Exemplo n.º 1
0
  /**
   * Use a thumb wheel switch to set the autonomous mode setting.
   *
   * @return Autonomous setting to run.
   */
  public int getAutonSetting() {
    try {
      int switchNum = 0;
      int[] binaryValue = new int[3];

      boolean[] dIO = {
        !enhancedIO.getDigital(BIT_1_CHANNEL),
        !enhancedIO.getDigital(BIT_2_CHANNEL),
        !enhancedIO.getDigital(BIT_3_CHANNEL)
      };

      for (int i = 0; i < 3; i++) {
        if (dIO[i]) {
          binaryValue[i] = 1;
        } else {
          binaryValue[i] = 0;
        }
      }

      binaryValue[0] *= 4; // convert all binaryValues to decimal values
      binaryValue[1] *= 2;

      for (int i = 0; i < 3; i++) { // finish binary -> decimal conversion
        switchNum += binaryValue[i];
      }

      return switchNum;
    } catch (EnhancedIOException e) {
      return -1; // Do nothing in case of failure
    }
  }
Exemplo n.º 2
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  public int getPostion() throws DriverStationEnhancedIO.EnhancedIOException {

    if (ds.getAnalogIn(1) < RobotMap.shooterVDposition0) {
      position = 1;
    }
    // If Station Knob is at
    else if (ds.getAnalogIn(1) >= RobotMap.shooterVDposition1
        && ds.getAnalogIn(1) < RobotMap.shooterVDposition1 + .3) {
      position = 2;
    }
    // If Station Knob is at
    else if (ds.getAnalogIn(1) >= RobotMap.shooterVDposition2
        && ds.getAnalogIn(1) < RobotMap.shooterVDposition2 + .2) {
      position = 3;
    }
    // If Station Knob is at
    else if (ds.getAnalogIn(1) >= RobotMap.shooterVDposition3
        && ds.getAnalogIn(1) < RobotMap.shooterVDposition3 + .3) {
      position = 4;
    }
    // If Station Knob is at
    else if (ds.getAnalogIn(1) >= RobotMap.shooterVDposition4
        && ds.getAnalogIn(1) < RobotMap.shooterVDposition4 + .3) {
      position = 5;
    }
    // If Station Knob is at
    else if (ds.getAnalogIn(1) >= RobotMap.shooterVDposition5) {
      position = 6;
    }
    return position;
  }
Exemplo n.º 3
0
 public int getLiftPoition() throws DriverStationEnhancedIO.EnhancedIOException {
   if (ds.getAnalogIn(2) < RobotMap.liftVDposition1) {
     liftPosition = 1;
   } else if (ds.getAnalogIn(2) < RobotMap.liftVDposition2) {
     liftPosition = 2;
   } else if (ds.getAnalogIn(2) < RobotMap.liftVDposition3) {
     liftPosition = 3;
   } else {
     liftPosition = 4;
   }
   return liftPosition;
 }
Exemplo n.º 4
0
 public double getMaxVoltage() {
   try {
     return enhancedIO.getAnalogIn(MAX_ANALOG_CHANNEL);
   } catch (EnhancedIOException e) {
     return 2.2;
   }
 }
Exemplo n.º 5
0
 public double getDelayPot() {
   try {
     return getMaxVoltage() - enhancedIO.getAnalogIn(DELAY_POT_CHANNEL);
   } catch (EnhancedIOException ex) {
     return 0.0;
   }
 }
Exemplo n.º 6
0
 /**
  * Turns on specified light on OI.
  *
  * @param lightNum
  */
 public void setLight(int lightNum) {
   turnOffLights();
   try {
     enhancedIO.setDigitalOutput(lightNum, true);
   } catch (EnhancedIOException e) {
   }
 }
Exemplo n.º 7
0
 public double getRawAnalogVoltage() {
   try {
     return enhancedIO.getAnalogIn(DISTANCE_BUTTONS_CHANNEL);
   } catch (EnhancedIOException e) {
     return 0;
   }
 }
Exemplo n.º 8
0
 public double getSpeedPot() {
   try {
     return getMaxVoltage() - enhancedIO.getAnalogIn(SPEED_TRIM_POT_CHANNEL);
   } catch (EnhancedIOException ex) {
     return 0.0;
   }
 }
Exemplo n.º 9
0
 /**
  * Gets value of hoop height toggle switch.
  *
  * @return true if high setting, false if middle
  */
 public boolean getStingerSwitch() {
   try {
     return !enhancedIO.getDigital(STINGER_SWITCH_CHANNEL);
   } catch (EnhancedIOException ex) {
     return true;
   }
 }
Exemplo n.º 10
0
 // For debugging purposes.
 public double getAnalogValue(int channel) {
   double b = 0;
   try {
     b = enhancedIO.getAnalogOut(channel);
   } catch (EnhancedIOException e) {
   }
   return b;
 }
Exemplo n.º 11
0
 // For debugging purposes.
 public boolean getDigitalValue(int channel) {
   boolean b = false;
   try {
     b = !enhancedIO.getDigital(channel);
   } catch (EnhancedIOException e) {
   }
   return b;
 }
Exemplo n.º 12
0
 /** Turns all lights on. */
 public void turnOnLights() {
   try {
     enhancedIO.setDigitalOutput(DISTANCE_BUTTON_KEY_LIGHT_CHANNEL, true);
     enhancedIO.setDigitalOutput(DISTANCE_BUTTON_FAR_LIGHT_CHANNEL, true);
     enhancedIO.setDigitalOutput(DISTANCE_BUTTON_FENDER_2PT_LIGHT_CHANNEL, true);
     enhancedIO.setDigitalOutput(DISTANCE_BUTTON_FENDER_NARROW_LIGHT_CHANNEL, true);
     enhancedIO.setDigitalOutput(DISTANCE_BUTTON_REVERSE_LIGHT_CHANNEL, true);
     enhancedIO.setDigitalOutput(DISTANCE_BUTTON_FENDER_LIGHT_CHANNEL, true);
     enhancedIO.setDigitalOutput(DISTANCE_BUTTON_STOP_LIGHT_CHANNEL, true);
   } catch (EnhancedIOException e) {
   }
 }
Exemplo n.º 13
0
  public OI() {
    enhancedIO = DriverStation.getInstance().getEnhancedIO();
    leftStick = new Joystick(RobotMap.LEFT_JOYSTICK_PORT);
    rightStick = new Joystick(RobotMap.RIGHT_JOYSTICK_PORT);

