项目:Spartonics-Code
文件:Robot.java
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
@Override
public void robotinit() {
chassis = new Chassis();
intake = new Intake();
wheelintake = new wheelIntake();
oi = new OI();
chooser.addDefault("Default Auto",new DriveWithJoystick());
// chooser.addobject("My Auto",new MyAutoCommand());
SmartDashboard.putData("Auto mode",chooser);
chassis.publishToSmartDashboard();
}
项目:Spartonics-Code
文件:Robot.java
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
public void robotinit() {
chooser = new SendableChooser<Command>();
chassis = new Chassis();
intake = new Intake();
winch = new Winch();
// shooter = new Shooter();
oi = new OI();
imu = new Adis16448_IMU(Adis16448_IMU.Axis.kX);
pdp = new PowerdistributionPanel();
chooser.addDefault("Drive Straight",new DriveStraight(73,0.5));
//chooser.addobject("Left Gear Curve",new LeftGearCurve());
chooser.addobject("Left Gear Turn",new LeftGearTurn());
//chooser.addobject("Right Gear Curve",new RightGearCurve());
chooser.addobject("Right Gear Turn",new RightGearTurn());
chooser.addobject("Middle Gear",new StraightGear());
chooser.addobject("Turn in place",new Turndegrees(60,.2));
SmartDashboard.putData("Autonomous Chooser",chooser);
}
项目:Steamworks2017Robot
文件:Vision.java
@Override
public void sendDataToSmartDashboard() {
// phone handles vision data for us
SmartDashboard.putBoolean("LED_On",isLedRingOn());
boolean gearLiftPhone = false;
boolean boilerPhone = false;
ConnectionInfo[] connections = NetworkTablesJNI.getConnections();
for (ConnectionInfo connInfo : connections) {
if (System.currentTimeMillis() - connInfo.last_update < 100) {
if (connInfo.remote_id.equals("Android_GEAR_LIFT")) {
gearLiftPhone = true;
} else if (connInfo.remote_id.equals("Android_BOILER")) {
boilerPhone = true;
}
}
}
SmartDashboard.putBoolean("VisionGearLift",gearLiftPhone);
SmartDashboard.putBoolean("VisionGearLift_data",isGearVisionDataValid());
SmartDashboard.putBoolean("VisionBoiler",boilerPhone);
SmartDashboard.putBoolean("VisionBoiler_data",isBoilerVisionDataValid());
}
项目:STEAMworks
文件:DriveTrain.java
@Override
public void log() {
SmartDashboard.putNumber("DriveTrain: distance",getdistance());
SmartDashboard.putNumber("DriveTrain: left distance",leftEncoder.getdistance());
SmartDashboard.putNumber("DriveTrain: left veLocity",leftEncoder.getRate());
SmartDashboard.putNumber("DriveTrain: right distance",rightEncoder.getdistance());
SmartDashboard.putNumber("DriveTrain: right veLocity",rightEncoder.getRate());
SmartDashboard.putNumber("DriveTrain: front right current",frontRight.getoutputCurrent());
SmartDashboard.putNumber("DriveTrain: front right current pdp",Robot.pdp.getCurrent(12));
SmartDashboard.putNumber("DriveTrain: front left current",frontLeft.getoutputCurrent());
SmartDashboard.putNumber("DriveTrain: front left current pdp",Robot.pdp.getCurrent(10));
SmartDashboard.putNumber("DriveTrain: back right current",backRight.getoutputCurrent());
SmartDashboard.putNumber("DriveTrain: back right current pdp",Robot.pdp.getCurrent(13));
SmartDashboard.putNumber("DriveTrain: back left current",backLeft.getoutputCurrent());
SmartDashboard.putNumber("DriveTrain: back left current pdp",Robot.pdp.getCurrent(11));
}
项目:Steamworks2017Robot
文件:Shooter.java
/**
* Sends shooter data to smart dashboard.
