项目:RA17_RobotCode
文件:Manipulation.java
public Manipulation(int in1,int in2,int out)
{
input1 = new Spark(in1);
input2 = new Spark(in2);
output = new CANTalon(out);
output.changeControlMode(TalonControlMode.PercentVbus);
}
项目:RA17_RobotCode
文件:GearPlacer.java
项目:GearBot
文件:RobotMap.java
public static void init() {
// BEGIN AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
leftSideLeftPaddle = new Spark(0);
LiveWindow.addActuator("LeftSide","LeftPaddle",(Spark) leftSideLeftPaddle);
leftSideLeftOut = new DigitalInput(0);
LiveWindow.addSensor("LeftSide","LeftOut",leftSideLeftOut);
leftSideLeftIn = new DigitalInput(2);
LiveWindow.addSensor("LeftSide","LeftIn",leftSideLeftIn);
rightSideRightPaddle = new Spark(1);
LiveWindow.addActuator("RightSide","RightPaddle",(Spark) rightSideRightPaddle);
rightSideRightOut = new DigitalInput(1);
LiveWindow.addSensor("RightSide","RightOut",rightSideRightOut);
rightSideRightIn = new DigitalInput(3);
LiveWindow.addSensor("RightSide","RightIn",rightSideRightIn);
gearGate = new Spark(2);
LiveWindow.addActuator("Gear","Gate",(Spark) gearGate);
gearGearIsIn = new DigitalInput(4);
LiveWindow.addSensor("Gear","GearIsIn",gearGearIsIn);
// END AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}
项目:2016-Robot-Final
文件:Shooter.java
项目:2016-Robot-Final
文件:Intake.java
public Intake() {
motor = new Spark(RobotMap.IntakeMap.PWM_MOTOR);
motor.setInverted(RobotMap.IntakeMap.INV_MOTOR);
limit = new DigitalInput(RobotMap.IntakeMap.dio_LIMIT);
stop();
}
项目:2016-Robot
文件:Shooter.java
项目:2016-Robot
文件:Intake.java
public Intake() {
motor = new Spark(RobotMap.IntakeMap.PWM_MOTOR);
motor.setInverted(RobotMap.IntakeMap.INV_MOTOR);
limit = new DigitalInput(RobotMap.IntakeMap.dio_LIMIT);
stop();
}
项目:Spartonics-Code
文件:wheelIntake.java
public wheelIntake() {
leftIntakeMotor = new Spark(0);
rightIntakeMotor = new Spark(1);
}
项目:2017
文件:Shooter.java
/**
* Creates a new shooter object for the 2017 season,SteamWorks
*
* @param controller
* The motor controller which runs the flywheel.
* @param ballLoaderSensor
* Detects if there's a ball ready to be fired.
* @param elevator
* The motor controller which loads the loader elevator
* @param acceptableFlywheelSpeedError
* The error we can handle on the flywheel without losing
* accuracy
* @param visiontargeting
* Our vision processor object,used to target the high boiler.
* @param acceptableGimbalError
* The acceptable angular angle,in degrees,the gimbal turret is
* allowed to be off.
* @param gimbalMotor
* The motor controller the turret is run on
* @param agitatorMotor
* The motor controller the agitator motor is connected to
* @param distanceSensor
* Todo
* @param gimbalEnc
* The potentiometer that reads the bearing of the turret.
*/
public Shooter (CANTalon controller,irsensor ballLoaderSensor,Spark elevator,double acceptableFlywheelSpeedError,ImageProcessor visiontargeting,double acceptableGimbalError,CANTalon gimbalMotor,Victor agitatorMotor,UltraSonic distanceSensor)
{
this.flywheelController = controller;
this.elevatorSensor = ballLoaderSensor;
this.elevatorController = elevator;
this.acceptableError = acceptableFlywheelSpeedError;
this.visionTargeter = visiontargeting;
this.gimbalMotor = gimbalMotor;
this.agitatorMotor = agitatorMotor;
this.distanceSensor = distanceSensor;
}
项目:FRC-2017
文件:BallManagement.java
public static void initialize() {
if (initialized)
return;
// reset trigger init time
initTriggerTime = Utility.getFPGATime();
// create and reset collector relay
collectorSolenoid = new Spark(HardwareIDs.COLLECTOR_SOLENOID_PWM_ID);
// create and reset gear tray spark & relay
gearTrayRelay = new Relay(HardwareIDs.GEAR_TRAY_RELAY_CHANNEL_1,Relay.Direction.kForward);
gearTrayRelay.set(Relay.Value.kOff);
gearTrayRelay2 = new Relay(HardwareIDs.GEAR_TRAY_RELAY_CHANNEL_2,Relay.Direction.kForward);
gearTrayRelay2.set(Relay.Value.kOff);
// create motors & servos
transportMotor = new Spark(HardwareIDs.TRANSPORT_PWM_ID);
