Пример #1
0
 public void leftOpen(boolean open) {
   if (!open) {
     leftGate.set(DoubleSolenoid.Value.kReverse);
   } else {
     leftGate.set(DoubleSolenoid.Value.kForward);
   }
 }
 // Drive Train
 public void switchGears(DoubleSolenoid gearSwitch, boolean lowHigh) {
   if (lowHigh) {
     gearSwitch.set(DoubleSolenoid.Value.kForward);
   }
   if (!lowHigh) {
     gearSwitch.set(DoubleSolenoid.Value.kReverse);
   }
 }
  // Spinny Sticks
  public void spinnySticksMovement(DoubleSolenoid spinnyStickSolenoid, boolean forwardBackward) {
    if (forwardBackward) {
      spinnyStickSolenoid.set(DoubleSolenoid.Value.kForward);
    }

    if (!forwardBackward) {
      spinnyStickSolenoid.set(DoubleSolenoid.Value.kReverse);
    }
  }
 public void periodic() {
   if (raiseDragonTailButton.isSwitchOn()) {
     dragonTailSolenoid.set(DoubleSolenoid.Value.kReverse);
     timeLimit.setTimeLimit(SOLENOID_ON_LAG);
   } else if (lowerDragonTailButton.isSwitchOn()) {
     dragonTailSolenoid.set(DoubleSolenoid.Value.kForward);
     timeLimit.setTimeLimit(SOLENOID_ON_LAG);
   } else if (timeLimit.isTimeLimitReached()) {
     dragonTailSolenoid.set(DoubleSolenoid.Value.kOff);
   }
 }
Пример #5
0
  /**
   * This function is run when the robot is first started up and should be used for any
   * initialization code.
   */
  public void robotInit() {
    chooser = new SendableChooser();
    chooser.addDefault("Default Auto", defaultAuto);
    chooser.addObject("My Auto", customAuto);
    SmartDashboard.putData("Auto choices", chooser);

    controlMethod = new SendableChooser();
    controlMethod.addDefault("Tank Control", tankControl);
    controlMethod.addObject("Stick Control", stickControl);
    controlMethod.addObject("Clayton Control", claytonControl);
    SmartDashboard.putData("Control method", controlMethod);

    rightMotor = new CANTalon(RIGHT_INDEX);
    rightSlave = new CANTalon(RIGHT_INDEX + 1);
    rightSlave.changeControlMode(CANTalon.TalonControlMode.Follower);
    rightSlave.set(RIGHT_INDEX);
    rightMotor.setInverted(true);

    leftMotor = new CANTalon(LEFT_INDEX);
    leftSlave = new CANTalon(LEFT_INDEX + 1);
    leftSlave.changeControlMode(CANTalon.TalonControlMode.Follower);
    leftSlave.set(LEFT_INDEX);

    intakeMotor = new CANTalon(INTAKE_INDEX);
    // Arm motor is currently disabled
    // armMotor = new CANTalon(ARM_INDEX);

    compressor = new Compressor(0);
    compressor.setClosedLoopControl(true);

    intakePneumatic = new DoubleSolenoid(1, 2);
    intakePneumatic.set(DoubleSolenoid.Value.kOff);

    gamepad = new Gamepad(0);
  }
 public boolean hasShot() {
   if (kickerLatch.get() == Value.kForward) {
     return true;
   } else {
     return false;
   }
 }
 public void set(DoubleSolenoid.Value value) {
   piston.set(value);
   if (value == extend) {
     SmartDashboard.putString("Loader", "Extend");
   } else if (value == retract) {
     SmartDashboard.putString("Loader", "Retract");
   } else {
     SmartDashboard.putString("Loader", "Off");
   }
 }
Пример #8
0
  /** This function is called periodically during operator control */
  public void teleopPeriodic() {
    MotorOutput motorOutput = drivetrainJoystick.motionForGamepadInput(gamepad);

    leftMotor.set(motorOutput.left * MAX_SPEED);
    rightMotor.set(motorOutput.right * MAX_SPEED);

