项目：testGIT
文件：DefaultRobot.java
public void autonomousPeriodic() {
// Feed the user watchdog at every period when in autonomous
Watchdog.getInstance().Feed();
m_autoperiodicLoops++;
// generate KITT-style LED display on the solenoids
SolenoidLEDsKITT( m_autoperiodicLoops );
/* the below code (if uncommented) would drive the robot forward at half speed
* for two seconds. This code is provided as an example of how to drive the
* robot in autonomous mode,but is not enabled in the default code in order
* to prevent an unSUSPECTing team from having their robot drive autonomously!
*/
/* below code commented out for safety
if (m_autoperiodicLoops == 1) {
// When on the first periodic loop in autonomous mode,start driving forwards at half speed
m_robotDrive->Drive(0.5,0.0); // drive forwards at half speed
}
if (m_autoperiodicLoops == (2 * GetLoopsPerSec())) {
// After 2 seconds,stop the robot
m_robotDrive->Drive(0.0,0.0); // stop robot
}
*/
}
项目：2013robot
文件：RobotProject.java
public void robotinit() {
//Com.ps = new Communication.PISocket(true);
/*
try{
Com.ps.init(true);
Com.ps.GetData();
} catch (Exception ex) {
ex.printstacktrace();
}
*/
wd = Watchdog.getInstance();
wd.setExpiration(0.5);
SI.init();
IM.init();
MC.init();
wd.Feed();
}
项目：CaptainFalcon
文件：Robot.java
/**
* This function is called periodically during autonomous
*/
public void autonomousPeriodic() {
try {
for (int i = 0; i < components.length; ++i)
components[i].tickAuto();
} catch (Exception e) {
e.printstacktrace();
Watchdog.getInstance().kill();
}
}
项目：CaptainFalcon
文件：Robot.java
/**
* This function is called periodically during operator control
*/
public void teleopPeriodic() {
try {
for (int i = 0; i < components.length; ++i)
components[i].tickTeleop();
} catch (Exception e) {
e.printstacktrace();
Watchdog.getInstance().kill();
}
}
项目：testGIT
文件：DefaultRobot.java
public void disabledPeriodic() {
// Feed the user watchdog at every period when disabled
Watchdog.getInstance().Feed();
// increment the number of disabled periodic loops completed
m_disabledPeriodicLoops++;
// while disabled,printout the duration of current disabled mode in seconds
if ((Timer.getUsClock() / 1000000.0) > printSec) {
System.out.println("disabled seconds: " + (printSec - startSec));
printSec++;
}
}
/**
* This function is called periodically during autonomous
*/
public void autonomousPeriodic() {
WsInputManager.getInstance().updateOiDataAutonomous();
WsInputManager.getInstance().updateSensorData();
WsAutonomousManager.getInstance().update();
WsSubsystemContainer.getInstance().update();
WsOutputManager.getInstance().update();
Watchdog.getInstance().Feed();
}
public void teleopPeriodic() {
// periodTimer.endTimingSection();
// periodTimer.startTimingSection();
// durationTimer.startTimingSection();
WsInputManager.getInstance().updateOiData();
WsInputManager.getInstance().updateSensorData();
WsSubsystemContainer.getInstance().update();
WsOutputManager.getInstance().update();
Watchdog.getInstance().Feed();
// durationTimer.endTimingSection();
}
项目：2014RobotCode
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() {
watchdog = Watchdog.getInstance();
watchdog.setEnabled(false);
CommandBase.init(); //initializes commands
mecDrive = new DriveCommand();
info = new FrontSensorToDash();
auto = new Autonomous();
//RobotMap.camera = AxisCamera.getInstance();
}
项目：frc_2014_aerialassist
文件：FRC2014Java.java
FRC2014Java(){
//Motor Controllers
leftDrive = new Talon(TALON_PORT_L);
rightDrive = new Talon(TALON_PORT_R);
//Joystick
xBox = new Joystick(1);
//Winch
winch = new Talon(2);
//Intake
intake = new Talon(8);
//Cam
cam = new Talon(3);
//Catapult Limit Switch
catapultLimit = new DigitalInput(1);
//Cam Limit Switch
camLimit = new DigitalInput(2);
//Intake Limit Switch
intakeLimit = new DigitalInput(3);
//Cameras
cameraFront = AxisCamera.getInstance("10.10.2.11");
cameraBack = AxisCamera.getInstance("10.10.2.12");
//Watchdog
dog = Watchdog.getInstance();
}
项目：TitanRobot2014
文件：TitanRobot.java
/**
* Constructs a TitanRobot object.
