edu.wpi.first.wpilibj.DoubleSolenoid的实例源码

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：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：MinuteMan    文件：HardwareAdaptor.java   

private HardwareAdaptor(){
    pdp = new PowerdistributionPanel();
    comp = new Compressor();
    shifter = new DoubleSolenoid(SolenoidMap.SHIFTER_FORWARD,SolenoidMap.SHIFTER_REVERSE);

    navx = new AHRS(coprocessorMap.NAVX_PORT);

    dtLeftEncoder = new Encoder(EncoderMap.DT_LEFT_A,EncoderMap.DT_LEFT_B,EncoderMap.DT_LEFT_INVERTED);
    S_DTLeft.linkEncoder(dtLeftEncoder);
    dtRightEncoder = new Encoder(EncoderMap.DT_RIGHT_A,EncoderMap.DT_RIGHT_B,EncoderMap.DT_RIGHT_INVERTED);
    S_DTRight.linkEncoder(dtRightEncoder);

    dtLeft = S_DTLeft.getInstance();
    dtRight = S_DTRight.getInstance();
    S_DTWhole.linkDTSides(dtLeft,dtRight);
    dtWhole = S_DTWhole.getInstance();

    arduino = S_Arduino.getInstance();
}

项目：FRC-2017-Public    文件：Spatula.java   

@Override
public void update(Commands commands,RobotState robotState) {
    switch (commands.wantedSpatulaState) {
    case UP:
        mOutput = DoubleSolenoid.Value.kReverse;
        mState = SpatulaState.UP;
        break;
    case DOWN:
        mOutput = DoubleSolenoid.Value.kForward;
        mState = SpatulaState.DOWN;
        break;
    }

    mDv.updateValue(mOutput.toString() == "kReverse" ? "UP" : "DOWN");
    DashboardManager.getInstance().publishKVPair(mDv);
}

项目：FRC-2017-Public    文件：FlippersTest.java   

@Test
public void testOutput() {
    Commands commands = Robot.getCommands();
    Flippers flippers = Flippers.getInstance();

    Flippers.FlipperSignal desired = new Flippers.FlipperSignal(DoubleSolenoid.Value.kForward,DoubleSolenoid.Value.kForward);
    commands.wantedFlipperSignal = desired;
    flippers.update(commands,Robot.getRobotState());
    assertthat("Spatula not up",flippers.getFlipperSignal(),equalTo(desired));

    desired = new Flippers.FlipperSignal(DoubleSolenoid.Value.kForward,DoubleSolenoid.Value.kReverse);
    commands.wantedFlipperSignal = desired;
    flippers.update(commands,equalTo(desired));

    desired = new Flippers.FlipperSignal(DoubleSolenoid.Value.kReverse,equalTo(desired));
}

项目：449-central-repo    文件：ShiftComponent.java   

/**
 * Default constructor.
 *
 * @param otherShiftables All objects that should be shifted when this component's piston is.
 * @param piston          The piston that shifts.
 * @param startingGear    The gear to start in. Can be null,and if it is,the starting gear is gotten from the
 *                        piston's position.
 */
@JsonCreator
public ShiftComponent(@NotNull @JsonProperty(required = true) List<Shiftable> otherShiftables,@NotNull @JsonProperty(required = true) MappedDoubleSolenoid piston,@Nullable Shiftable.gear startingGear) {
    this.otherShiftables = otherShiftables;
    this.piston = piston;

    if (startingGear != null) {
        this.currentGear = startingGear.getNumVal();
    } else {
        //Get the starting gear from the piston's position if it's not provided
        this.currentGear = piston.get() == DoubleSolenoid.Value.kForward ? Shiftable.gear.LOW.getNumVal() : Shiftable.gear.HIGH.getNumVal();
    }

    //Set all the shiftables to the starting gear.
    for (Shiftable shiftable : otherShiftables) {
        shiftable.setGear(currentGear);
    }
}

