コード例 #1
0
  @Override
  public double getTrigger(Trigger trigger) {

    double triggerValue = 0.0;

    // The trigger map changes based on the joystick mode
    switch (getMode()) {
      case D:
        switch (trigger) {
            // In D mode, the triggers are buttons - return 0 or 1.
          case LEFT:
            return joystick.getRawButton(7) ? 1.0 : 0.0;
          case RIGHT:
            return joystick.getRawButton(8) ? 1.0 : 0.0;
        }
        break;

      case X:
        switch (trigger) {
          case LEFT:
            triggerValue = joystick.getRawAxis(2);
            break;
          case RIGHT:
            triggerValue = joystick.getRawAxis(3);
            break;
        }
        break;
    }

    // Round the trigger value to 2 decimal places
    return Math.round(triggerValue * 100.0) / 100.0;
  }
コード例 #2
0
ファイル: FrontArmAssembly.java プロジェクト: rtrahms/FRC1778
  public static void teleopPeriodic() {

    /*
    double newArmPos = gamepad.getRawAxis(1);
    if(Math.abs(newArmPos) <= ARM_DEADZONE) {
    	newArmPos = 0.0;
    }
    double newMotorPos = (newArmPos * ARM_SPEED_MULTIPLIER) + frontArmMotor.getPosition();
    //double newMotorPos = (newArmPos * ARM_SPEED_MULTIPLIER);
    frontArmMotor.set(newMotorPos);
    System.out.println("input = " + newArmPos + " target pos = " + newMotorPos + " enc pos = " + frontArmMotor.getPosition());
    */
    // PercentVbus test ONLY!!

    double armSpeed = gamepad.getRawAxis(1);
    if (Math.abs(armSpeed) < ARM_DEADZONE) {
      armSpeed = 0.0f;
    }
    armSpeed *= ARM_MULTIPLIER;
    double pos = frontArmMotor.getPosition();
    if (((pos > SOFT_ENCODER_LIMIT_1) && armSpeed < 0.0)
        || ((pos < SOFT_ENCODER_LIMIT_2) && armSpeed > 0.0)) armSpeed = 0.0;
    frontArmMotor.set(armSpeed);
    System.out.println("armSpeed = " + armSpeed + " enc pos = " + frontArmMotor.getPosition());

    // check for roller motion (right gamepad joystick)
    double rollerSpeed = gamepad.getRawAxis(3);
    if (Math.abs(rollerSpeed) < ROLLER_DEADZONE) {
      rollerSpeed = 0.0f;
    }
    rollerSpeed *= ARM_ROLLER_MULTIPLIER;
    frontArmRollerMotor.set(rollerSpeed);
  }
コード例 #3
0
  // Called repeatedly when this Command is scheduled to run
  @Override
  protected void execute() {
    Joystick joystickDrive = Robot.oi.getJoystickDrive();
    this.joystickX = joystickDrive.getAxis(Joystick.AxisType.kX) * Robot.driveTrain.turnMultiplier;
    this.joystickY = joystickDrive.getAxis(Joystick.AxisType.kY) * -1;

    VisionState vs = VisionState.getInstance();

    if (vs == null || !vs.wantsControl()) {
      // endAutoTurn is harmless when not needed but required
      //  if the driver changes her mind after initiating auto-targeting..
      Robot.driveTrain.endAutoTurn();