collectorMotor = new CANTalon(HardwareIDs.COLLECTOR_TALON_ID);
agitatorServo = new Spark(HardwareIDs.AGITATOR_PWM_ID); // continuous servo control modeled as Spark PWM
FeederMotor = new CANTalon(HardwareIDs.FeedER_TALON_ID);
shooterMotor = new CANTalon(HardwareIDs.SHOOTER_TALON_ID);
// set up shooter motor sensor
shooterMotor.reverseSensor(false);
shooterMotor.setFeedbackDevice(FeedbackDevice.QuadEncoder);
// FOR REFERENCE ONLY:
//shooterMotor.configEncoderCodesPerRev(12); // use this ONLY if you are NOT reading Native units
// USE FOR DEBUG ONLY: configure shooter motor for open loop speed control
//shooterMotor.changeControlMode(TalonControlMode.PercentVbus);
// configure shooter motor for closed loop speed control
shooterMotor.changeControlMode(TalonControlMode.Speed);
shooterMotor.configNominalOutputVoltage(+0.0f,-0.0f);
shooterMotor.configPeakOutputVoltage(+12.0f,-12.0f);
// set PID(F) for shooter motor (one profile only)
shooterMotor.setProfile(0);
shooterMotor.setP(3.45);
shooterMotor.setI(0);
shooterMotor.setD(0.5);
shooterMotor.setF(9.175);
// make sure all motors are off
resetMotors();
gamepad = new Joystick(HardwareIDs.GAMEPAD_ID);
initialized = true;
}
项目:FRC-2017
文件:BallManagement.java
public static void initialize() {
if (initialized)
return;
// reset trigger init time
initTriggerTime = Utility.getFPGATime();
// create and reset collector relay
collectorSolenoid = new Spark(HardwareIDs.COLLECTOR_SOLENOID_PWM_ID);
// create and reset gear tray spark & relay
gearTrayRelay = new Relay(HardwareIDs.GEAR_TRAY_RELAY_CHANNEL_1,-12.0f);
// set PID(F) for shooter motor (one profile only)
shooterMotor.setProfile(0);
shooterMotor.setP(P_COEFF);
shooterMotor.setI(I_COEFF);
shooterMotor.setD(D_COEFF);
shooterMotor.setF(F_COEFF);
// make sure all motors are off
resetMotors();
gamepad = new Joystick(HardwareIDs.GAMEPAD_ID);
initialized = true;
}
项目:FRC-2016
文件:Shooter.java
/**
* Constructor
*/
private Shooter() {
left = new Spark(SHOOTER_LEFT);
right = new Spark(SHOOTER_RIGHT);
launcher = new DoubleSolenoid(1,LAUNCHER_EXT,LAUNCHER_RET);
}
public SpeedControllerSubsystem(SpeedControllerSubsystemType type,final int channel) {
switch(type) {
case CAN_JAGUAR:
this._controller = new CANJaguar(channel);
break;
case CAN_TALON:
this._controller = new CANTalon(channel);
break;
case JAGUAR:
this._controller = new Jaguar(channel);
break;
case SD540:
this._controller = new SD540(channel);
break;
case SPARK:
this._controller = new Spark(channel);
break;
case TALON:
this._controller = new Talon(channel);
break;
case TALON_SRX:
this._controller = new TalonSRX(channel);
break;
case VICTOR:
this._controller = new Victor(channel);
break;
case VICTOR_SP:
this._controller = new VictorSP(channel);
break;
default:
break;
}
}
项目:turtleshell
文件:TurtleSpark.java
public TurtleSpark(int port,boolean isReversed) {
v = new Spark(port);
this.isReversed = isReversed;
}
项目:Spartonics-Code
文件:Chassis.java
public Chassis() {
rightMotor = new Spark(4);
leftMotor = new Spark(RobotMap.LEFT_MOTOR);
drive = new RobotDrive(rightMotor,leftMotor);
this.drive.setInvertedMotor(MotorType.kFrontLeft,true);
this.drive.setInvertedMotor(MotorType.kFrontRight,true);
}
项目:FRC-2017
文件:FreezyDriveTrain.java
public static void initialize() {
if (initialized)
return;
motorL = new Spark(LEFT_SPARK_ID);
motorR = new Spark(RIGHT_SPARK_ID);
driveControl = new DriveControl();
Controller.initialize();
initialized = true;
}
项目:strongback-java
文件:Hardware.java
/**
* Create a motor driven by a <a href="http://www.revrobotics.com/SPARK">RevRobotics Spark Motor Controller</a> on the
* specified channel,with a custom speed limiting function.
*
* @param channel the channel the controller is connected to
* @param speedLimiter function that will be used to limit the speed (input voltage); may not be null
* @return a motor on the specified channel
*/
public static Motor spark(int channel,DoubletoDoubleFunction speedLimiter) {
return new HardwareSpark(new Spark(channel),SPEED_LIMITER);
}