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);
}
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();
}
}
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();
}