*/
public void sendDataToSmartDashboard() {
if (RobotMap.IS_ROADKILL) {
return;
}
SmartDashboard.putNumber("Shooter_Master_Talon_Power",shooterMaster.getoutputCurrent() * shooterMaster.getoutputVoltage());
SmartDashboard.putNumber("Shooter_Slave_Talon_Power",shooterSlave.getoutputCurrent() * shooterSlave.getoutputVoltage());
SmartDashboard.putNumber("Shooter_RPM_Requested",requestedRpm);
SmartDashboard.putNumber("Shooter_RPM_Real",getShooterRpm());
SmartDashboard.putNumber("Shooter_PID_error",shooterMaster.getClosedLoopError());
SmartDashboard.putBoolean("Shooter_Fault",shooterFault);
SmartDashboard.putBoolean("Shooter_Master_Ok",shooterMaster.getFaultHardwareFailure() == 0);
SmartDashboard.putBoolean("Shooter_Master_Temp_Ok",shooterMaster.getStickyFaultOverTemp() == 0);
SmartDashboard.putBoolean("Shooter_Slave_Ok",shooterSlave.getFaultHardwareFailure() == 0);
SmartDashboard.putBoolean("Shooter_Slave_Temp_Ok",shooterSlave.getStickyFaultOverTemp() == 0);
SmartDashboard.putBoolean("Shooter_Master_Present",shooterMaster.isAlive());
SmartDashboard.putBoolean("Shooter_Slave_Present",shooterSlave.isAlive());
}
protected void execute() {
//figure out how close is "close enough" because it's unlikely we'll ever get to 2.5 on the dot. figure this out through testing
Robot.driveTrain.setTankDriveCommand(.6,.6);
/* if (Robot.pixyCamera.transaction(sendBuffer,sendBuffer.length,buffer,1))
{
pixyValue = buffer[0] & 0xFF;
} */
SmartDashboard.putNumber("pixyXAutonaimGear",Robot.pixyValue);
if ((int) Robot.pixyValue > 128 && (int) Robot.pixyValue != 255) //132
{
Robot.driveTrain.setTankDriveCommand(.3,.6);
SmartDashboard.putString("PixyImage","turning right");
}
else if ((int) Robot.pixyValue < 126){
Robot.driveTrain.setTankDriveCommand(.6,.3);
SmartDashboard.putString("PixyImage","turning left");//123
}
else if (Robot.pixyValue == 255)
SmartDashboard.putString("PixyImage","no image");
}
项目:Steamworks2017Robot
文件:DriveTrain.java
/**
* Shifts the gearBoxes up or down.
*
* @param shiftType whether to shift up or down
*/
public void shift(ShiftType shiftType) {
logger.info(String.format("Shifting,type=%s,shifter state=%s",shiftType.toString(),shiftingSolenoid.get().toString()));
if (pcmPresent) {
if (shiftType == ShiftType.TOGGLE) {
if (shiftingSolenoid.get() == DoubleSolenoid.Value.kReverse) {
shiftingSolenoid.set(DoubleSolenoid.Value.kForward);
SmartDashboard.putBoolean("Drive_Shift",true);
} else {
shiftingSolenoid.set(DoubleSolenoid.Value.kReverse);
SmartDashboard.putBoolean("Drive_Shift",false);
}
} else if (shiftType == ShiftType.UP) {
shiftingSolenoid.set(DoubleSolenoid.Value.kForward);
SmartDashboard.putBoolean("Drive_Shift",true);
} else {
shiftingSolenoid.set(DoubleSolenoid.Value.kReverse);
SmartDashboard.putBoolean("Drive_Shift",false);
}
}
}
项目:Robot_2017
文件:Robot.java
public void robotPeriodic() {
SmartDashboard.putNumber("Pixy X value",pixyValue );
//SmartDashboard.putBoolean("IsIngesting",isIngesting);
SmartDashboard.putNumber("Right Encoder",DriveEncoders.getRawRightValue());
SmartDashboard.putNumber("Left Encoder",DriveEncoders.getRawLeftValue());
SmartDashboard.putNumber("Encoder Differences",DriveEncoders.getRawEncDifference());
