コード例 #1
0
  /**
   * ************************************
   *
   * <p>Does the configuration required for basic drive. So, when switching to basic drive this gets
   * called and now the robot will work with basic drive.
   *
   * <p>************************************
   */
  public void setBasic() {

    current = profiles.BASIC;

    leftMotor1.changeControlMode(CANTalon.TalonControlMode.PercentVbus);
    rightMotor1.changeControlMode(CANTalon.TalonControlMode.PercentVbus);
  }
コード例 #2
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  /**
   * This function is run when the robot is first started up and should be used for any
   * initialization code.
   */
  public void robotInit() {
    chooser = new SendableChooser();
    chooser.addDefault("Default Auto", defaultAuto);
    chooser.addObject("My Auto", customAuto);
    SmartDashboard.putData("Auto choices", chooser);

    controlMethod = new SendableChooser();
    controlMethod.addDefault("Tank Control", tankControl);
    controlMethod.addObject("Stick Control", stickControl);
    controlMethod.addObject("Clayton Control", claytonControl);
    SmartDashboard.putData("Control method", controlMethod);

    rightMotor = new CANTalon(RIGHT_INDEX);
    rightSlave = new CANTalon(RIGHT_INDEX + 1);
    rightSlave.changeControlMode(CANTalon.TalonControlMode.Follower);
    rightSlave.set(RIGHT_INDEX);
    rightMotor.setInverted(true);

    leftMotor = new CANTalon(LEFT_INDEX);
    leftSlave = new CANTalon(LEFT_INDEX + 1);
    leftSlave.changeControlMode(CANTalon.TalonControlMode.Follower);
    leftSlave.set(LEFT_INDEX);

    intakeMotor = new CANTalon(INTAKE_INDEX);
    // Arm motor is currently disabled
    // armMotor = new CANTalon(ARM_INDEX);

    compressor = new Compressor(0);
    compressor.setClosedLoopControl(true);

    intakePneumatic = new DoubleSolenoid(1, 2);
    intakePneumatic.set(DoubleSolenoid.Value.kOff);

    gamepad = new Gamepad(0);
  }
コード例 #3
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  /**
   * ************************************
   *
   * <p>Does the configuration required for speed drive. So, when switching to speed drive this gets
   * called and now the robot will work with speed drive.
   *
   * <p>************************************
   */
  public void setSpeedMode() {

    current = profiles.SPEED;

    leftMotor1.setProfile(0);
    rightMotor1.setProfile(0);

    leftMotor1.changeControlMode(CANTalon.TalonControlMode.Speed);
    rightMotor1.changeControlMode(CANTalon.TalonControlMode.Speed);
  }
コード例 #4
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  /**
   * ************************************
   *
   * <p>Does the configuration required for positional drive. So, when switching to positional drive
   * this gets called and now the robot will work with positional drive.
   *
   * <p>************************************
   */
  public void setPositional() {

    current = profiles.POSITIONAL;

    leftMotor1.setProfile(0);
    rightMotor1.setProfile(0);
    // rightMotor1.reverseSensor(true);

    leftMotor1.changeControlMode(CANTalon.TalonControlMode.Position);
    rightMotor1.changeControlMode(CANTalon.TalonControlMode.Position);
  }
コード例 #5
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  /**
   * ******************************
   *
   * <p>Configures motors: - Sets which side is inverted - Configures the secondary motors to be in
   * follow mode - Sets ramp rate
   *
   * <p>******************************
   */
  private void setupMotors() {
    leftMotor1.setInverted(invertLeft);
    leftMotor2.setInverted(invertLeft);
    rightMotor1.setInverted(invertRight);
    rightMotor1.setInverted(invertRight);

    leftMotor2.changeControlMode(CANTalon.TalonControlMode.Follower);
    leftMotor2.set(leftMotor1.getDeviceID());
    rightMotor2.changeControlMode(CANTalon.TalonControlMode.Follower);
    rightMotor2.set(rightMotor1.getDeviceID());

    leftMotor1.setVoltageRampRate(RAMP_RATE);
    rightMotor1.setVoltageRampRate(RAMP_RATE);
  }
コード例 #6
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ファイル: FrontArmAssembly.java プロジェクト: rtrahms/FRC1778
  // static initializer
  public static void initialize() {
    if (!initialized) {

      gamepad = new Joystick(GAMEPAD_ID);

      initialized = true;
      teleopMode = false;