      this.scaledThrottle = scaleThrottle(joystickDrive.getAxis(Joystick.AxisType.kThrottle));
      if ((Math.abs(this.joystickX) < 0.075) && (Math.abs(this.joystickY) < 0.075)) {
        Robot.driveTrain.stop();
      } else {
        Robot.driveTrain.arcadeDrive(joystickY * scaledThrottle, joystickX * scaledThrottle);
      }
    } else {
      if (vs.DriveLockedOnTarget) {
        // wait for launcher to shoot and exit auto mode or toggle AutoAim
        Robot.driveTrain.stop(); // needed to keep driveTrain alive
      } else {
        if (!Robot.driveTrain.isAutoTurning()) {
          double h = Robot.driveTrain.getCurrentHeading();
          double target = vs.getTargetHeading(h);
          Robot.driveTrain.startAutoTurn(target);
        } else if (Robot.driveTrain.isAutoTurnFinished()) {
          Robot.driveTrain.endAutoTurn();
          vs.DriveLockedOnTarget = true;
        } // else allow auto-turn to continue
      }
    }
  }
コード例 #4
0
ファイル: OI.java プロジェクト: Team2168/FRC2012
 /**
  * Returns the axis value of the Right DriverStick
  *
  * @return the value of the right axis
  */
 public double getDriveRightAxis() {
   if (drivestick.getRawAxis(3) < 0) { // FALCON CLAW - use electronic braking
     return ((((-RobotMap.mod + 1) * drivestick.getRawAxis(3)) + 1) * drivestick.getRawAxis(5));
   } else {
     return drivestick.getRawAxis(5);
   }
 }
コード例 #5
0
ファイル: IO.java プロジェクト: Team3851/Aerial-Assist-2014
 public double getRightY() {
   // set threshold value to 0.09
   if (Math.abs(rightJoy.getY()) <= 0.09) {
     return 0;
   }
   SmartDashboard.putNumber("SPEED RIGHT TRAIN", (-1) * rightJoy.getY());
   return (-1) * rightJoy.getY();
 }
コード例 #6
0
 public void takeJoystickInputs(Joystick leftJoystick, Joystick rightJoystick) {
   // robotDrive.tankDrive(leftJoystick, rightJoystick);
   SmartDashboard.putNumber("Sensitivity", 1 - leftJoystick.getAxis(AxisType.kZ));
   sensitivity = 1 - leftJoystick.getAxis(AxisType.kZ);
   robotDrive.tankDrive(
       leftJoystick.getAxis(AxisType.kY) * sensitivity,
       rightJoystick.getAxis(AxisType.kY) * sensitivity);
 }
コード例 #7
0
 /** Gyro sensitivity is set and mecanum drive is used with the gyro angle as an input. */
 public void operatorControl() {
   gyro.setSensitivity(
       voltsPerDegreePerSecond); // calibrate gyro to have the value equal to degrees
   while (isOperatorControl() && isEnabled()) {
     myRobot.mecanumDrive_Cartesian(
         joystick.getX(), joystick.getY(), joystick.getZ(), gyro.getAngle());
     Timer.delay(0.005); // wait 5ms to avoid hogging CPU cycles
   }
 }
コード例 #8
0
ファイル: IO.java プロジェクト: Team3851/Aerial-Assist-2014
 public double getLeftY() {
   // set threshold value to 0.09
   if (Math.abs(leftJoy.getY()) <= 0.09) {
     return 0;
   } else {
     SmartDashboard.putNumber("SPEED LEFT TRAIN", (-1) * leftJoy.getY());
     return (-1) * leftJoy.getY();
   }
 }
コード例 #9
0
 public void logData(
     DriverStation ds,
     Joystick left,
     Joystick right,
     Joystick co,
     DriveTrain dt,
     SuperStructure ss) {
   System.out.println(
       "Data: B:" + ds.getBatteryVoltage() + " L:" + left.getY() + " R:" + right.getY());
 }
コード例 #10
0
 /** This function is called periodically during operator control */
 public void teleopPeriodic() {
   double x = joy1.getX();
   double y = -joy1.getY();
   double r = joy1.getZ();
   if (Math.abs(x) < .05) x = 0;
   if (Math.abs(y) < .05) y = 0;
   if (Math.abs(r) < .05) r = 0;
   drive(x / 2, y / 2, r / 2);
   shooter1.set(joy2.getY());
   shooter2.set(joy2.getY());
 }
コード例 #11
0
 /** This function is called periodically during operator control */
 public void teleopPeriodic() {
   // getWatchdog().setEnabled(true);
   while (isOperatorControl() && isEnabled()) {
     mainDrive.mecanumDrive_Cartesian(
         driveStick.getRawAxis(1), driveStick.getRawAxis(0), driveStick.getRawAxis(5), 0);
     // mainDrive.mecanumDrive_Cartesian(driveStick.getX(), driveStick.getY(), otherstick.getZ(),
     // 0);
     /**
      * public void mecanumDrive_Cartesian(double x, double y, double rotation, double gyroAngle) {
      * if(!kMecanumCartesian_Reported) {
      * UsageReporting.report(tResourceType.kResourceType_RobotDrive, getNumMotors(),
      * tInstances.kRobotDrive_MecanumCartesian); kMecanumCartesian_Reported = true; } double xIn =
      * x; double yIn = y; // Negate y for the joystick. yIn = -yIn; // Compensate for gyro angle.
      * double rotated[] = rotateVector(xIn, yIn, gyroAngle); xIn = rotated[0]; yIn = rotated[1];
      *
      * <p>double wheelSpeeds[] = new double[kMaxNumberOfMotors];
      * wheelSpeeds[MotorType.kFrontLeft_val] = xIn + yIn + rotation;
      * wheelSpeeds[MotorType.kFrontRight_val] = -xIn + yIn - rotation;
      * wheelSpeeds[MotorType.kRearLeft_val] = -xIn + yIn + rotation;
      * wheelSpeeds[MotorType.kRearRight_val] = xIn + yIn - rotation;
      *
      * <p>normalize(wheelSpeeds); m_frontLeftMotor.set(wheelSpeeds[MotorType.kFrontLeft_val] *
      * m_invertedMotors[MotorType.kFrontLeft_val] * m_maxOutput, m_syncGroup);
      * m_frontRightMotor.set(wheelSpeeds[MotorType.kFrontRight_val] *
      * m_invertedMotors[MotorType.kFrontRight_val] * m_maxOutput, m_syncGroup);
      * m_rearLeftMotor.set(wheelSpeeds[MotorType.kRearLeft_val] *
      * m_invertedMotors[MotorType.kRearLeft_val] * m_maxOutput, m_syncGroup);
      * m_rearRightMotor.set(wheelSpeeds[MotorType.kRearRight_val] *
      * m_invertedMotors[MotorType.kRearRight_val] * m_maxOutput, m_syncGroup);
      *
      * <p>if (m_syncGroup != 0) { CANJaguar.updateSyncGroup(m_syncGroup); }
      *
      * <p>if (m_safetyHelper != null) m_safetyHelper.feed(); }
      */
     if (otherstick.getRawButton(4)) {
       mainDrive.mecanumDrive_Polar(0, 0, -.25);
     }
     if (otherstick.getRawButton(5)) {
       mainDrive.mecanumDrive_Polar(0, 0, .25);
     }
     if (otherstick.getRawButton(6)) {
       mainDrive.mecanumDrive_Polar(0, .25, 0);
     }
     if (otherstick.getRawButton(11)) {
       mainDrive.mecanumDrive_Polar(0, -.25, 0);
     }
     if (otherstick.getRawButton(1)) {
       mainDrive.mecanumDrive_Polar(.25, 0, 0);
     }
     if (driveStick.getRawButton(1)) {
       mainDrive.mecanumDrive_Polar(-.25, 0, 0);
     }
   }
 }
コード例 #12
0
  // return a delta coordinate to go to
  // to calculate the actual coordinate add this methods return
  // to a logged coordinate
  public synchronized PolarVector calculateCoordinate() {
    double leftDistance =
        m_distancePerInterval * limit(leftJoystick.getRawAxis(leftAxis), leftThreshold);
    double rightDistance =
        m_distancePerInterval * limit(rightJoystick.getRawAxis(rightAxis), rightThreshold);