SmartDashboard.putNumber("Accelerometer",NavX.ahrs.getWorldLinearaccelY());
SmartDashboard.putBoolean("IMU_TP_Connected",NavX.ahrs.isConnected());
SmartDashboard.putNumber("IMU_Yaw",NavX.ahrs.getYaw());
SmartDashboard.putNumber("Left Encoder Value: ",RobotMap.driveTrainLeftFront.getEncPosition());
SmartDashboard.putNumber("Right Encoder Value: ",RobotMap.driveTrainRightFront.getEncPosition());
//SmartDashboard.putNumber("Compressor",RobotMap.compressor.getCompressorCurrent());
SmartDashboard.putNumber("Left Trigger: ",Robot.lTrigger);
SmartDashboard.putNumber("Right Trigger: ",Robot.rTrigger);
//SmartDashboard.putBoolean("Door Status",doorsOpen);
SmartDashboard.putNumber("camera",Robot.camera);
}
项目:StormRobotics2017
文件:Turn.java
protected void execute() {
System.err.println("Execute turn");
Robot.driveTrain.tankDrive(-_leftSpeed,_rightSpeed);//negative sign for turning
SmartDashboard.putNumber("distance traveled",Math.max(Robot.driveTrain.getLeftdistance(),Robot.driveTrain.getRightdistance()));
SmartDashboard.putNumber("distance",_distanceL);
// theoretically,this should print out current veLocity of both wheels
SmartDashboard.putNumber("LeftEncVeLocity",Robot.driveTrain.getLeftSpeedEnc());
SmartDashboard.putNumber("RightEncVeLocity",Robot.driveTrain.getRightSpeedEnc());
SmartDashboard.putNumber("LeftSpeed",Robot.driveTrain.getLeftSpeed());
SmartDashboard.putNumber("RightSpeed",Robot.driveTrain.getRightSpeed());
if (Math.abs(Robot.driveTrain.getLeftdistance()) >= Math.abs(_distanceL)) {
System.err.println("Done left!");
_leftSpeed = 0;
}
if (Math.abs(Robot.driveTrain.getRightdistance()) >= Math.abs(_distanceR)) {
System.err.println("Done right!");
_rightSpeed = 0;
}
}
项目:BBLIB
文件:bbShuffle.java
public static bbShuffle getInstance()
{
if (bs == null)
{
bs = new bbShuffle();
if(bs == null)
{
SmartDashboard.putBoolean("BS Exists?",false);
System.out.println("bbShuffle can't make itself. Fix it pls");
return null;
}
SmartDashboard.putBoolean("BS Exists?",true);
System.out.println("bbShuffle created itself");
return bs;
}
SmartDashboard.putBoolean("BS Exists?",true);
return bs;
}
项目:SteamWorks
文件:OI.java
public OI() {
// BEGIN AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
logitech = new Joystick(0);
shooterbutton = new JoystickButton(logitech,1);
shooterbutton.whileHeld(new shoot());
// SmartDashboard Buttons
SmartDashboard.putData("Autonomous Command",new AutonomousCommand());
SmartDashboard.putData("shoot",new shoot());
// END AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
shootBackwardsButton = new JoystickButton(logitech,2);
shootBackwardsButton.whileHeld(new ShootReverse());
LiftUPButton = new JoystickButton(logitech,3);
LiftReservseButton = new JoystickButton(logitech,4);
LiftUPButton.whileHeld(new LiftUP());
LiftReservseButton.whileHeld(new LiftReverse());
}
项目:Practice_Robot_Code
文件:OI.java
public OI() {
// BEGIN AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
xBoxController = new Joystick(0);
aButton = new JoystickButton(xBoxController,1);
bButton = new JoystickButton(xBoxController,2);
xButton = new JoystickButton(xBoxController,3);
aButton.whenpressed(new RelayOn());
//b button operated by default command only?