*/
public TitanRobot() {
System.out.println("Creating TitanRobot instance for 2014.");
componentRegistry = new ComponentRegistry();
stateRegistry = new StateRegistry();
autonomousRunner = new AutonomousRunner(this);
teleOperatedRunner = new TeleOperatedRunner(this);
testRunner = new TestRunner(this);
setInstance();
Watchdog.getInstance().setEnabled(WATCHDOG_ENABLE);
System.out.println("TitanRobot ready for operation.");
}
项目：TitanRobot2014
文件：TeleOperatedRunner.java
public void run() {
/* Run in teleoperated loop as long as robot is enabled */
while (robot.isOperatorControl() && robot.isEnabled()) {
/* Handle operations */
directionButtonHandler.run();
speedButtonHandler.run();
componentRegistry.getRobotDrive().drive(0.0,0);
tankDriveHandler.run();
pickupButtonHandler.run();
/* Handle shoulder operations - order of handlers is important */
shoulderButtonHandler.run();
shoulderManualPositionHandler.run();
shoulderSeekPositionHandler.run();
shoulderServoHandler.run();
/* Handle shooting operations */
hammerButtonHandler.run();
// autoShootHandler.run();
shootingHandler.run();
/* Update indicator lights */
shootingdistanceLightHandler.run();
hammerLatchedLightHandler.run();
/* Update Messages */
boolean updateNeeded = armPositionMonitor.update();
updateNeeded |= distanceMonitor.update();
if (updateNeeded) {
messagedisplay.update();
}
/* Feed watchdog to prevent shutdown and then wait */
Watchdog.getInstance().Feed();
Timer.delay(TELEOPERATED_LOOP_DELAY);
}
componentRegistry.getRobotDrive().drive(0.0,0);
}
项目：TitanRobot2014
文件：AutonomousRunner.java
private void drive(double pSpeed,int pTurn) {
boolean reverseLeftMotor = (FRONT_LEFT_DRIVE_MOTOR_DIRECTION == REVERSE);
boolean reverseRightMotor = (FRONT_RIGHT_DRIVE_MOTOR_DIRECTION == REVERSE);
/* Drive after adjusting for drive direction */
robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearLeft,!reverseLeftMotor);
robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearRight,!reverseRightMotor);
robotDrive.drive(pSpeed,pTurn);
Watchdog.getInstance().Feed();
}
项目：RobotCode-2015
文件：Robot.java
项目：Valkyrie
文件：Valkyrie.java
public void teleopPeriodic(){
Scheduler.getInstance().run(); //update commands
SmartDashboard.putNumber("Speed",CommandBase.Drive.getSpeed());
SmartDashboard.putNumber("GyroAngle",CommandBase.Drive.getAngle());
//System.out.println("Left Speed: " + CommandBase.Drive.getLeftSpeed());
//System.out.println("Right Speed: " + CommandBase.Drive.getRightSpeed());
CommandBase.OI.updategripSwitch();
Watchdog.getInstance().Feed(); //very hungry
}
/**
* This function is called periodically during autonomous
*/
public void autonomousPeriodic() {
WsInputManager.getInstance().updateOiDataAutonomous();
WsInputManager.getInstance().updateSensorData();
WsAutonomousManager.getInstance().update();
WsSubsystemContainer.getInstance().update();
WsOutputManager.getInstance().update();
Watchdog.getInstance().Feed();
}
public void teleopPeriodic() {
// periodTimer.endTimingSection();
// periodTimer.startTimingSection();
// durationTimer.startTimingSection();
WsInputManager.getInstance().updateOiData();
WsInputManager.getInstance().updateSensorData();
WsSubsystemContainer.getInstance().update();
WsOutputManager.getInstance().update();
Watchdog.getInstance().Feed();
