drivetrainBackLeftMotor = new VictorSP(1);
LiveWindow.addActuator("Drivetrain", "BackLeftMotor", (VictorSP) drivetrainBackLeftMotor);
drivetrainFrontRightMotor = new VictorSP(2);
LiveWindow.addActuator("Drivetrain", "FrontRightMotor", (VictorSP) drivetrainFrontRightMotor);
drivetrainFrontLeftMotor = new VictorSP(3);
LiveWindow.addActuator("Drivetrain", "FrontLeftMotor", (VictorSP) drivetrainFrontLeftMotor);
drivetrainDrivetrainMotors =
new RobotDrive(
drivetrainFrontLeftMotor,
drivetrainBackLeftMotor,
drivetrainFrontRightMotor,
drivetrainBackRightMotor);
drivetrainDrivetrainMotors.setSafetyEnabled(true);
drivetrainDrivetrainMotors.setExpiration(0.1);
drivetrainDrivetrainMotors.setSensitivity(0.5);
drivetrainDrivetrainMotors.setMaxOutput(1.0);
drivetrainDrivetrainMotors.setInvertedMotor(RobotDrive.MotorType.kFrontLeft, true);
drivetrainDrivetrainMotors.setInvertedMotor(RobotDrive.MotorType.kRearLeft, true);
drivetrainDrivetrainMotors.setInvertedMotor(RobotDrive.MotorType.kFrontRight, true);
drivetrainDrivetrainMotors.setInvertedMotor(RobotDrive.MotorType.kRearRight, true);
powerDistributionPowerDistributionPanel = new PowerDistributionPanel(0);
LiveWindow.addSensor(
"PowerDistribution", "PowerDistributionPanel", powerDistributionPowerDistributionPanel);
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
drivetrainDrivetrainMotors.setSafetyEnabled(false);
}