public DriveTrain() {
super();
front_left_motor = new Talon(1);
back_left_motor = new Talon(2);
front_right_motor = new Talon(3);
back_right_motor = new Talon(4);
drive = new RobotDrive(front_left_motor, back_left_motor, front_right_motor, back_right_motor);
left_encoder = new Encoder(1, 2);
right_encoder = new Encoder(3, 4);
// Encoders may measure differently in the real world and in
// simulation. In this example the robot moves 0.042 barleycorns
// per tick in the real world, but the simulated encoders
// simulate 360 tick encoders. This if statement allows for the
// real robot to handle this difference in devices.
if (Robot.isReal()) {
left_encoder.setDistancePerPulse(0.042);
right_encoder.setDistancePerPulse(0.042);
} else {
// Circumference in ft = 4in/12(in/ft)*PI
left_encoder.setDistancePerPulse((4.0 / 12.0 * Math.PI) / 360.0);
right_encoder.setDistancePerPulse((4.0 / 12.0 * Math.PI) / 360.0);
}
rangefinder = new AnalogInput(6);
gyro = new AnalogGyro(1);
// Let's show everything on the LiveWindow
LiveWindow.addActuator("Drive Train", "Front_Left Motor", (Talon) front_left_motor);
LiveWindow.addActuator("Drive Train", "Back Left Motor", (Talon) back_left_motor);
LiveWindow.addActuator("Drive Train", "Front Right Motor", (Talon) front_right_motor);
LiveWindow.addActuator("Drive Train", "Back Right Motor", (Talon) back_right_motor);
LiveWindow.addSensor("Drive Train", "Left Encoder", left_encoder);
LiveWindow.addSensor("Drive Train", "Right Encoder", right_encoder);
LiveWindow.addSensor("Drive Train", "Rangefinder", rangefinder);
LiveWindow.addSensor("Drive Train", "Gyro", gyro);
}
// Called once after isFinished returns true
protected void end() {
// NOTE: Doesn't stop in simulation due to lower friction causing the can to fall out
// + there is no need to worry about stalling the motor or crushing the can.
if (!Robot.isSimulation()) Robot.claw.stop();
}
