예제 #1
0
 public void setAllWheelPowers(double power) { // Set all wheel pods to the same power
   // TODO: USE PID CONTROL
   _swervePod1.setDriveMotor(power);
   _swervePod2.setDriveMotor(power);
   _swervePod3.setDriveMotor(power);
   _swervePod4.setDriveMotor(power);
 }
예제 #2
0
 public void setWheelPowers(double power1, double power2, double power3, double power4) {
   // TODO: USE PID CONTROL
   _swervePod1.setDriveMotor(power1);
   _swervePod2.setDriveMotor(power2);
   _swervePod3.setDriveMotor(power3);
   _swervePod4.setDriveMotor(power4);
 }
예제 #3
0
 public void setCrab(double podAngles, double powerLeft, double powerRight) {
   setAllWheelAngles(podAngles);
   // TODO: Set drive power with PID
   _swervePod1.setDriveMotor(powerLeft); // Left
   _swervePod4.setDriveMotor(powerLeft); // Left
   _swervePod2.setDriveMotor(powerRight); // Right
   _swervePod3.setDriveMotor(powerRight); // Right
 }
예제 #4
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  public void init() {
    System.out.println("Initializing drivetrain...");

    // Initialize serial port //
    if (!SabertoothSpeedController.isSerialPortInitialized())
      SabertoothSpeedController.initializeSerialPort(9600);

    // Initialize swerve pods //
    _swervePod1 =
        new TestBotSwervePod(
            RobotMap.turningTalon1,
            RobotMap.drive1SabertoothAddress,
            RobotMap.drive1MotorNumber,
            RobotMap.encoder1Pin1,
            RobotMap.encoder1Pin2,
            RobotMap.digipot1,
            RobotMap.digipot1Offset);
    _swervePod2 =
        new TestBotSwervePod(
            RobotMap.turningTalon2,
            RobotMap.drive2SabertoothAddress,
            RobotMap.drive2MotorNumber,
            RobotMap.encoder2Pin1,
            RobotMap.encoder2Pin2,
            RobotMap.digipot2,
            RobotMap.digipot2Offset);
    _swervePod3 =
        new TestBotSwervePod(
            RobotMap.turningTalon3,
            RobotMap.drive3SabertoothAddress,
            RobotMap.drive3MotorNumber,
            RobotMap.encoder3Pin1,
            RobotMap.encoder3Pin2,
            RobotMap.digipot3,
            RobotMap.digipot3Offset);
    _swervePod4 =
        new TestBotSwervePod(
            RobotMap.turningTalon4,
            RobotMap.drive4SabertoothAddress,
            RobotMap.drive4MotorNumber,
            RobotMap.encoder4Pin1,
            RobotMap.encoder4Pin2,
            RobotMap.digipot4,
            RobotMap.digipot4Offset);

    _swervePod1.initSmartDashboard();

    // Initialize swerve pod setpoints //
    setAllWheelAngles(180.0);
  }
예제 #5
0
 public void setAllWheelAngles(double degrees) { // Set all wheel pods to face the same direction
   _swervePod1.setTurningSetpoint(degrees);
   _swervePod2.setTurningSetpoint(degrees);
   _swervePod3.setTurningSetpoint(degrees);
   _swervePod4.setTurningSetpoint(degrees);
 }
예제 #6
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 public void setWheelAngles(double degrees1, double degrees2, double degrees3, double degrees4) {
   _swervePod1.setTurningSetpoint(degrees1);
   _swervePod2.setTurningSetpoint(degrees2);
   _swervePod3.setTurningSetpoint(degrees3);
   _swervePod4.setTurningSetpoint(degrees4);
 }