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
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  /**
   * Constructor
   *
   * @param topJaguarChannel The PWM channel for the Jaguar for the top motor
   * @param bottomJaguarChannel The PWM channel for the Jaguar for the bottom motor;
   * @param topEncoderA The Digital I/O channel for channel A of the encoder for the top motor
   * @param topEncoderB The Digital I/O channel for channel B of the encoder for the top motor
   * @param bottomEncoderA The Digital I/O channel for channel A of the encoder for the bottom motor
   * @param bottomEncoderB The Digital I/O channel for channel B of the encoder for the bottom motor
   * @param limitSwitchChannel The Digital I/O channel for the gripper limit switch
   */
  public Gripper(
      int topJaguarChannel,
      int bottomJaguarChannel,
      int topEncoderA,
      int topEncoderB,
      int bottomEncoderA,
      int bottomEncoderB,
      int limitSwitchChannel) {
    topMotor = new Jaguar(topJaguarChannel);
    bottomMotor = new Jaguar(bottomJaguarChannel);

    topEncoder = new Encoder(topEncoderA, topEncoderB);
    topEncoder.start();
    topEncoder.reset();
    bottomEncoder = new Encoder(bottomEncoderA, bottomEncoderB);
    bottomEncoder.start();
    bottomEncoder.reset();

    topTarget = 0;
    bottomTarget = 0;

    limitSwitch = new DigitalInput(limitSwitchChannel);

    ds = DriverStation.getInstance();
  }
Exemplo n.º 3
0
 public void enable() {
   rightEncoder.reset();
   leftEncoder.reset();
   rightEncoder.start();
   leftEncoder.start();
   //       pidRight.enable();
   //       pidLeft.enable();
 } // end enable
Exemplo n.º 4
0
 // starts encoders
 public DriveTrain() {
   leftEncoder.start();
   rightEncoder.start();
   gyro.reset();
   Preferences p = Preferences.getInstance();
   if (!p.containsKey("DriveTrainShootLimitVoltage")) {
     p.putDouble("DriveTrainShootLimitVoltage", kDefaultShootLimitVoltage);
   }
   if (!p.containsKey("DriveTrainQuickTurnP")) {
     p.putDouble("DriveTrainQuickTurnP", kDefaultQuickTurnProportion);
   }
   if (!p.containsKey("DriveTrainQuickTurnDeadband")) {
     p.putDouble("DriveTrainQuickTurnDeadband", kDefaultQuickTurnDeadband);
   }
   if (!p.containsKey("DriveTrainReverseDirection")) {
     p.putBoolean("DriveTrainReverseDirection", kDefaultReverseDirection);
   }
   if (!p.containsKey("LeftEncoderRatio")) {
     p.putDouble("LeftEncoderRatio", 4.875);
   }
   if (!p.containsKey("RightEncoderRatio")) {
     p.putDouble("RightEncoderRatio", 4.875);
   }
   if (!p.containsKey("Encoder_kP")) {
     p.putDouble("Encoder_kP", 0.05);
   }
   if (!p.containsKey("OutputMin")) {
     p.putDouble("OutputMin", .2);
   }
   if (!p.containsKey("DistBuffer")) {
     p.putDouble("DistBuffer", 1);
   }
   if (!p.containsKey("Gyro_kP")) {
     p.putDouble("Gyro_kP", 1 / 18);
   }
   if (!p.containsKey("AngleBuffer")) {
     p.putDouble("AngleBuffer", 4.5);
   }
   if (!p.containsKey("AutoDist_0")) {
     p.putDouble("AutoDist_0", 0.0);
   }
   if (!p.containsKey("AutoDist_1")) {
     p.putDouble("AutoDist_1", 0.0);
   }
   if (!p.containsKey("AutoDist_2")) {
     p.putDouble("AutoDist_2", 0.0);
   }
   if (!p.containsKey("AutoDist_3")) {
     p.putDouble("AutoDist_3", 0.0);
   }
   if (!p.containsKey("ShiftWhenTurningThreshold")) {
     p.putDouble("ShiftWhenTurningThreshold", 0.5);
   }
   if (!p.containsKey("ShiftWhenTurningDelay")) {
     p.putDouble("ShiftWhenTurningDelay", 1.5);
   }
 } // end constructor
Exemplo n.º 5
0
 public void enable() {
   rightEncoder.reset();
   leftEncoder.reset();
   rightEncoder.start();
   leftEncoder.start();
   gyro.reset();
   final boolean kReverseDirection =
       Preferences.getInstance().getBoolean("DriveTrainReverseDirection", false);
   robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, kReverseDirection);
   robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearRight, kReverseDirection);
 } // end enable
Exemplo n.º 6
0
 // starts encoders
 public DriveTrain() {
   leftEncoder.start();
   rightEncoder.start();
   gyro.reset();
   Preferences p = Preferences.getInstance();
   if (!p.containsKey("DriveTrainShootLimitVoltage")) {
     p.putDouble("DriveTrainShootLimitVoltage", kDefaultShootLimitVoltage);
   }
   if (!p.containsKey("DriveTrainQuickTurnP")) {
     p.putDouble("DriveTrainQuickTurnP", kDefaultQuickTurnProportion);
   }
   if (!p.containsKey("DriveTrainQuickTurnDeadband")) {
     p.putDouble("DriveTrainQuickTurnDeadband", kDefaultQuickTurnDeadband);
   }
   if (!p.containsKey("DriveTrainReverseDirection")) {
     p.putBoolean("DriveTrainReverseDirection", kDefaultReverseDirection);
   }
 } // end constructor
Exemplo n.º 7
0
  private OI() {
    us = new AnalogChannel(US_PORT_1);
    us2 = new AnalogChannel(US_PORT_2);
    us3 = new AnalogChannel(US_PORT_3);
    quad = new Encoder(QUAD_PORT_1, QUAD_PORT_2);
    quadL = new Encoder(QUAD_PORT_3, QUAD_PORT_4);
    quadR = new Encoder(QUAD_PORT_5, QUAD_PORT_6);
    quad.start();
    quadL.start();
    quadR.start();
    pot = new AnalogChannel(POT_PORT);