bButton.whenpressed(new AllForward());
xButton.whenpressed(new MotorPositionCheck());
// SmartDashboard Buttons
SmartDashboard.putData("Autonomous Command",new AutonomousCommand());
SmartDashboard.putData("RelayOn",new RelayOn());
SmartDashboard.putData("AllForward",new AllForward());
SmartDashboard.putData("MotorPositionCheck",new MotorPositionCheck());
// END AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}
项目:R2017
文件:Robot.java
@Override
public void teleopInit() {
VisionData.getNt().putBoolean("running",false);
bumper.setTeam();
gyroPID.resetGyro();
// Zeroes joysticks at the beginning
stickCalLeft = controls.getLeftDrive();
stickCalRight = controls.getRightDrive();
// Test component speeds with SmartDashboard
SmartDashboard.putNumber("Shooter Speed",shooterSpeed);
SmartDashboard.putNumber("Indexer Speed",indexerSpeed);
SmartDashboard.putNumber("Intake Speed",intakeSpeed);
}
项目:Steamworks2017Robot
文件:Robot.java
@Override
public void robotPeriodic() {
try {
// measure total cycle time,time we take during robotPeriodic,and WPIlib overhead
final long start = System.nanoTime();
logger.trace("robotPeriodic()");
Scheduler.getInstance().run();
long currentNanos = System.nanoTime();
if (currentNanos - nanosAtLastUpdate > RobotMap.SMARTDASHBOARD_UPDATE_RATE * 1000000000) {
allSubsystems.forEach(this::tryToSendDataToSmartDashboard);
nanosAtLastUpdate = currentNanos;
}
SmartDashboard.putNumber("cycleMillis",(currentNanos - prevNanos) / 1000000.0);
SmartDashboard.putNumber("ourTime",(currentNanos - start) / 1000000.0);
prevNanos = currentNanos;
} catch (Throwable ex) {
logger.error("robotPeriodic error",ex);
ex.printstacktrace();
}
}
项目:Spartonics-Code
文件:Robot.java
public void publishToSmartDashboard(){
chassis.publishToSmartDashboard();
winch.publishToSmartDashboard();
//shooter.publishToSmartDashboard();
intake.publishToSmartDashboard();
SmartDashboard.putNumber("Robot Angle",imu.getAngleX()/4);
imu.updateTable();
}
项目:Spartonics-Code
文件:Robot.java
public void disabledPeriodic() {
Scheduler.getInstance().run();
SmartDashboard.putString("Selected Auto",chooser.getSelected().getName());
publishToSmartDashboard();
//SmartDashboard.putString("Selected Autonomous",chooser.getSelected().getName());
}
项目:BBLIB
文件:bbShuffle.java
public static void stri(String label,String data,boolean log)
{
SmartDashboard.putString(label,data);
if(log)
{
BulldogLogger.getInstance().log(label,data);
}
}
/**
* Sends diagnostics to SmartDashboard.
