项目:FRC-2015cb
文件:RobotMap.java
public static void init() {
// BEGIN AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
driveTrainFrontLeftMotor = new Jaguar(2);
LiveWindow.addActuator("DriveTrain","FrontLeftMotor",(Jaguar) driveTrainFrontLeftMotor);
driveTrainRearLeftMotor = new Jaguar(3);
LiveWindow.addActuator("DriveTrain","RearLeftMotor",(Jaguar) driveTrainRearLeftMotor);
driveTrainFrontRightMotor = new Jaguar(1);
LiveWindow.addActuator("DriveTrain","FrontRightMotor",(Jaguar) driveTrainFrontRightMotor);
driveTrainRearRightMotor = new Jaguar(0);
LiveWindow.addActuator("DriveTrain","RearRightMotor",(Jaguar) driveTrainRearRightMotor);
/*driveTrainRearLeftPID = new PIDSpeedController(backLeftEncoder,driveTrainRearLeftMotor,"Drive","Back Left");
LiveWindow.addActuator("DriveTrain","RearLeftPID",(Jaguar) driveTrainRearLeftMotor);
driveTrainRearRightMotor = new PIDSpeedController(backRightEncoder,driveTrainRearRightMotor,"Back Right");
LiveWindow.addActuator("DriveTrain","RearRightPID",(Jaguar) driveTrainRearRightMotor);*/
driveTrainrobotDrive = new RobotDrive(driveTrainFrontLeftMotor,driveTrainFrontRightMotor,driveTrainRearRightMotor);
driveTrainrobotDrive.setSafetyEnabled(true);
driveTrainrobotDrive.setExpiration(0.1);
driveTrainrobotDrive.setSensitivity(0.3);
driveTrainrobotDrive.setMaxOutput(1.0);
driveTrainrobotDrive.setInvertedMotor(RobotDrive.MotorType.kFrontLeft,true);
driveTrainrobotDrive.setInvertedMotor(RobotDrive.MotorType.kRearLeft,true);
accel = new BuiltInAccelerometer();
accel = new BuiltInAccelerometer(Accelerometer.Range.k4G);
LiveWindow.addSensor("DriveTrain","Accelerometer",(LiveWindowSendable) accel);
gyro = new Gyro(0);
LiveWindow.addSensor("DriveTrain","Gyro",(LiveWindowSendable) gyro);
liftMotor = new Talon(4);
LiveWindow.addActuator("Lift","Lift Motor",(Talon) liftMotor);
topLimit = new DigitalInput(8);
LiveWindow.addSensor("Lift","Upper Limit Switch",topLimit);
bottomLimit = new DigitalInput(9);
LiveWindow.addSensor("Lift","Lower Limit Switch",bottomLimit);
toteInRobot = new DigitalInput(4);
LiveWindow.addSensor("Lift","Tote In Robot",toteInRobot);
lotOfTotes = new DigitalInput(5);
LiveWindow.addSensor("Lift","5 Totes in Robot",lotOfTotes);
liftEncoder = new Encoder(6,7);
LiveWindow.addSensor("Lift","Lift Encoder",liftEncoder);
backLeftEncoder = new Encoder(2,3);
LiveWindow.addSensor("Lift","Back Left Encoder",backLeftEncoder);
backRightEncoder = new Encoder(0,1);
LiveWindow.addSensor("Lift","Back Right Encoder",backRightEncoder);
leftPicker = new Talon(5);
LiveWindow.addActuator("Pickers","Left Picker",(Talon) leftPicker);
rightPicker = new Talon(6);
LiveWindow.addActuator("Pickers","Right Picker",(Talon) rightPicker);
compressor = new Compressor(0);
LiveWindow.addActuator("Lift","Compressor",compressor);
dogs = new Solenoid(0);
LiveWindow.addActuator("Lift","Dogs",dogs);
pusher = new Solenoid(1);
LiveWindow.addActuator("Lift","Pusher",pusher);
flipper = new Solenoid(2);
LiveWindow.addActuator("Lift","Flipper",flipper);
thatArmThatOpensToReleaseStacks = new Solenoid(3);
LiveWindow.addActuator("Lift","Stack Arm",thatArmThatOpensToReleaseStacks);
}