    stick = new Joystick(JOYSTICK_PORT);
    stick2 = new Joystick(JOYSTICK_PORT_2);

    j2b1 = new JoystickButton(stick2, 1);
    j2b2 = new JoystickButton(stick2, 2);
    j2b3 = new JoystickButton(stick2, 3);
    j2b4 = new JoystickButton(stick2, 4);
  }
Exemplo n.º 8
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  // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
  public static void init() {
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    driveTrainLeftFront = new Talon(1, 1);
    LiveWindow.addActuator("Drive Train", "Left Front", (Talon) driveTrainLeftFront);

    driveTrainRightFront = new Talon(1, 2);
    LiveWindow.addActuator("Drive Train", "Right Front", (Talon) driveTrainRightFront);

    driveTrainLeftRear = new Talon(1, 3);
    LiveWindow.addActuator("Drive Train", "Left Rear", (Talon) driveTrainLeftRear);

    driveTrainRightRear = new Talon(1, 4);
    LiveWindow.addActuator("Drive Train", "Right Rear", (Talon) driveTrainRightRear);

    driveTrainRobotDrive =
        new RobotDrive(
            driveTrainLeftFront, driveTrainLeftRear, driveTrainRightFront, driveTrainRightRear);

    driveTrainRobotDrive.setSafetyEnabled(true);
    driveTrainRobotDrive.setExpiration(0.1);
    driveTrainRobotDrive.setSensitivity(0.5);
    driveTrainRobotDrive.setMaxOutput(1.0);
    driveTrainRobotDrive.setInvertedMotor(RobotDrive.MotorType.kFrontLeft, true);
    driveTrainRobotDrive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, true);
    driveTrainRobotDrive.setInvertedMotor(RobotDrive.MotorType.kFrontRight, true);
    driveTrainRobotDrive.setInvertedMotor(RobotDrive.MotorType.kRearRight, true);
    armWheelsShaftMotor = new Talon(1, 5);
    LiveWindow.addActuator("Arm Wheels", "Shaft Motor", (Talon) armWheelsShaftMotor);

    platformMotor = new Talon(1, 6);
    LiveWindow.addActuator("Platform", "Motor", (Talon) platformMotor);

    platformShaftEncoder = new Encoder(1, 1, 1, 2, false, EncodingType.k4X);
    LiveWindow.addSensor("Platform", "Shaft Encoder", platformShaftEncoder);
    platformShaftEncoder.setDistancePerPulse(1.0);
    platformShaftEncoder.setPIDSourceParameter(PIDSourceParameter.kRate);
    platformShaftEncoder.start();
    platformLimitSwitchFront = new DigitalInput(1, 3);
    LiveWindow.addSensor("Platform", "Limit Switch Front", platformLimitSwitchFront);

    platformLimitSwitchBack = new DigitalInput(1, 4);
    LiveWindow.addSensor("Platform", "Limit Switch Back", platformLimitSwitchBack);

    platformTestFrontTestLimitSwitch = new DigitalInput(1, 5);
    LiveWindow.addSensor(
        "Platform Test", "Front Test Limit Switch", platformTestFrontTestLimitSwitch);

    platformTestTestMotor = new Talon(1, 7);
    LiveWindow.addActuator("Platform Test", "Test Motor", (Talon) platformTestTestMotor);

    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
  }
Exemplo n.º 9
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  public Shooter(int encoderA, int encoderB, int victor1, int victor2, int victor3) {

    encoder = new Encoder(encoderA, encoderB);
    encoder.start();
    encoder.reset();
    motor1 = new Victor(victor1); // 2
    motor2 = new Victor(victor2); // 5
    motor3 = new Victor(victor3); // 4

    time = new Timer();
    shootTime = new Timer();
    retractTime = new Timer();

    time.start();
    time.reset();
  }
Exemplo n.º 10
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 public MainMotor() {
   super("MainMotor");
   mainEncoder.start();
   magneticEncoder.start();
 }
Exemplo n.º 11
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 public double getRightQuad() {
   quadR.start();
   return quadR.getDistance();
 }
Exemplo n.º 12
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 public double getLeftQuad() {
   quadL.start();
   return quadL.getDistance();
 }
Exemplo n.º 13
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 public double getEncoder() {
   quad.start();
   return quad.getRate();
 }
Exemplo n.º 14
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 // Have to start the encoder to begin reading.
 public void initQuadEncoder() {
   quadEncoderSensor.start();
 }
Exemplo n.º 15
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 public void start() {
   enc.start();
 }