*/
public void sendDataToSmartDashboard() {
SmartDashboard.putBoolean("Feeder_Present",FeederTalon != null && FeederTalon.isAlive());
if (FeederTalon != null) {
SmartDashboard.putNumber("Feeder_Power",FeederTalon.getoutputCurrent() * FeederTalon.getoutputVoltage());
SmartDashboard.putBoolean("Feeder_Ok",FeederTalon.getFaultHardwareFailure() == 0);
SmartDashboard.putBoolean("Feeder_Temp_Ok",FeederTalon.getStickyFaultOverTemp() == 0);
}
}
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
// @Override
public void robotinit() {
System.out.println("1");
RobotMap.init();
drivetrain = new Drivetrain();
climber = new climber();
// fuel = new Fuel();
gear = new Gear();
oi = new OI();
// initializes camera server
server = CameraServer.getInstance();
cameraInit();
// initializes auto chooser
autochooser = new SendableChooser();
autochooser.addDefault("Middle Hook",new AutoMiddleHook());
autochooser.addobject("Loading Station Hook",new AutoLeftHook());
autochooser.addobject("Boiler Side Hook",new AutoRightHook());
SmartDashboard.putData("Auto mode",autochooser);
// auto delay
SmartDashboard.putNumber("Auto delay",0);
// resets all sensors
resetAllSensors();
}
项目:FRC6414program
文件:Shooter.java
public Shooter() {
super();
System.out.println("shooter sub system init");
threadInit(() -> {
SmartDashboard.putNumber("shooter l speed:",leftShooter.get());
SmartDashboard.putNumber("shooter r speed:",rightShooter.get());
SmartDashboard.putNumber("shooter set @",((-Robot.oi.getThrottle() + 1) / 2) * 0.7 + 0.3);
});
}
public DrivetoPeg(){
double distance = .2;
requires(Robot.driveBase);
double kP = -.4;
double kI = 1;
double kD = 5;
pid = new PIDController(kP,kI,kD,new PIDSource() {
PIDSourceType m_sourceType = PIDSourceType.kdisplacement;
@Override
public double pidGet() {
return Robot.driveBase.getdistanceAhead();
}
@Override
public void setPIDSourceType(PIDSourceType pidSource) {
m_sourceType = pidSource;
}
@Override
public PIDSourceType getPIDSourceType() {
return m_sourceType;
}
},new PIDOutput() {
@Override
public void pidWrite(double d) {
Robot.driveBase.driveForward(d);
System.out.println(d);
}
});
pid.setAbsolutetolerance(0.01);
pid.setSetpoint(distance);
pid.setoutputRange(0,.35);
SmartDashboard.putData("drivetoPeg",pid);
}
项目:FRC6414program
文件:USensor.java
public USensor() {
leftpulse = new DigitalOutput(RobotMap.LEFT_pulse);
left = new Counter(RobotMap.LEFT_ECHO);
left.setMaxPeriod(1);
left.setSemiPeriodMode(true);
left.reset();
rightpulse = new DigitalOutput(RobotMap.RIGHT_pulse);
right = new Counter(RobotMap.RIGHT_ECHO);
right.setMaxPeriod(1);
right.setSemiPeriodMode(true);
right.reset();
threadInit(() -> {
leftpulse.pulse(RobotMap.US_pulse);
rightpulse.pulse(RobotMap.US_pulse);
do {
try {
Thread.sleep(1);
} catch (InterruptedException e) {
e.printstacktrace();
}
} while (left.get() < 2 || right.get() < 2);
leftdistant = left.getPeriod() * 0.5 * RobotMap.SPEED_OF_SOUND;
rightdistant = right.getPeriod() * 0.5 * RobotMap.SPEED_OF_SOUND;
SmartDashboard.putNumber("left dis",leftdistant);
SmartDashboard.putNumber("right dis",rightdistant);
left.reset();
right.reset();
});
}
项目:frc-2017
文件:Robot.java
/**
* This function is run when the robot is first started up and should be used for any initialization code.
