/** Initializes all actuators */
public static void init() {
// TODO: Change ID's
// Motors
rightDriveMotor = new CANTalon(3);
rightDriveMotor =
initCANTalon(
rightDriveMotor,
FeedbackDevice.QuadEncoder,
RIGHT_DIVE_REVERSE_SENSOR,
CODES_PER_REV,
DRIVE_MOTOR_ACCEPTABLE_ERROR,
RIGHT_DRIVE_KP,
RIGHT_DRIVE_KI,
RIGHT_DRIVE_KD);
rightDriveMotor2 = new CANTalon(0);
rightDriveMotor2.changeControlMode(CANTalon.TalonControlMode.Follower);
rightDriveMotor2.setInverted(true);
rightDriveMotor2.set(rightDriveMotor.getDeviceID());
leftDriveMotor = new CANTalon(2);
leftDriveMotor =
initCANTalon(
leftDriveMotor,
FeedbackDevice.QuadEncoder,
LEFT_DIVE_REVERSE_SENSOR,
CODES_PER_REV,
DRIVE_MOTOR_ACCEPTABLE_ERROR,
LEFT_DRIVE_KP,
LEFT_DRIVE_KI,
LEFT_DRIVE_KD);
leftDriveMotor.setInverted(true);
leftDriveMotor2 = new CANTalon(1);
leftDriveMotor2.changeControlMode(CANTalon.TalonControlMode.Follower);
leftDriveMotor2.setInverted(true);
leftDriveMotor2.set(leftDriveMotor.getDeviceID());
armWinchMotor1 = new VictorSP(4);
armWinchMotor2 = new VictorSP(5);
armWinchMotor2.setInverted(true);
armAngleMotor = new CANTalon(6);
armAngleMotor =
initCANTalon(
armAngleMotor,
FeedbackDevice.AnalogPot,
ARM_REVERSE_SENSOR,
ARM_POT_TURNS_PER_REV,
ARM_ACCEPTABLE_EROR,
ARM_ANGLE_KP,
ARM_ANGLE_KI,
ARM_ANGLE_KD);
// TODO: Use string pot with CANTalon
boulderIntakeMotor = new VictorSP(7);
catapultMotor = new VictorSP(8);
// Solenoids
driveShiftPneumatic = new Solenoid(2);
winchRatchetPneumatic = new Solenoid(1);
}
public void driveWithXbox(Joystick joystick1) {
pivot1.set(joystick1.getY(Hand.kLeft) / 10);
pivot2.set(joystick1.getY(Hand.kRight) / 10);
}