项目：GRITS16    文件：Load.java   

public static void changeIntakePosition(){

     if(CMap.auxJoystick.getTrigger()){
        if(!intakeBeenpressed){
            if(intakePosition == "up"){
                intakePosition = "down";
                System.out.println("Intake Position set to " + intakePosition + " at " + CMap.teleopTimer.get() + " seconds.");
            } else if(intakePosition == "down"){
                intakePosition = "up";
            }
        }

        intakeBeenpressed = true;
     } else {
        intakeBeenpressed = false;
     }


    if(intakePosition == "up"){
        CMap.intakeSolenoid.set(DoubleSolenoid.Value.kReverse);
    } else if(intakePosition == "down"){
        CMap.intakeSolenoid.set(DoubleSolenoid.Value.kForward);
    }
}

项目：FRC-2014-robot-project    文件：ShooterControl.java   

ShooterControl(Encoder encoder,SpeedController pullBackSpeedController,double speedControllerMaxRpm,DigitalInput limitSwitch,DoubleSolenoid gearControl,Servo latchServo,Relay angleControl)
{
    m_latchReleaseServo = latchServo;
    m_currentState = SHOOTER_CONTROL_STATE_WAIT;
    m_encoder = encoder;
    m_pullBackSpeedController = pullBackSpeedController;
    m_angleControl = angleControl;
    m_speedControllerMaxRpm = speedControllerMaxRpm;
    m_limitSwitch = limitSwitch;
    m_pullBackEncoderRpm = new EncoderRPM();
    m_pullBackEncoderRpm.Init(m_pullBackSpeedController,m_encoder,(-1)*m_speedControllerMaxRpm,m_speedControllerMaxRpm,0.05,100,m_limitSwitch);
    m_releaseFromMidptEncoderRpm = new EncoderRPM();
    m_releaseFromMidptEncoderRpm.Init(m_pullBackSpeedController,(-1)*m_speedControllerMaxRpm/4,3);
    m_gearControl = gearControl;
    m_latchReleased = false;
    m_gearReleased = false;
    m_isPulledBack = false;
}

项目：FRC-2014-robot-project    文件：ShooterControl.java   

private void HandleStateRelease()
{
    if (!m_gearReleased)
    {
        // set the gear in neutral
        m_gearControl.set(DoubleSolenoid.Value.kForward);
        m_gearReleased = true;
    }

    if(!m_latchReleased)
    {
        //release the latch
        m_latchReleaseServo.set(1);
        Timer.delay(0.5);
        m_latchReleased = true;
    }

    m_isPulledBack = false;
    m_currentState = SHOOTER_CONTROL_STATE_WAIT;
}

项目：Spartonics-Code    文件：Winch.java   

public Winch() {
    winchMotor = new CANTalon(RobotMap.WINCH_MOTOR);
    winchBrake = new DoubleSolenoid(RobotMap.WINCH_STOPPER_CHANNEL_A,RobotMap.WINCH_STOPPER_CHANNEL_B);

    this.winchMotor.enableBrakeMode(false);
    this.winchMotor.changeControlMode(TalonControlMode.Voltage);
    this.putBrakeOff();
}

项目：frc-2017    文件：GearManipulator.java   

public void toggleManipulator() {
    Value solenoidVal = manipulatorSolenoid.get();
    if (solenoidVal == Value.kForward) {
        manipulatorSolenoid.set(DoubleSolenoid.Value.kReverse);
    } else {
        manipulatorSolenoid.set(DoubleSolenoid.Value.kForward);
        manipulatorMotor.set(0.5);
    }

}

项目：FRC-2017-Command    文件：WinchPush.java   

/**
 *
 * @param value sets the solenoid state
 */
public void setLock(boolean value){
    if(value){
        sol.set(DoubleSolenoid.Value.kForward);
    }else{
        sol.set(DoubleSolenoid.Value.kReverse);
    }
    SmartDashboard.putBoolean("Winch Cylinder",value);
}

项目：2017    文件：CANObject.java   

/**
 * Creates CAN Pnuematics Control Module object
 * 
 * @param newdoubleSolenoid
 *            the CAN Pnuematics Control Module associated with this object
 * @param newCanId
 *            the ID of the CAN object
 */
public CANObject (final DoubleSolenoid newdoubleSolenoid,int newCanId)
{
    doubleSolenoid = newdoubleSolenoid;
    canId = newCanId;
    typeId = 3;

