public void loadParameters() { double frontIntakePotentiometerLow = params.getAsDouble("P_FrontIntakeVoltageLow", 4.5); double frontIntakePotentiometerHigh = params.getAsDouble("P_FrontIntakeVoltageHigh", 0.5); double rearIntakePotentiometerLow = params.getAsDouble("P_RearIntakeVoltageLow", 4.5); double rearIntakePotentiometerHigh = params.getAsDouble("P_RearIntakeVoltageHigh", 0.5); frontIntakeTiltPotentiometer.setRange( frontIntakePotentiometerLow, frontIntakePotentiometerHigh); rearIntakeTiltPotentiometer.setRange(rearIntakePotentiometerLow, rearIntakePotentiometerHigh); }
public SensorInput() { watchdog = Watchdog.getInstance(); params = Parameters.getTeleopInstance(); // ----- Encoders/Counters ----- leftFrontDriveEncoder = new TorqueEncoder( Ports.LEFT_FRONT_DRIVE_ENCODER_SIDECAR, Ports.LEFT_FRONT_DRIVE_ENCODER_A_PORT, Ports.LEFT_FRONT_DRIVE_ENCODER_SIDECAR, Ports.LEFT_FRONT_DRIVE_ENCODER_B_PORT, false); leftRearDriveCounter = new TorqueCounter( Ports.LEFT_REAR_DRIVE_ENCODER_SIDECAR, Ports.LEFT_REAR_DRIVE_ENCODER_PORT); rightFrontDriveEncoder = new TorqueEncoder( Ports.RIGHT_FRONT_DRIVE_ENCODER_SIDECAR, Ports.RIGHT_FRONT_DRIVE_ENCODER_A_PORT, Ports.RIGHT_FRONT_DRIVE_ENCODER_SIDECAR, Ports.RIGHT_FRONT_DRIVE_ENCODER_B_PORT, false); rightRearDriveCounter = new TorqueCounter( Ports.RIGHT_REAR_DRIVE_ENCODER_SIDECAR, Ports.RIGHT_REAR_DRIVE_ENCODER_PORT); catapultEncoder = new TorqueEncoder( Ports.CATAPULT_ENCODER_SIDECAR, Ports.CATAPULT_ENCODER_A_PORT, Ports.CATAPULT_ENCODER_SIDECAR, Ports.CATAPULT_ENCODER_B_PORT, false); // ----- Gyro ----- gyroChannel = new AnalogChannel(Ports.GYRO_PORT); gyro = new Gyro(gyroChannel); gyro.reset(); gyro.setSensitivity(Constants.GYRO_SENSITIVITY); // ----- Potentiometers ----- rearIntakeTiltPotentiometer = new TorquePotentiometer(Ports.REAR_INTAKE_TILT_POT_PORT); frontIntakeTiltPotentiometer = new TorquePotentiometer(Ports.FRONT_INTAKE_TILT_POT_PORT); frontIntakeTiltPotentiometer.setRange( Constants.FRONT_INTAKE_POTENTIOMETER_LOW, Constants.FRONT_INTAKE_POTENTIOMETER_HIGH); rearIntakeTiltPotentiometer.setRange( Constants.REAR_INTAKE_POTENTIOMETER_LOW, Constants.REAR_INTAKE_POTENTIOMETER_HIGH); // ----- Buttons ----- catapultLimitSwitch = new DigitalInput(Ports.CATAPULT_LIMIT_SWITCH_B_SIDECAR, Ports.CATAPULT_LIMIT_SWITCH_B_PORT); catapultLimitSwitchB = new DigitalInput(Ports.CATAPULT_LIMIT_SWITCH_SIDECAR, Ports.CATAPULT_LIMIT_SWITCH_PORT); frontIntakeButton = new DigitalInput(Ports.INTAKE_BUTTON_SIDECAR, Ports.FRONT_INTAKE_BUTTON); rearIntakeButton = new DigitalInput(Ports.INTAKE_BUTTON_SIDECAR, Ports.REAR_INTAKE_BUTTON); // pressureSensor = new AnalogChannel(Ports.ANALOG_PRESSURE_PORT); startEncoders(); }