    if (m_leftInvert) leftDistance = -leftDistance;
    if (m_rightInvert) rightDistance = -rightDistance;

    double angle = (rightDistance - leftDistance) / RobotProperties.wheelContactWidth;
    double distance = (rightDistance + leftDistance) / 2;

    return new PolarVector(distance, angle);
  }
コード例 #13
0
ファイル: Team3699Robot.java プロジェクト: 602p/FRC3699
  public void updateSmartDashboard() {
    if (joystick_left.getRawButton(2) && dev_ < 100) {
      dev_++;

    } else if (joystick_left.getRawButton(3) && dev_ > 0) {
      dev_--;
    }

    SmartDashboard.putDouble("X", joystick_left.getX());
    SmartDashboard.putDouble("Y", joystick_left.getY());
    // SmartDashboard.putDouble("Optical Sensor", Optical_Sensor.getVoltage());
    SmartDashboard.putDouble("Battery Voltage", DriverStation.getInstance().getBatteryVoltage());
    SmartDashboard.putInt("dev_", dev_);

    SmartDashboard.putDouble(
        "Elevator Sensor Value (.getAverageVoltage())",
        this.elevator.ana_chana.getAverageVoltage());

    String state = "ROBOT STATE INFORMATION:";
    if (this.elevator.state == 0) {
      state = state + "\nElevator Stopped.";
    }
    if (this.elevator.state == 1) {
      state = state + "\nElevator Moving.";
    }
    if (this.elevator.state == 2) {
      state = state + "\nElevator E-Stopped.";
    }

    //            state = state+"\nShooter Power Level (Raw):
    // "+this.shooter.calculateShooterSpeed();
    //            state = state+"\nShooter Power Level (Setting): "+this.shooter.shooterSpeedState;

    // if (this.integ.globalState==1){
    //    state = state+"\nMoving Shooter Up To Shoot.";
    // }if (this.integ.globalState==2){
    //    state = state+"\nShooting!";
    // }if (this.integ.globalState2LOCK){
    //     state = state+"\nREALLY SHOOTING!.";
    // }

    state = state + "\nNumber Of Discs: " + this.elevator.numDiscs;

    state =
        state
            + "\n Louis + Bobni Are Amazing (Hiding This Message Is ILLEGAL! IT WILL STOP THE ROBOT!)";

