public void robotInit() {
try {
drive_control = new Joystick(1);
control = new Joystick(2);
drive = new Drive();
station = DriverStationLCD.getInstance();
camera = AxisCamera.getInstance();
camera.writeResolution(AxisCamera.ResolutionT.k320x240);
camera.writeBrightness(0);
camera.writeMaxFPS(10);
launcher = new CANJaguar(7);
belt1 = new Relay(1);
// belt1.setDirection(Relay.Direction.kBoth);
belt2 = new CANJaguar(8);
turret = new Victor(4);
/*launcher.setPID(0.5, 0.001, 0.0);
launcher.configEncoderCodesPerRev(360);
launcher.changeControlMode(CANJaguar.ControlMode.kSpeed);
launcher.enableControl();*/
launcher.configEncoderCodesPerRev(360);
launcher.setSpeedReference(CANJaguar.SpeedReference.kQuadEncoder);
launcher.setPositionReference(CANJaguar.PositionReference.kQuadEncoder);
/*wheelEncoder = new Encoder(1, 2, true, CounterBase.EncodingType.k4X);
wheelEncoder.setDistancePerPulse(1);
wheelEncoder.setReverseDirection(true);
wheelEncoder.start();*/
csc = new CANSpeedController(.02, 0, 0, launcher);
csc.setInputRange(0, 3000);
csc.enable();
timer = new Timer();
// tracking = new EagleEye();
lights = new Relay(3);
/*try {
serial = new SerialPort(115200);
} catch (Exception ex) {
System.out.println("Cannot open serial connection " + ex);
}*/
} catch (CANTimeoutException ex) {
System.out.println(ex);
}
wedge = new wedge(2, 1, 2);
// servo1 = new Servo(1);
// servo2 = new Servo(2);
// wedge = new Relay(2);
}