*/
@Override
public void robotinit() {
drive = new Drive();
gearManipulator = new GearManipulator();
intake = new Intake();
shooter = new Shooter();
storage = new Storage();
climber = new climber();
elevator = new Elevator();
vision = new Vision();
visionProcessing = new LiveUsbCamera();
oi = new OI();
Robot.gearManipulator.gearManipulatorUp();
chooser.addDefault("Center Gear Auto",new CenterGearautonomous());
chooser.addobject("Base Line Autonomous",new BaseLineAutonomous());
chooser.addobject("Boiler side Blue auto",new BoilerSideBlueAuto());
chooser.addobject("Boiler side Red auto",new BoilerSideRedAuto());
chooser.addobject("Do nothing Autonomous",null);
double speed = Preferences.getInstance().getDouble(RobotMap.centerGearautoSpeed,0);
double distance = Preferences.getInstance().getDouble(RobotMap.centerGearautodistance,0);
SmartDashboard.putData("Auto Mode",chooser);
// xBoxLeftTrigger.whileActive(new climberTriggerOn());
xBoxRightTrigger.whileActive(new RunShooter());
visionProcessing.runUsbCamera();
}
项目:CMonster2017
文件:Robot.java
项目:R2017
文件:VisionAutoAlign.java
/**
* calculates amount to turn and move forward to align to target
* STOPS ROBOT IF TARGET LOST OR IN RANGE
*
* @return true if pids ran successfully,false if vision done or interrupted
*/
public boolean autoAlign() {
System.out.println("Lost Target " + tracker.lostTarget());
System.out.println("VisionData running " + VisionData.visionRunning());
System.out.println("Too close = " + (areaPID.getinput() > areaCap));
System.out.println("On target " + areaPID.getController().onTarget());
System.out.println("------------");
// stop if no vision,no target,too close,or at destination
tracker.addTargetFound(VisionData.foundTarget());
if (tracker.lostTarget() || !VisionData.visionRunning() || areaPID.getinput() > areaCap || areaPID.getController().onTarget()) {
driveTrain.stop();
SmartDashboard.putString("Mode","FINISHED");
return false;
}
double div = 0.85 * (1 + Math.abs(offsetPID.getoutput()) / 30.0);
double speedLeft = offsetPID.getoutput() + areaPID.getoutput() / div;
double speedRight = -offsetPID.getoutput() + areaPID.getoutput() / div;
// double angle = VisionData.getAngle();
// gyroPID.getController().setPID(0.005,0.0,0.0);
// gyroPID.getController().setSetpoint(gyroPID.getinput() + angle);
//
// // slow down when turning
// double div = (1 + Math.abs(gyroPID.getoutput()));
// double speedLeft = gyroPID.getoutput() - areaPID.getoutput() / div;
// double speedRight = -gyroPID.getoutput() - areaPID.getoutput() / div;
driveTrain.setLeftMotors(speedLeft);
driveTrain.setRightMotors(speedRight);
return true;
}
@Override
public void sendDataToSmartDashboard() {
if (pdp != null) {
SmartDashboard.putNumber("Temperature",pdp.getTemperature());
//SmartDashboard.putNumber("TotalPower",pdp.getTotalPower());
// in the past,this has tended to screw up the CAN bus
// for (int i = 0; i < 16; i++) {
// SmartDashboard.putNumber("Current_" + i,pdp.getCurrent(i));
// }
}
}
public void robotPeriodic(){
lights.set(1);
SmartDashboard.putBoolean("Pressurized",!compressor.getPressureSwitchValue());
SmartDashboard.putBoolean("PressureCharging",compressor.enabled());
SmartDashboard.putBoolean("PressureControlled",compressor.getClosedLoopControl());
SmartDashboard.putNumber("PressureCurrent",compressor.getCompressorCurrent());
}
项目:FRC-2017-Command
文件:ResetWinch.java
/**
* Stop rotating the winch
*/
@Override
