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); }