项目:Steamworks2017Robot
文件:ProximitySensor.java
/**
* Creates the ProximitySensor.
*/
public ProximitySensor() {
logger.trace("Initializing proximity sensor");
ultrasonicLeft =
new Ultrasonic(RobotMap.ULTRASONIC_LEFT_TRIGGER,RobotMap.ULTRASONIC_LEFT_ECHO);
ultrasonicRight =
new Ultrasonic(RobotMap.ULTRASONIC_RIGHT_TRIGGER,RobotMap.ULTRASONIC_RIGHT_ECHO);
ultrasonicRight.setAutomaticMode(true);
bufferLeft = new double[12];
buffercopyLeft = new double[12];
bufferIndexLeft = 0;
bufferRight = new double[12];
buffercopyRight = new double[12];
bufferIndexRight = 0;
Thread averagingThread = new Thread(this::averagingThread);
averagingThread.setName("Ultrasonic Averaging Thread");
averagingThread.setDaemon(true);
averagingThread.start();
}
项目:Steamwork_2017
文件:Robot.java
public Robot() {
stick = new Joystick(0);
driveLeftFront = new Victor(LEFT_FRONT_DRIVE);
driveLeftRear = new Victor(LEFT_REAR_DRIVE);
driveRightFront = new Victor(RIGHT_FRONT_DRIVE);
driveRightRear = new Victor(RIGHT_REAR_DRIVE);
enhancedDriveLeft = new Victor(ENHANCED_LEFT_DRIVE);
enhancedDriveRight = new Victor(ENHANCED_RIGHT_DRIVE);
gearBox = new DoubleSolenoid(GEAR_Box_PART1,GEAR_Box_PART2);
climber1 = new Victor(climBER_PART1);
climber2 = new Victor(climBER_PART2);
vexSensorBackLeft = new Ultrasonic(0,1);
vexSensorBackRight = new Ultrasonic(2,3);
vexSensorFrontLeft = new Ultrasonic(4,5);
vexSensorFrontRight = new Ultrasonic(6,7);
Skylar = new RobotDrive(driveLeftFront,driveLeftRear,driveRightFront,driveRightRear);
OptimusPrime = new RobotDrive(enhancedDriveLeft,enhancedDriveRight);
}
项目:NR-2014-CMD
文件:Drive.java
private Drive()
{
drive = new RobotDrive(new Talon(1),new Talon(2),new Talon(3),new Talon(4));
drive.setSafetyEnabled(false);
e1 = new Encoder(RobotMap.ENCODER_1_A,RobotMap.ENCODER_1_B,false,CounterBase.EncodingType.k4X);
e2 = new Encoder(RobotMap.ENCODER_2_A,RobotMap.ENCODER_2_B,CounterBase.EncodingType.k4X);
//A calculated constant to convert from encoder ticks to feet on 4 inch diameter wheels
e1.setdistancePerpulse(0.0349065850388889/12);
e2.setdistancePerpulse(0.0349065850388889/12);
startEncoders();
drive.setInvertedMotor(RobotDrive.MotorType.kFrontLeft,true);
drive.setInvertedMotor(RobotDrive.MotorType.kRearLeft,true);
sonic = new Ultrasonic(RobotMap.ULTRASONIC_A,RobotMap.ULTRASONIC_B);
sonic.setAutomaticMode(true);
sonic.setEnabled(true);
shifter = new DoubleSolenoid(RobotMap.SHIFTER_ENGAGE,RobotMap.SHIFTER_disENGAGE);
}
项目:team-1699-utils
文件:AngleFinder.java
项目:snobot-2017
文件:Snobot.java
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
public void robotinit()
{
// PWM's
mTestMotor1 = new Talon(0);
mTestMotor2 = new Jaguar(1);
mServo = new Servo(2);
// Digital IO
mDigitalOutput = new DigitalOutput(0);
mRightEncoder = new Encoder(4,5);
mLeftEncoder = new Encoder(1,2);
mUltrasonic = new Ultrasonic(7,6);
// Analog IO
mAnalogGryo = new AnalogGyro(0);
mPotentiometer = new AnalogPotentiometer(1);
// Solenoid
mSolenoid = new Solenoid(0);
// Relay
mRelay = new Relay(0);
// Joysticks
mJoystick1 = new Joystick(0);
mJoystick2 = new XBoxController(1);
// SPI
mSpiGryo = new ADXRS450_Gyro();
// Utilities
mTimer = new Timer();
mPDP = new PowerdistributionPanel();
Preferences.getInstance().putDouble("Motor One Speed",.5);
}
项目:FRC-2017
文件:UltrasonicSensor.java
public static void initialize()
