Пример #1
0
  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);
  }
Пример #2
0
 // 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();
 }