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);
}
/** This function is called periodically during autonomous */
public void autonomousPeriodic() {
wedge.moveDown();
lights.set(Relay.Value.kForward);
// tracking.run();
try {
driveMainBelt(true, true);
csc.setSetpoint(2300); // 15' = ~2400rpm
if (launcher.getSpeed() < -2250) {
try {
belt2.setX(-1);
} catch (Exception e) {
}
} else {
belt2.setX(0);
}
station.println(DriverStationLCD.Line.kMain6, 1, "RPM: " + String.valueOf(csc.tmpResult));
} catch (CANTimeoutException ex) {
}
/*try{
if(tracking.foundTarget()){
station.println(DriverStationLCD.Line.kUser2, 1, "Distance: " + String.valueOf(tracking.getTarget("HIGH").distance));
station.println(DriverStationLCD.Line.kUser3, 1, "Suggested RPM: " + String.valueOf(tracking.getTarget("HIGH").distance*62.8));
if(x>0)
station.println(DriverStationLCD.Line.kUser4, 1, "Rotation: <--");
else if(x<0)
station.println(DriverStationLCD.Line.kUser4, 1, "Roation: -->");
else
station.println(DriverStationLCD.Line.kUser4, 1, "I don't need to rotate");
}
else{
station.println(DriverStationLCD.Line.kUser2, 1, "Help, I can't find target by myself!");
station.println(DriverStationLCD.Line.kUser3, 1, "");
station.println(DriverStationLCD.Line.kUser4, 1, "");
}
}catch(Exception e){}*/
station.updateLCD();
}
/** This function is called periodically during operator control */
public void teleopPeriodic() {
lights.set(Relay.Value.kForward);
// tracking.run();
/*try {
readString = serial.readString();
readString = readString.substring(readString.indexOf("data{"), readString.indexOf("}"));
xTurn = readString.substring(readString.indexOf("x("), readString.indexOf(")"));
xTurnVal = Integer.parseInt(xTurn);
} catch (VisaException ex) {
System.out.println("Error Reading string - " + ex);
}*/
y = drive_control.getRawAxis(1);
x = drive_control.getRawAxis(2);
t = drive_control.getRawAxis(3);
if (y > 1) y = 1;
else if (y < -1) y = -1;
if (x > 1) x = 1;
else if (x < -1) x = -1;
drive.setDriveJ(x, y, t);
/*if(drive_control.getRawButton(12))
//wheelsOn = true;
else if(drive_control.getRawButton(11));
wheelsOn = false;*/
/*try{
launcher.setX((drive_control.getRawAxis(4)-1)/2);
}catch(Exception e){}*/
// System.out.println((drive_control.getRawAxis(4)-1)*-1350);
if (!autoWheels) {
csc.setSetpoint((drive_control.getRawAxis(4) - 1) * -1500);
try {
// launcher.setX((drive_control.getRawAxis(4)+1)*2000);
System.out.println(
-launcher.getSpeed()
+ " -- "
+ csc.tmpResult
+ " -- "
+ (drive_control.getRawAxis(4) - 1) * -1500);
} catch (Exception e) {
System.out.println(e);
}
if (drive_control.getRawButton(11)) autoWheels = true;
} else {
csc.setSetpoint(2300);
if (drive_control.getRawButton(11)) autoWheels = false;
}
/*if(wheelsOn)
shoot(1);
else
shoot(0);*/
if (drive_control.getRawButton(5)) {
wedge.moveDown();
// servo1.set(1);
// servo2.set(0);
// wedge.set(Relay.Value.kForward);
} else if (drive_control.getRawButton(6)) {
wedge.moveUp();
// servo1.set(0);
// servo2.set(1);
// wedge.set(Relay.Value.kReverse);
} else {
// servo1.set(.5);
// servo2.set(.5);
// wedge.set(Relay.Value.kOff);
}
if (drive_control.getRawButton(3)) turret.set(.5);
else if (drive_control.getRawButton(4)) turret.set(-.5);
else turret.set(0);
if (drive_control.getRawButton(2)) driveMainBelt(true, true);
else if (drive_control.getRawButton(7)) driveMainBelt(false, true);
else driveMainBelt(false, false);
if (drive_control.getTrigger()) {
try {
belt2.setX(-1);
} catch (Exception e) {
}
} else if (drive_control.getRawButton(8)) {
try {
belt2.setX(1);
} catch (Exception e) {
}
} else {
try {
belt2.setX(0);
} catch (Exception e) {
}
}
if (control.getRawButton(3)) {
turret.set(.25);
} else if (control.getRawButton(4)) {
turret.set(-.25);
} else {
turret.set(0);
}
try {
station.println(
DriverStationLCD.Line.kMain6, 1, "RPM: " + String.valueOf(-launcher.getSpeed()));
} catch (CANTimeoutException ex) {
}
/*try{
if(tracking.foundTarget()){
station.println(DriverStationLCD.Line.kUser2, 1, "Distance: " + String.valueOf(tracking.getTarget("HIGH").distance));
station.println(DriverStationLCD.Line.kUser3, 1, "Suggested RPM: " + String.valueOf(tracking.getTarget("HIGH").distance*62.8));
if(x>0)
station.println(DriverStationLCD.Line.kUser4, 1, "Rotation: <--");
else if(x<0)
station.println(DriverStationLCD.Line.kUser4, 1, "Roation: -->");
else
station.println(DriverStationLCD.Line.kUser4, 1, "I don't need to rotate");
}
else{
station.println(DriverStationLCD.Line.kUser2, 1, "Help, I can't find target by myself!");
station.println(DriverStationLCD.Line.kUser3, 1, "");
station.println(DriverStationLCD.Line.kUser4, 1, "");
}
}catch(Exception e){}*/
station.updateLCD();
}