    shooterStick = new Joystick(RobotMap.SHOOTER_JOYSTICK_PORT);
    debugBox = new Joystick(RobotMap.DEBUG_BOX_PORT);

    distanceButton = DISTANCE_BUTTON_STOP;
    distanceInches = Flywheel.distances[Flywheel.STOP_INDEX];

    try {
      if (!Devmode.DEV_MODE) {
        enhancedIO.setDigitalConfig(
            BIT_1_CHANNEL, DriverStationEnhancedIO.tDigitalConfig.kInputPullUp);
        enhancedIO.setDigitalConfig(
            BIT_2_CHANNEL, DriverStationEnhancedIO.tDigitalConfig.kInputPullUp);
        enhancedIO.setDigitalConfig(
            BIT_3_CHANNEL, DriverStationEnhancedIO.tDigitalConfig.kInputPullUp);
        enhancedIO.setDigitalConfig(
            ACQUIRER_IN_SWITCH_CHANNEL, DriverStationEnhancedIO.tDigitalConfig.kInputPullUp);
        enhancedIO.setDigitalConfig(
            ACQUIRER_OUT_SWITCH_CHANNEL, DriverStationEnhancedIO.tDigitalConfig.kInputPullUp);
        enhancedIO.setDigitalConfig(
            CONVEYOR_UP_SWITCH_CHANNEL, DriverStationEnhancedIO.tDigitalConfig.kInputPullUp);
        enhancedIO.setDigitalConfig(
            CONVEYOR_DOWN_SWITCH_CHANNEL, DriverStationEnhancedIO.tDigitalConfig.kInputPullUp);
        enhancedIO.setDigitalConfig(
            SHOOTER_BUTTON_CHANNEL, DriverStationEnhancedIO.tDigitalConfig.kInputPullUp);
        enhancedIO.setDigitalConfig(
            STINGER_SWITCH_CHANNEL, DriverStationEnhancedIO.tDigitalConfig.kInputPullUp);