    double in = gamepad.getLeftTrigger();
    double out = gamepad.getRightTrigger();
    intakeMotor.set((in - out) * INTAKE_SPEED);

    double fore = gamepad.getButtonLeftBack() ? 1 : 0;
    double back = gamepad.getButtonRightBack() ? 1 : 0;
    // Don't run the arm motor because it's not properly fastened
    // armMotor.set((fore - back) * ARM_SPEED);

    if (gamepad.getButtonA()) {
      intakePneumatic.set(DoubleSolenoid.Value.kForward);
    } else if (gamepad.getButtonB()) {
      intakePneumatic.set(DoubleSolenoid.Value.kReverse);
    } else {
      intakePneumatic.set(DoubleSolenoid.Value.kOff);
    }
  }
  public ShooterSubsystem() {
    kickerLatch = new DoubleSolenoid(RobotMap.KICKER_LATCH_RELEASE, RobotMap.KICKER_LATCH_RELOAD);
    kickerLatch.set(DoubleSolenoid.Value.kForward);

    if (RobotMap.IS_REAL_BOT == true) {
      kickerTalon = new Talon(RobotMap.KICKER_MOTOR);
      kickerTalon.set(0.0);
    } else if (RobotMap.IS_REAL_BOT == false) {
      kickerJaguar = new Jaguar(RobotMap.KICKER_MOTOR);
      kickerJaguar.set(0.0);
    }

    kickerLimitSwitch = new DigitalInput(RobotMap.KICKER_RETRACTED_SWITCH);
    kickerMotorReturnSwitch = new DigitalInput(RobotMap.KICKER_MOTOR_RETURN_SWITCH);
  }
Пример #10
0
 public void retractArm() {
   feederArmPiston.set(DoubleSolenoid.Value.kReverse);
 }
Пример #11
0
 public void armOff() {
   feederArmPiston.set(DoubleSolenoid.Value.kOff);
 }
Пример #12
0
 public void lowerLift() {
   liftValve2.set(Value.kReverse);
 }
Пример #13
0
 public void extendArm() {
   feederArmPiston.set(DoubleSolenoid.Value.kForward);
 }
Пример #14
0
 public void closeIntake() {
   pneuIntake.set(DoubleSolenoid.Value.kReverse); // change direction of intake solenoid to close
 }
Пример #15
0
 public void raiseLift() {
   liftValve2.set(Value.kForward);
 }
Пример #16
0
 public void closeClaw() {
   clawPneu.set(DoubleSolenoid.Value.kReverse); // change direction of claw solenoid to close
 }
Пример #17
0
 public void openIntake() {
   intakeSolendoid.set(Value.kForward);
 }
Пример #18
0
 public void closeIntake() {
   intakeSolendoid.set(Value.kReverse);
 }
Пример #19
0
 /** Engage the hanger / retract the actuators. */
 public void engage() {
   // TODO: Verify that kForward engages the hanger
   // pull the hanger down to lift off the ground
   actuator.set(DoubleSolenoid.Value.kReverse);
 }
Пример #20
0
 /** Disengage the hanger / extend the actuators */
 public void disengage() {
   // TODO: Verify that kForward disengages the hanger
   // puts the hanger up to grab the bar
   actuator.set(DoubleSolenoid.Value.kForward);
 }
Пример #21
0
  public void teleopPeriodic() {
    /*SmartDashboard.getNumber("Accel x: ", accel.getX());
    SmartDashboard.getNumber("Accel Y: ", accel.getY());
    SmartDashboard.getNumber("Accel Z: ", accel.getZ());*/
    if (controller.isEnabled()) {
      if (((Timer.getFPGATimestamp() - timerStart) > timeToCancel) || controller.onTarget()) {
        controller.disable();
        timerStart = -1;
        timeToCancel = -1;
      }
    }

    if (j1.getRawButton(2)) {
      enc.reset();
      controller.setSetpoint(120); // destination 24 inches -> NO!! Trying to figure out this value