    // if(useDebug == true)
    // {
    // System.out.println("The Double Solenoid is " + doubleSolenoid);
    // System.out.println("The canId of the DoubleSolenoid is " + canId);
    // System.out.println("The type Id of the DoubleSolenoid is " + typeId);
    // }

}

项目：2017    文件：CANObject.java   

/**
 * Checks if the CAN Device is a Pnuematic Control Module
 * 
 * @return Returns Pnuematic Control Module if type ID is 3,if not returns null
 */
public DoubleSolenoid getdoubleSolenoid ()
{
    if (typeId == 3)
        {
        return doubleSolenoid;
        }
    return null;
}

项目：Robot_2017    文件：RobotMap.java   

public static void init() {
      // BEGIN AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    compressor = new Compressor();

      driveTrainLeftFront = new CANTalon(1);
      LiveWindow.addActuator("DriveTrain","LeftFront",driveTrainLeftFront);
      driveTrainRightFront = new CANTalon(3);
      LiveWindow.addActuator("DriveTrain","RightFront",driveTrainRightFront);
      driveTrainLeftRear = new CANTalon(2);
      driveTrainLeftRear.changeControlMode(TalonControlMode.Follower);
      driveTrainLeftRear.set(driveTrainLeftFront.getdeviceid());
      LiveWindow.addActuator("DriveTrain","LeftRear",driveTrainLeftRear);
      driveTrainRightRear = new CANTalon(4);
      driveTrainRightRear.changeControlMode(TalonControlMode.Follower);
      driveTrainRightRear.set(driveTrainRightFront.getdeviceid());
      driveTrainRightRear.reverSEOutput(false);
      LiveWindow.addActuator("DriveTrain","RightRear",driveTrainRightRear);

      driveTrainLeftFront.setInverted(true);
      driveTrainRightFront.setInverted(true);
      driveTrainLeftRear.setInverted(true);
      driveTrainRightRear.setInverted(true);

      driveTrainRobotDrive41 = new RobotDrive(driveTrainRightFront,driveTrainLeftFront);
driveTrainRobotDrive41.setSafetyEnabled(true);
driveTrainRobotDrive41.setExpiration(0.1);
driveTrainRobotDrive41.setSensitivity(0.5);
driveTrainRobotDrive41.setMaxOutput(1.0);

      climbMotor = new CANTalon(5);
      LiveWindow.addActuator("climbing","Motor",climbMotor);

      lightsLightEnable = new Relay(0);
      LiveWindow.addActuator("Lights","LightEnable",lightsLightEnable);

      gearIntakeRamp = new DoubleSolenoid(1,0);
      LiveWindow.addActuator("GearIntake","IntakeRamp",gearIntakeRamp);

      // END AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
  }

项目：Robot_2017    文件：Robot.java   

public void teleopInit() {

    DriveEncoders.intializeEncoders();
    Gearscore.gearscoreDoor.set(DoubleSolenoid.Value.kForward);
    setBrakeMode(true);
    InterfaceFlip.isFlipped = false;
    // This makes sure that the autonomous stops running when
    // teleop starts running. If you want the autonomous to
    // continue until interrupted by another command,remove
    // this line or comment it out.
    if (autonomousCommand != null) autonomousCommand.cancel();
}

项目：Robot_2017    文件：Gearscore.java   

public Gearscore() {
    super();

    gearscorePusher = new DoubleSolenoid(3,4);
    LiveWindow.addActuator("Gearscore","Pusher",gearscorePusher);

    gearscoreDoor = new DoubleSolenoid(6,5);
    LiveWindow.addActuator("Gearscore","Door",gearscoreDoor);
}

项目：StormRobotics2017    文件：GearSystem.java   

public void setHighGear(boolean enabled) {
    _isGearOn = enabled;
    _gearShifter1.set(enabled ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse);
    _gearShifter2.set(enabled ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse);
    // _gearShifter3.set(enabled ? DoubleSolenoid.Value.kForward
    // : DoubleSolenoid.Value.kReverse);
}