    SmartDashboard.putString("State", state);
    SmartDashboard.putBoolean("Intake", this.intake.toggle.get());
  }
コード例 #14
0
ファイル: OI.java プロジェクト: TheMightyWarPig/joebot
 /**
  * Determines which height button is pressed. All (7 logically because side buttons are wired
  * together) buttons are wired by means of resistors to one analog input. Depending on the button
  * that is pressed, a different voltage is read by the analog input. Each resistor reduces the
  * voltage by about 1/7 the maximum voltage.
  *
  * @return An integer value representing the distance button that was pressed. If a Joystick
  *     button is being used, that will returned. Otherwise, the button will be returned from the
  *     voltage (if it returns 0, no button is pressed).
  */
 public int getDistanceButton() {
   if (shooterStick.getRawButton(9)) {
     distanceButton = DISTANCE_BUTTON_STOP;
   } else if (shooterStick.getRawButton(10)) {
     distanceButton = DISTANCE_BUTTON_FENDER;
   } else if (shooterStick.getRawButton(11)) {
     distanceButton = DISTANCE_BUTTON_FAR;
   }
   int preValue = (int) ((getRawAnalogVoltage() / (getMaxVoltage() / 8)) + 0.5);
   // If no buttons are pressed, it does not update the distance.
   if (preValue != 0) {
     distanceButton = preValue;
   }
   return distanceButton;
 }
コード例 #15
0
 @Override
 public boolean get() {
   switch (joyDir) {
     case UP:
       if (stick.getRawAxis(axis) <= -.5) {
         return true;
       }
       break;
     case DOWN:
       if (stick.getRawAxis(axis) >= .5) {
         return true;
       }
       break;
   }
   return false;
 }
コード例 #16
0
ファイル: GamePad.java プロジェクト: a0r10n/Robot9
  public double GetLeftTrigger() {
    double y;

    y = joyStick.getRawAxis(3);
    if (Math.abs(y) < deadZone) y = 0.0;
    return y;
  }
コード例 #17
0
ファイル: GamePad.java プロジェクト: a0r10n/Robot9
  public double GetRightTrigger() {
    double x;

    x = joyStick.getRawAxis(2);
    if (Math.abs(x) < deadZone) x = 0.0;
    return x;
  }
コード例 #18
0
ファイル: GamePad.java プロジェクト: a0r10n/Robot9
  public double GetLeftX() {
    double x;

    x = joyStick.getRawAxis(0);
    if (Math.abs(x) < deadZone) x = 0.0;
    return x;
  }
コード例 #19
0
ファイル: GamePad.java プロジェクト: a0r10n/Robot9
  public double GetRightY() {
    double y;

    y = joyStick.getRawAxis(5);
    if (Math.abs(y) < deadZone) y = 0.0;
    return y;
  }
コード例 #20
0
  private JoystickMode getMode() {

    if (joystick.getButtonCount() > 10) {
      return JoystickMode.D;
    }

    return JoystickMode.X;
  }
コード例 #21
0
 public double getThrottle() {
   // Inverted Throttle
   //		if (ps4Controller.getRawAxis(LEFT_TRIGGER) > 0) {
   //			throttleAverager.addValue(-ps4Controller.getRawAxis(LEFT_STICK_Y));
   //		} else {
   // Regular Throttle
   throttleAverager.addValue(ps4Controller.getRawAxis(LEFT_STICK_Y));
   //		}
   return throttleAverager.getAverage();
 }
コード例 #22
0
  /** This function is called periodically during operator control */
  public void teleopPeriodic() {
    SmartDashboard.putBoolean("squared drive: ", squaredDrive.getState());
    if (squaredDrive.getState()) {
      // the last parameter is to say "square the joystick values"
      // as usual, look inthe wpilibj source if you want to see how that works
      drive.tankDrive(leftJoystick, rightJoystick, true);
    } else {
      drive.tankDrive(leftJoystick.getY(), rightJoystick.getY());
    }

    if (Math.abs(leftJoystick.getY()) < 0.1 && Math.abs(rightJoystick.getY()) < 0.1) {
      drive.tankDrive(gamepad.getRawAxis(2), gamepad.getRawAxis(4));
    }
    SmartDashboard.putNumber("leftJoy: ", leftJoystick.getY());
    SmartDashboard.putNumber("rightJoy: ", rightJoystick.getY());

