Exemplo n.º 1
0
  /**
   * This function is run when the robot is first started up and should be used for any
   * initialization code.
   */
  public void robotInit() {
    black = new Jaguar(4, 1);
    red = new Jaguar(4, 2);
    leftEncoder = new Encoder(4, 5);
    rightEncoder = new Encoder(6, 7);
    left = new Joystick(1);
    right = new Joystick(2);
    gamePad = new Joystick(3);
    watchdog = Watchdog.getInstance();
    dsLCD = DriverStationLCD.getInstance();
    photoreceptorL = new DigitalInput(4, 1);
    photoreceptorM = new DigitalInput(4, 2);
    photoreceptorR = new DigitalInput(4, 3);
    camera = AxisCamera.getInstance();
    driveMode = 0; // 0 = Tank; 1 = Arcade; 2 = Kaj
    driveToggle = false;
    cruiseControl = false;

    camera.writeResolution(AxisCamera.ResolutionT.k160x120);
    camera.writeWhiteBalance(AxisCamera.WhiteBalanceT.hold);
    camera.writeExposureControl(AxisCamera.ExposureT.hold);
    camera.writeExposurePriority(AxisCamera.ExposurePriorityT.frameRate);

    leftEncoder.start();
    rightEncoder.start();
  }
Exemplo n.º 2
0
  public void teleopPeriodic() {
    watchdog.feed(); // feed the watchdog
    // Toggle drive mode
    if (!driveToggle && left.getRawButton(2)) {
      driveMode = (driveMode + 1) % 3;
      driveToggle = true;
    } else if (driveToggle && !left.getRawButton(2)) driveToggle = false;

    // Print drive mode to DS & send values to Jaguars
    switch (driveMode) {
      case 0:
        dsLCD.println(DriverStationLCD.Line.kMain6, 1, "Drive mode: Tank  ");
        red.set(left.getY() + gamePad.getY());
        black.set(-right.getY() - gamePad.getThrottle());
        break;
      case 1:
        dsLCD.println(DriverStationLCD.Line.kMain6, 1, "Drive mode: Arcade");
        red.set(right.getX() - right.getY());
        black.set(right.getX() + right.getY());
        break;
      case 2:
        dsLCD.println(DriverStationLCD.Line.kMain6, 1, "Drive mode: Kaj   ");
        red.set(left.getX() - right.getY());
        black.set(left.getX() + right.getY());
        break;
    } /**/
    dsLCD.println(
        DriverStationLCD.Line.kUser3,
        1,
        "1" + photoreceptorL.get() + "2" + photoreceptorM.get() + "3" + photoreceptorR.get());
    dsLCD.println(DriverStationLCD.Line.kUser4, 1, "Encoder in 4,5: " + leftEncoder.get() + "    ");
    dsLCD.println(
        DriverStationLCD.Line.kUser5, 1, "Encoder in 6,7: " + rightEncoder.get() + "    ");

    dsLCD.updateLCD();
  }