项目：Steamworks2017Robot    文件：DriveTrain.java   

/**
 * Locks the climber ratchet so we don't fall off after the match ends.
 */
public void engageclimberRatchet() {
  SmartDashboard.putBoolean("climber_Engaged",true);
  climberSolenoid.set(DoubleSolenoid.Value.kForward);
  isclimberLocked = true;
  // just in case
  setHoldPositionEnabled(false);
}

项目：MinuteMan    文件：S_DTWhole.java   

/**
 * Toggle current drive gear
 *
 * @param gear Gear to shift to
 */
public static void shift(SubsystemStates.DriveGear gear) {
    switch (gear) {
        case LOW:
            Robot.adaptor.shifter.set(DoubleSolenoid.Value.kForward);
            SubsystemStates.driveGear = SubsystemStates.DriveGear.LOW;
            break;
        case HIGH:
            Robot.adaptor.shifter.set(DoubleSolenoid.Value.kReverse);
            SubsystemStates.driveGear = SubsystemStates.DriveGear.HIGH;
            break;
    }
}

项目：BBLIB    文件：bbDoubleSolenoid.java   

public void toggle()
{
    if (get() == DoubleSolenoid.Value.kOff)
    {
        defaultPosition(isTrigger);
    }
    else if (get() == DoubleSolenoid.Value.kReverse)
    {
        forward();
    }
    else if (get() == DoubleSolenoid.Value.kForward)
    {
        reverse();
    }
}

项目：2016-Robot-Final    文件：Shooter.java   

public Shooter() {
isCocked = false;

motor = new Spark(RobotMap.ShooterMap.PWM_MOTOR);
motor.setInverted(RobotMap.ShooterMap.INV_MOTOR);

solenoid = new DoubleSolenoid(RobotMap.ShooterMap.soL_FORWARD,RobotMap.ShooterMap.soL_REVERSE);
   }

项目：2016-Robot-Final    文件：Shooter.java   

public void setSol(int direction) {
if (direction == 1) {
    solenoid.set(DoubleSolenoid.Value.kForward);
} else if (direction == 0) {
    solenoid.set(DoubleSolenoid.Value.kOff);
} else if (direction == -1) {
    solenoid.set(DoubleSolenoid.Value.kReverse);
}
   }

项目：2016-Robot-Final    文件：Drive.java   

/**
    * Set the solenoid forward or reverse.
    * 
    * @param direction
    *            the direction to set the solenoid,in 1 or -1. 1 will set to
    *            high gear,-1 to low gear.
    */
   public void setSol(int direction) {
if (direction == -1) {
    // Set drive in low gear
    solenoid.set(DoubleSolenoid.Value.kReverse);
    setGear(0);
} else if (direction == 1) {
    // Set drive in high gear
    solenoid.set(DoubleSolenoid.Value.kForward);
    setGear(1);
} else {
    return;
}
   }

项目：449-central-repo    文件：ToggleSolenoid.java   

/**
 * Toggle the state of the piston.
 */
@Override
protected void execute() {
    if (subsystem.getSolenoidPosition().equals(DoubleSolenoid.Value.kForward)) {
        subsystem.setSolenoid(DoubleSolenoid.Value.kReverse);
    } else {
        subsystem.setSolenoid(DoubleSolenoid.Value.kForward);
    }
}

项目：449-central-repo    文件：ShiftComponent.java   

/**
 * Shifts the piston to the given gear.
 *
 * @param gear The gear to shift to
 */
protected void shiftPiston(int gear) {
    if (gear == Shiftable.gear.LOW.getNumVal()) {
        //Switch to the low gear pos
        piston.set(DoubleSolenoid.Value.kForward);
    } else {
        //If we want to switch to high gear and the low gear pos is reverse,switch to forward
        piston.set(DoubleSolenoid.Value.kReverse);
    }
}

项目：frc-2016    文件：AManipulators.java   

public void toggleAManipulators() {
    Value solenoidVal = aManipulatorSolenoid.get();
    if (solenoidVal == Value.kReverse) {
        aManipulatorSolenoid.set(DoubleSolenoid.Value.kForward);
    } else {
        aManipulatorSolenoid.set(DoubleSolenoid.Value.kReverse);
    }
}