      // create and initialize arm motor
      frontArmMotor = new CANTalon(FRONT_ARM_MOTOR_ID);
      if (frontArmMotor != null) {

        System.out.println("Initializing front arm motor (position control)...");

        // VERY IMPORTANT - resets talon faults to render them usable again!!
        frontArmMotor.clearStickyFaults();
        frontArmMotor.setFeedbackDevice(CANTalon.FeedbackDevice.QuadEncoder);
        frontArmMotor.changeControlMode(CANTalon.TalonControlMode.PercentVbus);

        // set brake mode
        frontArmMotor.enableBrakeMode(true);

        // initializes encoder to zero
        frontArmMotor.setPosition(0);
      } else System.out.println("ERROR: Front Arm motor not initialized!");

      // create and initialize roller motor
      frontArmRollerMotor = new CANTalon(FRONT_ARM_ROLLER_ID);
      if (frontArmRollerMotor != null) {

        System.out.println("Initializing front arm roller motor (PercentVbus control)...");

        frontArmRollerMotor.clearStickyFaults();

        // set up roller motor for percent Vbus control mode
        frontArmRollerMotor.changeControlMode(CANTalon.TalonControlMode.PercentVbus);
        frontArmRollerMotor.enableBrakeMode(false);

        // initializes speed of rollers to zero
        frontArmRollerMotor.set(0);

      } else System.out.println("ERROR: Front Arm roller motor not initialized!");
    }
  }
コード例 #7
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ファイル: Drivetrain.java プロジェクト: srahman23/Tank-Test
  public Drivetrain() {
    frontLeft = new CANTalon(RobotMap.FRONT_LEFT_MOTOR);
    frontLeft.changeControlMode(CANTalon.TalonControlMode.Follower);
    frontLeft.enableControl();

    rearLeft = new CANTalon(RobotMap.REAR_LEFT_MOTOR);
    rearLeft.enableControl();

    frontRight = new CANTalon(RobotMap.FRONT_RIGHT_MOTOR);
    frontRight.changeControlMode(CANTalon.TalonControlMode.Follower);
    frontRight.enableControl();

    rearRight = new CANTalon(RobotMap.REAR_RIGHT_MOTOR);
    rearRight.enableControl();

    drive = new RobotDrive(rearLeft, rearRight);
    drive.setInvertedMotor(MotorType.kRearLeft, true);
    drive.setInvertedMotor(MotorType.kRearRight, true);
  }
コード例 #8
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 public MasterCANTalon(int port) {
   talon = new CANTalon(port);
   talon.setFeedbackDevice(FeedbackDevice.CtreMagEncoder_Relative);
   talon.reverseSensor(false);
   talon.setProfile(0);
   talon.setF(0.1722);
   talon.setP(0.1);
   talon.setI(0);
   talon.setD(0);
   talon.configNominalOutputVoltage(+0.0f, -0.0f);
   talon.configPeakOutputVoltage(+12.0f, -12.0f);
   talon.changeControlMode(TalonControlMode.Speed);
 }
コード例 #9
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  public DriveTrain() {
    // super supplies the PID constants (.05, 0, 0)
    super("DriveTrain", .0070, .0003, 0);

    robotDrive = new RobotDrive(_leftMaster, _rightMaster);

    // Invert the appropriate controllers
    // robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearRight, true);
    robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, true);