// durationTimer.endTimingSection();
}
项目：CaptainFalcon
文件：WatchdogWrapper.java
public WatchdogWrapper(Watchdog w) {
this.w = w;
}
项目：testGIT
文件：DefaultRobot.java
public void teleopPeriodic() {
// Feed the user watchdog at every period when in autonomous
Watchdog.getInstance().Feed();
// increment the number of teleop periodic loops completed
m_telePeriodicLoops++;
/*
* Code placed in here will be called only when a new packet of information
* has been received by the Driver Station. Any code which needs new information
* from the DS should go in here
*/
m_dsPacketsReceivedInCurrentSecond++; // increment DS packets received
// put Driver Station-dependent code here
// put some code here that does nothing
Doesnothing();
// Demonstrate the use of the Joystick buttons
Solenoid[] firstGroup = new Solenoid[4];
Solenoid[] secondGroup = new Solenoid[4];
for (int i = 0; i < 4; i++) {
firstGroup[i] = m_solenoids[i];
secondGroup[i] = m_solenoids[i + 4];
}
DemonstrateJoystickButtons(m_rightStick,m_rightStickButtonState,"Right Stick",firstGroup);
DemonstrateJoystickButtons(m_leftStick,m_leftStickButtonState,"Left Stick ",secondGroup);
// determine if tank or arcade mode,based upon position of "Z" wheel on kit joystick
if (m_rightStick.getZ() <= 0) { // Logitech Attack3 has z-polarity reversed; up is negative
// use arcade drive
m_robotDrive.arcadeDrive(m_rightStick,false); // drive with arcade style (use right stick)
if (m_driveMode != ARCADE_DRIVE) {
// if newly entered arcade drive,print out a message
System.out.println("Arcade Drive\n");
m_driveMode = ARCADE_DRIVE;
}
} else {
// use tank drive
m_robotDrive.tankDrive(m_leftStick,m_rightStick); // drive with tank style
if (m_driveMode != TANK_DRIVE) {
// if newly entered tank drive,print out a message
System.out.println("Tank Drive\n");
m_driveMode = TANK_DRIVE;
}
}
}
/**
* This function is called periodically during test mode
*/
public void testPeriodic() {
Watchdog.getInstance().Feed();
}
项目：TitanRobot2014
文件：AutonomousRunner.java
private void runAutonomousMode2(boolean pShoot) {
/* Keep shoulder up,pull in ball and keep */
for (int count = 0; count < 550; count++) {
if (robot.isAutonomous() && robot.isEnabled()) {
shoulderMotor.set(0.4);
pickupMotor.set(PICKUP_MOTOR_SPEED);
if (pickupMotor.isHardLimitReached()) {
break;
}
robotDrive.drive(0.0,0.0);
/* Feed watchdog to prevent shutdown and then wait */
Watchdog.getInstance().Feed();
Timer.delay(AUTONOMOUS_LOOP_DELAY);
}
}
// was 175
/* Keep shoulder up and drive forward */
for (int count = 0; count < 300; count++) {
if (robot.isAutonomous() && robot.isEnabled()) {
shoulderMotor.set(0.4);
pickupMotor.set(PICKUP_MOTOR_SPEED);
robotDrive.drive(-0.4,0.0);
/* Feed watchdog to prevent shutdown and then wait */
Watchdog.getInstance().Feed();
Timer.delay(AUTONOMOUS_LOOP_DELAY);
}
}
/* Stop drive and keep shoulder up and ball */
for (int count = 0; count < 100; count++) {
if (robot.isAutonomous() && robot.isEnabled()) {
shoulderMotor.set(0.15);
pickupMotor.set(PICKUP_MOTOR_SPEED);
robotDrive.drive(0.0,0.0);
}
}
/* Keep shoulder up and roll ball out */
pickupMotor.setNonTimedOperation();
for (int count = 0; count < 75; count++) {
if (robot.isAutonomous() && robot.isEnabled()) {
shoulderMotor.set(0.15);
pickupMotor.set(PICKUP_MOTOR_FIRE_SPEED);
robotDrive.drive(0.0,0.0);