项目：frc-2016    文件：Intake.java   

public Intake() {
    Actuator = new DoubleSolenoid(RobotMap.solenoid.IntakeSolenoidForwards,RobotMap.solenoid.IntakeSolenoidBackwards);
    IntakeCIM = new Victor(RobotMap.Pwm.MainIntakevictor);
    IntakeCIM2 = new Victor(RobotMap.Pwm.CrossIntakevictor);

}

项目：RobotBuilderTest    文件：RobotMap.java   

public static void init() {
    // BEGIN AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    driveTrainLeftMotor = new Talon(0);
    LiveWindow.addActuator("DriveTrain","LeftMotor",(Talon) driveTrainLeftMotor);

    driveTrainRightMotor = new Talon(1);
    LiveWindow.addActuator("DriveTrain","RightMotor",(Talon) driveTrainRightMotor);

    driveTrainRobotDrive = new RobotDrive(driveTrainLeftMotor,driveTrainRightMotor);

    driveTrainRobotDrive.setSafetyEnabled(true);
    driveTrainRobotDrive.setExpiration(0.1);
    driveTrainRobotDrive.setSensitivity(0.5);
    driveTrainRobotDrive.setMaxOutput(1.0);

    intakeintakeMotor = new Talon(2);
    LiveWindow.addActuator("Intake","intakeMotor",(Talon) intakeintakeMotor);

    pneumaticSystemCompressor = new Compressor(0);


    pneumaticSystemDoubleSolenoidPusher = new DoubleSolenoid(0,1);
    LiveWindow.addActuator("Pneumatic System","DoubleSolenoidPusher",pneumaticSystemDoubleSolenoidPusher);

    sensorBaseUltraSonicMaxbotix = new AnalogInput(0);
    LiveWindow.addSensor("SensorBase","UltraSonicMaxbotix",sensorBaseUltraSonicMaxbotix);

// END AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}

项目：Stronghold2016    文件：GearBox.java   

public GearBox(SpeedController motor1,SpeedController motor2,SpeedController motor3,Encoder encoder,DoubleSolenoid shifter) {
    m_motor1 = motor1;
    m_motor2 = motor2;
    m_motor3 = motor3;

    m_encoder = encoder;
    m_shifter = shifter;
}

项目：Stronghold2016    文件：Shooter.java   

public void compress(boolean in)    {
    if(in)  {
        m_compress.set(DoubleSolenoid.Value.kForward);
        m_compression = m_compressLeft.getVoltage() + m_compressRight.getVoltage();
    }   else    {
        m_compress.set(DoubleSolenoid.Value.kReverse);
    }
}

项目：2016-Robot    文件：Shooter.java   

public Shooter() {
isCocked = false;

motor = new Spark(RobotMap.ShooterMap.PWM_MOTOR);
motor.setInverted(RobotMap.ShooterMap.INV_MOTOR);

solenoid = new DoubleSolenoid(RobotMap.ShooterMap.soL_FORWARD,RobotMap.ShooterMap.soL_REVERSE);
   }

项目：2016-Robot    文件：Shooter.java   

public void setSol(int direction) {
if (direction == 1) {
    solenoid.set(DoubleSolenoid.Value.kForward);
} else if (direction == 0) {
    solenoid.set(DoubleSolenoid.Value.kOff);
} else if (direction == -1) {
    solenoid.set(DoubleSolenoid.Value.kReverse);
}
   }

项目：2016-Robot    文件：Drive.java   

/**
    * Set the solenoid forward or reverse.
    * 
    * @param direction
    *            the direction to set the solenoid,-1 to low gear.
    */
   public void setSol(int direction) {
if (direction == -1) {
    // Set drive in low gear
    solenoid.set(DoubleSolenoid.Value.kReverse);
    setGear(0);
} else if (direction == 1) {
    // Set drive in high gear
    solenoid.set(DoubleSolenoid.Value.kForward);
    setGear(1);
} else {
    return;
}
   }

