Пример #1
0
  public Intake() {
    preferences = Preferences.getInstance();

    leftGate =
        new DoubleSolenoid(
            ElectricalConstants.rightGateForward, ElectricalConstants.rightGateReverse);

    rightGate = new Solenoid(ElectricalConstants.leftGate);
    try {
      arm = new CANJaguar(ElectricalConstants.armJag);
      arm.changeControlMode(CANJaguar.ControlMode.kPercentVbus);
      arm.configNeutralMode(CANJaguar.NeutralMode.kBrake);

      arm.configFaultTime(0.5);
      arm.configPotentiometerTurns(1);

      arm.setPositionReference(CANJaguar.PositionReference.kPotentiometer);
      arm.setPID(0, 0, 0);

      arm.enableControl(0);

    } catch (CANTimeoutException ex) {
      ex.printStackTrace();
    }
    rollers = new Victor(ElectricalConstants.rollerVic);
  }
Пример #2
0
 /** Resets the PID values to the values previously set. */
 public void resetPID() {
   try {
     jagFlip.setPID(p, i, d);
     jagFlip.enableControl(0);
   } catch (CANTimeoutException ex) {
     ex.printStackTrace();
   }
 }
Пример #3
0
 public void reInit() {
   try {
     jagFlip = new CANJaguar(ElectricalConstants.JagFlipper);
     jagFlip.changeControlMode(CANJaguar.ControlMode.kPosition);
     jagFlip.configFaultTime(0.5);
     jagFlip.configNeutralMode(CANJaguar.NeutralMode.kBrake);
     jagFlip.configPotentiometerTurns(10);
     jagFlip.setPositionReference(CANJaguar.PositionReference.kPotentiometer);
     jagFlip.setPID(p, i, d);
     jagFlip.enableControl(0);
   } catch (CANTimeoutException ex) {
     ex.printStackTrace();
   }
 }
Пример #4
0
 /** Sets up the climber closed loop and puts it in Position mode. */
 public void enableClosedLoop() {
   if (ClimbJag != null) {
     try {
       ClimbJag.changeControlMode(CANJaguar.ControlMode.kPosition);
       ClimbJag.setPID(150.0, 0.0, 0.0);
       double position = ClimbJag.getPosition();
       ClimbJag.enableControl(position);
       m_closedLoop = true;
     } catch (CANTimeoutException ex) {
       m_fault = true;
       System.err.println("CAN timeout");
     }
   }
 }
Пример #5
0
 private Flipper() {
   p = PIDConstants.flipperP;
   i = PIDConstants.flipperI;
   d = PIDConstants.flipperD;
   try {
     jagFlip = new CANJaguar(ElectricalConstants.JagFlipper);
     jagFlip.changeControlMode(CANJaguar.ControlMode.kPosition);
     jagFlip.configFaultTime(0.5);
     jagFlip.configNeutralMode(CANJaguar.NeutralMode.kBrake);
     jagFlip.configPotentiometerTurns(10);
     jagFlip.setPositionReference(CANJaguar.PositionReference.kPotentiometer);
     jagFlip.setPID(p, i, d);
     jagFlip.enableControl(0);
   } catch (CANTimeoutException ex) {
     ex.printStackTrace();
   }
   gotoPosition();
 }
  public CANJaguar construct() {
    CANJaguar jag = null;
    try {
      jag = new CANJaguar(channel, controlMode);
      //            System.out.println("-----------CREATING JAGUAR AT CHANNEL " + channel +
      // "----------------");
      //            System.out.println("Control Mode:\t\t" + controlMode);

      if (usingPID) {
        //                System.out.println("Speed Reference:\t\t" + speedReference);
        jag.setSpeedReference(speedReference);
        //                System.out.println("Encoder Codes Per Rev:\t\t" + encoderCodesPerRev);
        jag.configEncoderCodesPerRev(encoderCodesPerRev);
        //                System.out.println("P:\t\t" + p);
        //                System.out.println("I:\t\t" + i);
        //                System.out.println("D:\t\t" + d);
        //                System.out.println("Verifying PID:");
        //                System.out.println("P:\t\t" + jag.getP());
        //                System.out.println("I:\t\t" + jag.getI());
        //                System.out.println("D:\t\t" + jag.getD());
        jag.setPID(p, i, d);
        jag.enableControl();

        if (p == 0) {
          System.out.println("[WARNING] Created a CANJaguar with P=0!");
        }

        if (encoderCodesPerRev == 0) {
          System.out.println("[WARNING] Created a CANJaguar with encoder codes per revolution=0!");
        }
      }

      //            System.out.println("-----------Motor Create Complete----------");
    } catch (CANTimeoutException e) {
      e.printStackTrace();
    }

    return jag;
  }