    SmartDashboard.putNumber("gamepad left Y: ", gamepad.getRawAxis(2));
    SmartDashboard.putNumber("gamepad right y: ", gamepad.getRawAxis(4));
  }
コード例 #23
0
ファイル: Chassis.java プロジェクト: HighlandersFRC/2013-java
  public void tankDrive(Joystick left, Joystick right) {

    if (left.getRawButton(1)) {
      if (turbo == false) {
        startTime = Timer.getFPGATimestamp();
        turbo = true;
      } else if (Timer.getFPGATimestamp() - startTime < 0.25) {
        drive.tankDrive(
            left.getY() / (2 - 4 * (Timer.getFPGATimestamp() - startTime)),
            right.getY() / (2 - 4 * (Timer.getFPGATimestamp() - startTime)));
        // System.out.println("start: " + startTime + " time: " + Timer.getFPGATimestamp() + "
        // scale: " + (2 - 4*(startTime - Timer.getFPGATimestamp())));
      } else {
        drive.tankDrive(left, right);
      }
    } else {
      turbo = false;
      drive.tankDrive(left.getY() / 2, right.getY() / 2);
    }
  }
コード例 #24
0
  /** This function is called once each time the robot enters operator control. */
  public void operatorControl() {
    drivetrain.setSafetyEnabled(true);
    compressor.start();
    while (isOperatorControl() && isEnabled()) {
      // The throttle goes from 1 to -1, bottom to top. This
      // scales it to go 0 to 1, bottom to top.
      double throttle = (-leftStick.getRawAxis(3) + 1) / 2;

      double drive = deadband(leftStick.getY()) * throttle;
      double steer = deadband(-rightStick.getX()) * throttle;
      drivetrain.arcadeDrive(drive, steer);

      boolean shouldSpinWheels = leftStick.getRawButton(1);
      boolean shouldFire = shouldSpinWheels && rightStick.getRawButton(1);
      shooterWheels.set(shouldSpinWheels ? -1 : 0);
      shooter.set(shouldFire);

      Timer.delay(0.005); // wait for a motor update time
    }
  }
コード例 #25
0
ファイル: OI.java プロジェクト: colinfeeney/WARP-FRC-3716
  public double[] processDriveJoystick() {
    double xValue;
    double yValue;
    if (((driveJoy.getX() < 0.10) && (driveJoy.getX() > 0))
        || ((driveJoy.getX() > -0.10) && (driveJoy.getX() < 0))) { // Check for dead zones
      xValue = 0;
    } else {
      xValue = driveJoy.getX(); // No dead zone proceded normally
    }

    if (((driveJoy.getY() < 0.10) && (driveJoy.getY() > 0))
        || ((driveJoy.getY() > -0.10) && (driveJoy.getY() < 0))) { // Check for dead zones
      yValue = 0;
    } else {
      yValue = driveJoy.getY(); // No dead zone proceded normally
    }

    double values[] = new double[1];
    values[0] = yValue;
    values[1] = xValue;
    return values;
  }
コード例 #26
0
ファイル: ArmTest.java プロジェクト: HighlandersFRC/2013-java
 public void teleopPeriodic() {
   armpid.setPID(
       SmartDashboard.getNumber("kP"),
       SmartDashboard.getNumber("kI"),
       SmartDashboard.getNumber("kD"));
   if (joy1.getRawButton(1)) {
     armpid.enable();
   } else {
     armpid.disable();
     arm.set(0);
   }
   SmartDashboard.putBoolean("Checkbox 2", limit.get());
   System.out.println("limit " + limit.get());
 }
コード例 #27
0
/** @author Alex */
public class testInput {

  Joystick ds1 = new Joystick(1);
  Joystick ds2 = new Joystick(2);
  Jaguar leftMotor = new Jaguar(1);
  Jaguar rightMotor = new Jaguar(2);
  boolean x = ds1.getRawButton(3);

  public void main(String[] args) {
    for (int i = 0; i < 50000; i++) {
      if (x == true) {
        System.out.println("You are pressing X");
      }
    }
  }
}
コード例 #28
0
  public void teleopPeriodic() {

    if (rightStick.getRawButton(1)) {
      switch (state) {
        case CLAMPED:
          state = roboState.LIFTED;
          updateState();
          break;
        case LIFTED:
          state = roboState.OPEN;
          updateState();
          break;
        case OPEN:
          state = roboState.CLAMPED;
          updateState();
          break;
        default:
          state = roboState.OPEN;
          updateState();
          break;
      }
    }
  }
コード例 #29
0
 public static boolean getRightButton() {
   return flight.getRawButton(3);
 }
コード例 #30
0
 public static boolean getLeftButton() {
   return flight.getRawButton(2);
 }