protected void end() {
Robot.winch.off();
logger.info("Winch reset");
SmartDashboard.putBoolean("Winch Ready",true);
}
项目:VikingRobot
文件:Shoot.java
@Override
protected void execute() {
double targetSpeed = .5* 1500;
Robot.shooter.setSetpoint(targetSpeed);
SmartDashboard.putNumber("Setpoint Set",targetSpeed);
Robot.shooter.agitate();
}
项目:STEAMworks
文件:VisionTest.java
@Override
public void log() {
double cx = centerX;
SmartDashboard.putNumber("Vision: Center Value",cx);
SmartDashboard.putNumber("Vision: Target distance",targetdistance);
SmartDashboard.putNumber("Vision: Target Azimuth",targetAzimuth);
SmartDashboard.putNumber("Vision: Target X Offset",targetoffsetX);
SmartDashboard.putBoolean("Vision: Target Detected",targetDetected);
}
项目:R2017
文件:GyroPID.java
public GyroPID() {
gyroSource = new GyroSource();
defaultOutput = new DefaultOutput();
gyroPID = new PIDController(Constants.GYRO_P,Constants.GYRO_I,Constants.GYRO_D,gyroSource,defaultOutput);
gyroPID.setContinuous();
gyroPID.setoutputRange(-Constants.GYRO_CAP,Constants.GYRO_CAP);
gyroPID.enable();
SmartDashboard.putData("GryoPID",gyroPID);
}
项目:El-Jefe-2017
文件:ClawSet.java
protected void execute(){
if(raise && !ignoreUp){
clawLift.clawRaise(1);
}
else if(!raise && !ignoreDown){
clawLift.clawRaise(-1);
}
SmartDashboard.putBoolean("raise",raise);
SmartDashboard.putBoolean("ignoreUp",ignoreUp);
SmartDashboard.putBoolean("ignoreDown",ignoreDown);
SmartDashboard.putBoolean("up",clawLift.getLimitTop());
SmartDashboard.putBoolean("down",clawLift.getLimitBottom());
}
项目:2017
文件:SmartDashboardPIDTunerDevice.java
public void update ()
{
double P = SmartDashboard.getNumber("DB/Slider 0",0.0);
double I = SmartDashboard.getNumber("DB/Slider 1",0.0);
double D = SmartDashboard.getNumber("DB/Slider 2",0.0);
double setPoint = SmartDashboard.getNumber("DB/Slider 3",0.0);
this.tuner.setP(P);
this.tuner.setI(I);
this.tuner.setD(D);
this.tuner.setSetpoint(setPoint);
}
项目:Steamworks2017Robot
文件:GearManipulator.java
/**
* Sends all diagnostics.
*/
public void sendDataToSmartDashboard() {
SmartDashboard.putString("Gear_Mechanism_Position",position.toString());
SmartDashboard.putNumber("Light_Spoke_Down",lsspokeDown.getAverageVoltage());
SmartDashboard.putNumber("Light_Wedge_Down",lsWedgeDown.getAverageVoltage());
SmartDashboard.putString("Gear_Orientation",getGearOrientation().toString());
SmartDashboard.putBoolean("Pressure_Plate",isPressurePlatepressed());
}
项目:FRC-5800-Stronghold
文件:CommandReadSensors.java
protected void execute() {
//Put any code here needed to handle readings from sensors.
SmartDashboard.putNumber("Gyro",sensors.gyro.getAngle());
SmartDashboard.putNumber("Drive Encoder L",sensors.driveEncoderL.get());
SmartDashboard.putNumber("Drive Encoder R",sensors.driveEncoderR.get());
}
protected void initialize() {
Robot.driveTrain.enableGyroPID();
// Angle from SmartDash,default is the robots current angle
double targetAngle = SmartDashboard.getNumber("targetAngle",Robot.driveTrain.getCurrentBoundedAngle());
System.out.println(targetAngle);
Robot.driveTrain.setTargetAngle(targetAngle);
}
项目:DriveStraightBot
文件:Drivetrain.java
public void startDrivingStraight(double speed) {
controller.setPID(
SmartDashboard.getNumber("kP",0.0),SmartDashboard.getNumber("kI",SmartDashboard.getNumber("kD",0.0)
);
autoMoveSpeed = speed;
if (!controller.isEnabled()) {
gyro.reset();
controller.reset();
controller.enable();
}
}