}
}
/* Shoot the ball */
pickupMotor.setTimedOperation(PICKUP_MOTOR_FIRE_TIME);
for (int count = 0; count < 500; count++) {
if (robot.isAutonomous() && robot.isEnabled()) {
shoulderMotor.set(0.15);
if (pShoot) {
pickupMotor.set(PICKUP_MOTOR_FIRE_SPEED);
hammerMotor.set(HAMMER_FIRE_SPEED);
}
robotDrive.drive(0.0,0.0);
/* Feed watchdog to prevent shutdown and then wait */
Watchdog.getInstance().Feed();
Timer.delay(AUTONOMOUS_LOOP_DELAY);
}
}
/* Stop all motors */
while (robot.isAutonomous() && robot.isEnabled()) {
shoulderMotor.set(0.0);
pickupMotor.set(0.0);
hammerMotor.set(0.0);
robotDrive.drive(0.0,0.0);
/* Feed watchdog to prevent shutdown and then wait */
Watchdog.getInstance().Feed();
Timer.delay(AUTONOMOUS_LOOP_DELAY);
}
}
项目：TitanRobot2014
文件：AutonomousRunner.java
private void runAutonomousMode3() {
for (int count = 0; count < 500; count++) {
pickupMotor.set(PICKUP_MOTOR_SPEED);
if (pickupMotor.isHardLimitReached()) {
break;
}
robotDrive.drive(0.0,0.0);
/* Feed watchdog to prevent shutdown and then wait */
Watchdog.getInstance().Feed();
Timer.delay(AUTONOMOUS_LOOP_DELAY);
}
for (int count = 0; count < 500; count++) {
if (!robot.isAutonomous() || !robot.isEnabled()) {
break;
}
pickupMotor.set(PICKUP_MOTOR_SPEED);
robotDrive.drive(-0.4,0.0);
/* Feed watchdog to prevent shutdown and then wait */
Watchdog.getInstance().Feed();
Timer.delay(AUTONOMOUS_LOOP_DELAY);
}
for (int count = 0; count < 75; count++) {
if (!robot.isAutonomous() || !robot.isEnabled()) {
break;
}
robotDrive.drive(0.0,0.0);
pickupMotor.setTimedOperation(PICKUP_MOTOR_FIRE_TIME);
pickupMotor.set(PICKUP_MOTOR_FIRE_SPEED);
hammerMotor.set(HAMMER_FIRE_SPEED);
/* Feed watchdog to prevent shutdown and then wait */
Watchdog.getInstance().Feed();
Timer.delay(AUTONOMOUS_LOOP_DELAY);
}
while (robot.isAutonomous() && robot.isEnabled()) {
robotDrive.drive(0.0,0.0);
hammerMotor.set(0.0);
pickupMotor.set(0.0);
/* Feed watchdog to prevent shutdown and then wait */
Watchdog.getInstance().Feed();
Timer.delay(AUTONOMOUS_LOOP_DELAY);
}
}
项目：RobotCode-2015
文件：Robot.java
/**
* This function is called periodically during autonomous
*/
public void autonomousPeriodic() {
Scheduler.getInstance().run();
Watchdog.getInstance().Feed();
}
项目：RobotCode-2015
文件：Robot.java
/**
* This function is called periodically during operator control
*/
public void teleopPeriodic() {
Scheduler.getInstance().run();
Watchdog.getInstance().Feed();
}
/**
* This function is called periodically during autonomous
*/
public void autonomousPeriodic() {
FrameworkAbstraction.autonomousPeriodic();
Watchdog.getInstance().Feed();
}
public void teleopPeriodic() {
FrameworkAbstraction.teleopPeriodic();
Watchdog.getInstance().Feed();
}
/**
* This function is called periodically during test mode
*/
public void testPeriodic() {
Watchdog.getInstance().Feed();
}
项目：Robot2013
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() {
try {
//disable the watchdog
Watchdog.getInstance().setEnabled(false);
//Get the drive class
drive = new Drive();
//Get the shooter class
shooter = new Shooter();
//Get the OI class
oi = new OI();
} catch (CANTimeoutException ex) {
ex.printstacktrace();
}
}
/**
* This function is called periodically during test mode
*/
public void testPeriodic() {
Watchdog.getInstance().Feed();
}