        enhancedIO.setDigitalConfig(
            DISTANCE_BUTTON_KEY_LIGHT_CHANNEL, DriverStationEnhancedIO.tDigitalConfig.kOutput);
        enhancedIO.setDigitalConfig(
            DISTANCE_BUTTON_FAR_LIGHT_CHANNEL, DriverStationEnhancedIO.tDigitalConfig.kOutput);
        enhancedIO.setDigitalConfig(
            DISTANCE_BUTTON_FENDER_2PT_LIGHT_CHANNEL,
            DriverStationEnhancedIO.tDigitalConfig.kOutput);
        enhancedIO.setDigitalConfig(
            DISTANCE_BUTTON_FENDER_NARROW_LIGHT_CHANNEL,
            DriverStationEnhancedIO.tDigitalConfig.kOutput);
        enhancedIO.setDigitalConfig(
            DISTANCE_BUTTON_REVERSE_LIGHT_CHANNEL, DriverStationEnhancedIO.tDigitalConfig.kOutput);
        enhancedIO.setDigitalConfig(
            DISTANCE_BUTTON_FENDER_LIGHT_CHANNEL, DriverStationEnhancedIO.tDigitalConfig.kOutput);
        enhancedIO.setDigitalConfig(
            DISTANCE_BUTTON_STOP_LIGHT_CHANNEL, DriverStationEnhancedIO.tDigitalConfig.kOutput);
      }
    } catch (EnhancedIOException e) {
    }

    if (!Devmode.DEV_MODE) {
      new JoystickButton(leftStick, 1).whenPressed(new DrivetrainSetGear(false));
      new JoystickButton(leftStick, 2).whenPressed(new DrivetrainSetGear(true));
      new JoystickButton(rightStick, 1).whenPressed(new TusksExtend());
      new JoystickButton(rightStick, 2).whenPressed(new TusksRetract());

      // OI box switches
      new InverseDigitalIOButton(ACQUIRER_IN_SWITCH_CHANNEL).whileHeld(new AcquirerAcquire());
      new InverseDigitalIOButton(ACQUIRER_OUT_SWITCH_CHANNEL).whileHeld(new AcquirerReverse());
      new InverseDigitalIOButton(CONVEYOR_UP_SWITCH_CHANNEL).whileHeld(new ConveyManual());
      new InverseDigitalIOButton(CONVEYOR_DOWN_SWITCH_CHANNEL).whileHeld(new ConveyReverseManual());
      new InverseDigitalIOButton(SHOOTER_BUTTON_CHANNEL).whileHeld(new ConveyAutomatic());
      new InverseDigitalIOButton(STINGER_SWITCH_CHANNEL).whileHeld(new StingerExtend());

      new JoystickButton(shooterStick, 1).whileHeld(new ConveyManual());
      new JoystickButton(shooterStick, 4).whenPressed(new FlywheelStop());
      new JoystickButton(shooterStick, 5).whileHeld(new AcquirerReverse());
      new JoystickButton(shooterStick, 6).whileHeld(new ConveyReverseManual());
      new JoystickButton(shooterStick, 7).whileHeld(new AcquirerAcquire());
      new JoystickButton(shooterStick, 8).whileHeld(new ConveyAutomatic());

      // see getDistanceButton()

      // Debug box switches
      new JoystickButton(debugBox, 1)
          .whileHeld(
              new FlywheelRun(Flywheel.distances[Flywheel.FENDER_INDEX], Flywheel.speedsTopHoop));
      new JoystickButton(debugBox, 2).whileHeld(new AcquirerAcquire());
      new JoystickButton(debugBox, 3).whileHeld(new ConveyAutomatic());
      new JoystickButton(debugBox, 4).whileHeld(new ConveyManual());
      // Debug box buttons
      new JoystickButton(debugBox, 5).whileHeld(new DrivetrainSetGear(false)); // low gear
      new JoystickButton(debugBox, 6).whileHeld(new DrivetrainSetGear(true)); // high gear
      new JoystickButton(debugBox, 9).whileHeld(new TusksExtend());
      new JoystickButton(debugBox, 10).whileHeld(new TusksRetract());
    }
  }
Exemplo n.º 14
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 public boolean getAutoLeft() throws EnhancedIOException {
   return ds.getDigital(3);
 }
Exemplo n.º 15
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 public boolean getDisckLockButton() throws EnhancedIOException {
   return ds.getDigital(8);
 }
Exemplo n.º 16
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 public boolean getAutoRight() throws EnhancedIOException {
   return ds.getDigital(7);
 }
Exemplo n.º 17
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 public boolean getNandoSwitch() throws EnhancedIOException {
   return ds.getDigital(5);
 }
Exemplo n.º 18
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 public boolean getAngleSwitch() throws EnhancedIOException {
   return ds.getDigital(2);
 }
Exemplo n.º 19
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 public boolean getCompressorSwitch() throws EnhancedIOException {
   return ds.getDigital(1);
 }