      timerStart = Timer.getFPGATimestamp();
      timeToCancel = 10; // timeout after 10 seconds
      controller.enable();
    } else if (j1.getRawButton(
        1)) { // this button stops the robot if the button 2 command goes crazy
      controller.disable();
      timerStart = -1;
      timeToCancel = -1;
    } else { // if time out or distance, end
      controller.disable();
      timerStart = -1;
      timeToCancel = -1;
    }

    if (!controller.isEnabled()) {
      rd.arcadeDrive(-j1.getY(), -j1.getX()); // normal arcade drive
    }

    if (j2.getRawAxis(2) != 0) { // set shooter values to the left trigger value
      shooter.set(-j2.getRawAxis(2));
      shooter2.set(-j2.getRawAxis(2));
      SmartDashboard.putNumber("Shooter: ", shooter.get());
    } else { // stop shooter
      shooter.set(0);
      shooter2.set(0);
    }
    /*if(j2.getRawButton(8)){ //runs intake, waits, runs shooter
    	shooter.set(-1);
    	intake.set(.5);
    	Timer.delay(.50);
    	intake.set(0);
    	Timer.delay(1.5);
    	intake.set(-1);
    	Timer.delay(1);
    	shooter.set(0);
    	intake.set(0);
    }*/

    // Need to mess around with sensitivity of light sensor
    if (j2.getRawAxis(3) != 0 && !light.get()) { // run intake at speed of right trigger
      intake.set(-1 * j2.getRawAxis(3));
    } else if (j2.getRawButton(5) && !light.get()) { // run intake into robot
      intake.set(-1);
    } else if (j2.getRawButton(6)) { // run intake out of robot
      intake.set(1);
    } else { // stop intake
      intake.set(0);
    }

    if (j2.getRawButton(2)) { // lift intake
      inup.set(DoubleSolenoid.Value.kForward);
      inup2.set(DoubleSolenoid.Value.kForward);
    } else if (j2.getRawButton(3)) { // drop intake
      inup.set(DoubleSolenoid.Value.kReverse);
      inup2.set(DoubleSolenoid.Value.kReverse);
    } else { // solenoids off
      inup.set(DoubleSolenoid.Value.kOff);
      inup2.set(DoubleSolenoid.Value.kOff);
    }

    // reading values
    SmartDashboard.putNumber("Encoder Dist: ", enc.getDistance()); // Distance is in inches
    SmartDashboard.putNumber("Encoder: ", enc.get());
    SmartDashboard.putNumber("Encoder Rate: ", enc.getRate());
    SmartDashboard.putNumber("Gyro: ", gyro.getAngle());
    SmartDashboard.putNumber("Encoder Raw", enc.getRaw());
    SmartDashboard.putNumber("Controller: ", controller.getSetpoint());
    SmartDashboard.putBoolean("Light Sensor: ", light.get());
  }
 public void shoot() {
   kickerLatch.set(Value.kReverse);
 }
Пример #23
0
 public void stopSpinnySticksMovement(DoubleSolenoid spinnyStickSolenoid) {
   spinnyStickSolenoid.set(DoubleSolenoid.Value.kOff);
 }
 public void unshoot() {
   kickerLatch.set(Value.kForward);
 }
Пример #25
0
 public void openClaw() {
   clawPneu.set(DoubleSolenoid.Value.kForward); // change direction of claw solenoid to open
 }
Пример #26
0
 public void openActuator() {
   leftPiston.set(DoubleSolenoid.Value.kForward);
   rightPiston.set(DoubleSolenoid.Value.kForward);
 }
Пример #27
0
 public void openIntake() {
   pneuIntake.set(DoubleSolenoid.Value.kForward); // change direction of intake solenoid to open
 }
Пример #28
0
 public void closeActuator() {
   leftPiston.set(DoubleSolenoid.Value.kReverse);
   rightPiston.set(DoubleSolenoid.Value.kReverse);
 }
Пример #29
0
 public void runPunch(Value punchPower) {
   punch.set(punchPower);
 }
Пример #30
0
 public void ShelfClose() {
   LShelf.set(Value.kForward);
 }