项目：liastem    文件：Pneumatics.java   

public void initDefaultCommand() {
    // Set the default command for a subsystem here.
    //setDefaultCommand(new MySpecialCommand());
    testDS=new DoubleSolenoid(1,2);
    testDS.set(DoubleSolenoid.Value.kOff);
    LiveWindow.addActuator("Pneumatics","testDS",testDS);

}

项目：liastem    文件：Pneumatics.java   

public void setDS(boolean on) {
    if(on) {
        testDS.set(DoubleSolenoid.Value.kForward);
    }
    else{
        testDS.set(DoubleSolenoid.Value.kReverse);
    }

}

项目：FRC-2014-robot-project    文件：ShooterControl.java   

private void HandleStatePullback()
{
    double currentTime = Timer.getFPGATimestamp();

    // assume pullback should finish within 5 seconds
    if (m_pullBackEncoderRpm.isEnabled() && (currentTime - m_pullBackStartTime <= 5))
    {
        Logger.PrintLine("ShooterEncoder: calling m_pullBackEncoderRpm.PeriodicFunc",Logger.LOGGER_MESSAGE_LEVEL_DEBUG);

        m_pullBackEncoderRpm.PeriodicFunc();
    }
    else 
    {
        m_pullBackEncoderRpm.Stop();
        if (m_pullBackEncoderRpm.isEnabled())
        {
            Logger.PrintLine("ShooterEncoder: HandleStatePullback Timed out,moving to slow release state",Logger.LOGGER_MESSAGE_LEVEL_ERROR);

            // the pullback ncoder rpm object is still enabled (i.e. the
            // limit switch did not fire and we timed out. As a safty measure
            // do a slow release
            m_currentState = SHOOTER_CONTROL_STATE_SLOW_RELEASE;
            // engage the gear
            m_gearControl.set(DoubleSolenoid.Value.kReverse);
            Timer.delay(0.3);
            m_latchReleased = false;
            m_pullBackStartTime = Timer.getFPGATimestamp();
        }
        else
        {
            // lock the latch
            m_latchReleaseServo.set(0);
            Timer.delay(0.3);
            m_isPulledBack = true;

            m_currentState = SHOOTER_CONTROL_STATE_WAIT;
        }
    }
}

项目：FRC-2014-robot-project    文件：ShooterControl.java   

private void HandleStateReleaseFromMidPoint()
{
    if(!m_latchReleased)
    {
        // release the latch
        m_latchReleaseServo.set(1);
        m_latchReleased = true;
    }

    Timer.delay(0.4);

    //engage the gear
    m_gearControl.set(DoubleSolenoid.Value.kReverse);

    m_isPulledBack = false;
    m_currentState = SHOOTER_CONTROL_STATE_WAIT;

    /*if(m_releaseFromMidptEncoderRpm.isEnabled())
    {   
        m_releaseFromMidptEncoderRpm.PeriodicFunc();
    }
    else
    {
        if (!m_gearReleased)
        {
            // set the gear in neutral
            m_gearControl.set(DoubleSolenoid.Value.kForward);
            m_gearReleased = true;
        }
        m_isPulledBack = false;
        m_currentState = SHOOTER_CONTROL_STATE_WAIT;
    }*/
}

项目：FRC-2014-robot-project    文件：IntakeControl.java   

IntakeControl(SpeedController speedController,boolean speedControllerReversed,DoubleSolenoid angleControl)
{
    m_speedController = speedController;
    m_angleControl = angleControl;
    if (speedControllerReversed)
    {
        m_speedControllerDirectionMult = -1;
    }
    else
    {
        m_speedControllerDirectionMult = 1;
    }
}

项目：FRC-2014-robot-project    文件：IntakeControl.java   

public void ChangeAngle()
{
    if(m_angleControl.get() == DoubleSolenoid.Value.kReverse)
    {
        Logger.PrintLine("IntrakeControl.ChangeAngle kForward",Logger.LOGGER_MESSAGE_LEVEL_DEBUG);
        m_angleControl.set(DoubleSolenoid.Value.kForward);
    }
    else
    {
        Logger.PrintLine("IntrakeControl.ChangeAngle kReverse",Logger.LOGGER_MESSAGE_LEVEL_DEBUG);
        m_angleControl.set(DoubleSolenoid.Value.kReverse);
    }
}