{
if (!initialized) {
//ultrasonicDevice = new AnalogInput(ANALOG_CHANNEL_ID);
ultrasonicDevice = new Ultrasonic(TRIGGER_CHANNEL_ID,ECHO_CHANNEL_ID);
ultrasonicDevice.setAutomaticMode(true);
initialized = true;
}
}
项目:FRC-2017
文件:UltrasonicSensor.java
public static void initialize()
{
if (!initialized) {
ultrasonicDevice = new Ultrasonic(HardwareIDs.TRIGGER_CHANNEL_ID,HardwareIDs.ECHO_CHANNEL_ID);
ultrasonicDevice.setAutomaticMode(true);
initialized = true;
}
}
public void robotinit(){
driveStick= new JoyStickCustom(1,DEADZONE);
secondStick=new JoyStickCustom(2,DEADZONE);
frontLeft= new Talon(1);
rearLeft= new Talon(2);
frontRight= new Talon(3);
rearRight= new Talon(4);
timer=new Timer();
timer.start();
armM = new Victor(7);
rollers =new Victor(6);
mainDrive=new RobotDrive(frontLeft,rearLeft,frontRight,rearRight);
mainDrive.setInvertedMotor(RobotDrive.MotorType.kFrontRight,true);
mainDrive.setInvertedMotor(RobotDrive.MotorType.kRearRight,true);
armP = new AnalogPotentiometer(1);
distance= new AnalogChannel(2);
ultra=new Ultrasonic(6,7);
ultra.setAutomaticMode(true);
compress=new Compressor(5,1);
handJoint=new Pneumatics(3,4);
//ultra = new Ultrasonic(6,5);
//ultra.setAutomaticMode(true);
winch = new Winch(secondStick);
}
public distanceReader(){
sensor = new Ultrasonic(RobotMap.PING_CHANNEL,RobotMap.ECHO_CHANNEL);
sensor.setEnabled(true);
sensor.setAutomaticMode(true);
}
public void init() {
motorLeft = new Talon(1);
motorRight = new Talon(2);
System.out.println("[INFO] TALON[1&2]: Created!");
elToro1 = new Talon(3);
elToro2 = new Talon(4);
System.out.println("[INFO] TALON[3&4]: Created!");
robotdrive = new RobotDriveSteering(motorLeft,motorRight);
robotdrive.setInvertedMotor(RobotDriveSteering.MotorType.kRearLeft,true);
robotdrive.setInvertedMotor(RobotDriveSteering.MotorType.kRearRight,true);
compressor = new Compressor(1,1); // presureSwitchDigitalInput,RelayOut
compressor.start();
wormgear = new Relay(2);
spreader = new Relay(3);
System.out.println("[INFO] RELAY[1&2&3]: Created!");
joystick = new Joystick(1);
//joystick2 = new Joystick(2);
System.out.println("[INFO] JOYSTICK[1&2]: Created!");
cock = new Solenoid(1);
uncock = new Solenoid(2);
lock = new Solenoid(3);
fire = new Solenoid(4);
System.out.println("[INFO] Digital I/O: Enabled.");
sonic = new Ultrasonic(4,2);
sonic.setEnabled(true);
sonic2 = new AnalogChannel(3);
pot = new AnalogPotentiometer(2,10);
autonomousTimer = new Timer();
t = new Timer();
LCD = DriverStationLCD.getInstance();
ds = DriverStation.getInstance();
System.out.println("[INFO] Robot Initialized");
}
项目:2014-Robot
文件:CompetitionRobot.java
public void robotinit(){
Subsystems.robot = this;
Subsystems.imu = new IMU(GYRO_CHANNEL);
Subsystems.imu.reset();
Subsystems.driveTrain = new DriveTrain(DRIVE_MOTOR_FRONTLEFT,DRIVE_MOTOR_BACKLEFT,DRIVE_MOTOR_FRONTRIGHT,DRIVE_MOTOR_BACKRIGHT,ContinuousMotor.SpeedControllerType.TALON);
// Subsystems.driveTrain = new DriveTrain(1,2,ContinuousMotor.SpeedControllerType.JAGUAR);
Subsystems.compressor = new Compressor(COMPRESSOR_RELAY,COMPRESSOR_PRESSURESWITCH);
Subsystems.nets = new Nets
( new LimitedMotor(NET_MOTOR_LEFT,LimitedMotor.SpeedControllerType.VICTOR,NET_SWITCH_LEFT,NET_PROX_LEFT),new LimitedMotor(NET_MOTOR_RIGHT,NET_SWITCH_RIGHT,NET_PROX_RIGHT));