    _leftSlave1.changeControlMode(TalonControlMode.Follower);
    _leftSlave1.set(_leftMaster.getDeviceID());
    _leftSlave2.changeControlMode(TalonControlMode.Follower);
    _leftSlave2.set(_leftMaster.getDeviceID());
    _rightSlave1.changeControlMode(TalonControlMode.Follower);
    _rightSlave1.set(_rightMaster.getDeviceID());
    _rightSlave2.changeControlMode(TalonControlMode.Follower);
    _rightSlave2.set(_rightMaster.getDeviceID());

    ahrs = Robot.ahrs;

    // getPIDController() returns the PID Controller that is included with
    // classes that extend PIDSubsystems.
    turnController = getPIDController();
    turnController.disable();
    turnController.setInputRange(-180, 180);
    turnController.setOutputRange(-.7, .7);

    // begin vision test

    // frame = RobotMap.FRAME;
    // session = RobotMap.CAMERA_SESSION;
    // NIVision.IMAQdxConfigureGrab(session);
    // colorTable = new NIVision.RawData();

    // end vision test

  }
コード例 #10
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 @Override
 public TalonSRX setSpeed(double speed) {
   talon.changeControlMode(TalonControlMode.PercentVbus);
   talon.set(speed);
   return this;
 }
コード例 #11
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 @Override
 public double getSpeed() {
   talon.changeControlMode(TalonControlMode.PercentVbus);
   return talon.get();
 }
コード例 #12
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ファイル: Actuators.java プロジェクト: rdoty1902/DoNotExplode
  /** Initializes all actuators */
  public static void init() {
    // TODO: Change ID's
    // Motors
    rightDriveMotor = new CANTalon(3);
    rightDriveMotor =
        initCANTalon(
            rightDriveMotor,
            FeedbackDevice.QuadEncoder,
            RIGHT_DIVE_REVERSE_SENSOR,
            CODES_PER_REV,
            DRIVE_MOTOR_ACCEPTABLE_ERROR,
            RIGHT_DRIVE_KP,
            RIGHT_DRIVE_KI,
            RIGHT_DRIVE_KD);
    rightDriveMotor2 = new CANTalon(0);
    rightDriveMotor2.changeControlMode(CANTalon.TalonControlMode.Follower);
    rightDriveMotor2.setInverted(true);
    rightDriveMotor2.set(rightDriveMotor.getDeviceID());

    leftDriveMotor = new CANTalon(2);
    leftDriveMotor =
        initCANTalon(
            leftDriveMotor,
            FeedbackDevice.QuadEncoder,
            LEFT_DIVE_REVERSE_SENSOR,
            CODES_PER_REV,
            DRIVE_MOTOR_ACCEPTABLE_ERROR,
            LEFT_DRIVE_KP,
            LEFT_DRIVE_KI,
            LEFT_DRIVE_KD);
    leftDriveMotor.setInverted(true);
    leftDriveMotor2 = new CANTalon(1);
    leftDriveMotor2.changeControlMode(CANTalon.TalonControlMode.Follower);
    leftDriveMotor2.setInverted(true);
    leftDriveMotor2.set(leftDriveMotor.getDeviceID());

    armWinchMotor1 = new VictorSP(4);
    armWinchMotor2 = new VictorSP(5);
    armWinchMotor2.setInverted(true);

    armAngleMotor = new CANTalon(6);
    armAngleMotor =
        initCANTalon(
            armAngleMotor,
            FeedbackDevice.AnalogPot,
            ARM_REVERSE_SENSOR,
            ARM_POT_TURNS_PER_REV,
            ARM_ACCEPTABLE_EROR,
            ARM_ANGLE_KP,
            ARM_ANGLE_KI,
            ARM_ANGLE_KD);
    // TODO: Use string pot with CANTalon

    boulderIntakeMotor = new VictorSP(7);

    catapultMotor = new VictorSP(8);

    // Solenoids
    driveShiftPneumatic = new Solenoid(2);
    winchRatchetPneumatic = new Solenoid(1);
  }