Subsystems.arm = new RollerArm(SOLENOID_LEFT_EXTEND,SOLENOID_LEFT_RETRACT,SOLENOID_RIGHT_EXTEND,SOLENOID_RIGHT_RETRACT);
Subsystems.roller = new Roller(ROLLER_MOTOR,ContinuousMotor.SpeedControllerType.VICTOR);
Subsystems.ranger = new Ranger(RANGER_CHANNEL);
Subsystems.pid = new PIDController(0.5,Subsystems.ranger,new PIDDriveInterface());
Subsystems.turnPID = new PIDController(0.003,0.007,Subsystems.imu,new PIDTurnInterface());
Subsystems.leftUltrasonicSensor = new Ultrasonic(ULTRASONIC_LEFT_PING,ULTRASONIC_LEFT_ECHO,Ultrasonic.Unit.kInches);
Subsystems.rightUltrasonicSensor = new Ultrasonic(ULTRASONIC_RIGHT_PING,ULTRASONIC_RIGHT_EHCO,Ultrasonic.Unit.kInches);
Subsystems.leftUltrasonicSensor.setAutomaticMode(true);
Subsystems.rightUltrasonicSensor.setAutomaticMode(true);
//Subsystems.compressor.init();
OperatorInterface.init();
smartDashboardInit();
// Subsystems.compressor.activate();
// long then = System.currentTimeMillis();
// while(System.currentTimeMillis()-then<100*1000){
// Subsystems.compressor.activate();
// }
// Subsystems.compressor.deactive();
Subsystems.compressor.init();
//Todo Have drivers refine these values and make them constants in DriveTrain.
SmartDashboard.putNumber("Range 1",0.4);
SmartDashboard.putNumber("Range 2",0.8);
SmartDashboard.putNumber("Range 3",1.0);
SmartDashboard.putNumber("Max Delta 1",1.0);
SmartDashboard.putNumber("Max Delta 2",0.1);
SmartDashboard.putNumber("Max Delta 3",0.01);
// Scheduler.getInstance().add(new SetState(Subsystems.nets.leftNet,State.CLOSED,Nets.CLOSE_SPEED));
// Scheduler.getInstance().add(new AddCommandAfterDelay
// (new SetState(Subsystems.nets.rightNet,Nets.OPEN_SPEED),0.5));
}
项目:team-1699-utils
文件:AngleFinder.java
项目:team-1699-utils
文件:AngleFinder.java
/**
* Used to get ultra
*
* @return ultra
*/
public Ultrasonic getUltra() {
return ultra;
}
项目:team-1699-utils
文件:AngleFinder.java
/**
* Used to set ultra
*
* @param ultra
*/
public void setUltra(Ultrasonic ultra) {
this.ultra = ultra;
}
项目:strongback-java
文件:Hardware.java
/**
* Create a digital ultrasonic {@link distanceSensor} for an {@link Ultrasonic} sensor that uses the specified channels.
*
* @param pingChannel the digital output channel to use for sending pings
* @param echoChannel the digital input channel to use for receiving echo responses
* @return a {@link distanceSensor} linked to the specified channels
*/
public static distanceSensor digitalUltrasonic(int pingChannel,int echoChannel) {
Ultrasonic ultrasonic = new Ultrasonic(pingChannel,echoChannel);
ultrasonic.setAutomaticMode(true);
return distanceSensor.create(ultrasonic::getRangeInches);
}
项目:atalibj
文件:UltrasonicRangeFinderModule.java
/**
* Constructs the module with the ultrasonic object underneath this class to
* call methods from.
*
* @param ultrasonic the composing instance which will return values
*/
protected UltrasonicRangeFinderModule(Ultrasonic ultrasonic) {
this.ultrasonic = ultrasonic;
}
项目:atalibj
文件:UltrasonicRangeFinderModule.java
/**
* Constructs the range finder using the ping and echo channel. Ping is used
* to send signals and echo is used to receive the reflected signal.
*
* @param pingChannel channel on digital sidecar for pinging
* @param echoChannel channel on digital sidecar for receiving
*/
public UltrasonicRangeFinderModule(int pingChannel,int echoChannel) {
this(new Ultrasonic(pingChannel,echoChannel));
}