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:2015RobotCode
文件:Robot.java
public Robot() { // initialize variables in constructor
stick = new Joystick(RobotMap.JOYSTICK_PORT); // set the stick to refer to joystick #0
button = new JoystickButton(stick,RobotMap.BTN_TRIGGER);
myRobot = new RobotDrive(RobotMap.FRONT_LEFT_MOTOR,RobotMap.REAR_LEFT_MOTOR,RobotMap.FRONT_RIGHT_MOTOR,RobotMap.REAR_RIGHT_MOTOR);
myRobot.setExpiration(RobotDrive.kDefaultExpirationTime); // set expiration time for motor movement if error occurs
pdp = new PowerdistributionPanel(); // instantiate class to get PDP values
compressor = new Compressor(); // Compressor is controlled automatically by PCM
solenoid = new DoubleSolenoid(RobotMap.soLENOID_PCM_PORT1,RobotMap.soLENOID_PCM_PORT2); // solenoid on PCM port #0 & #1
/*camera = CameraServer.getInstance();
camera.setQuality(50);
camera.setSize(200);*/
frame = NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB,0); // create the image frame for cam
session = NIVision.IMAQdxOpenCamera("cam0",NIVision.IMAQdxcameraControlMode.CameraControlModeController); // get reference to camera
NIVision.IMAQdxconfigureGrab(session); // grab current streaming session
}
/**
* Called when the robot first starts,(only once at power-up).
*/
public void robotinit() {
//NetworkTable.setTeam(1259); adding the setTeam() method will cause the robot to encounter a thread error
//NetworkTable.setIPAddress("10.12.59.2");
operatorInputs = new OperatorInputs();
drive = new DriveTrain(operatorInputs);
prefs = Preferences.getInstance();
pickerPID = new PickerPID();
shoot = new Shooter(operatorInputs);
pick = new Picker(operatorInputs,pickerPID,shoot);
compressor = new Compressor(PRESSURE_SWITCH_CHANNEL,COMPRESSOR_RELAY_CHANNEL);
colwellContraption1 = new Solenoid(1,3);
colwellContraption2 = new Solenoid(1,4);
colwellContraption2.set(true);
this.autoTimer = new Timer();
drive.leftEncoder.start();
drive.rightEncoder.start();
drive.timer.start();
autoTimer.start();
}
项目:aerbot-champs
文件:Environment.java
/**
* Initializes systems
* @param robot the RobotBase to set
*/
public Environment(RobotBase robot) {
this.robot = robot;
this.input = new XBoxinput();
this.accel = new AccelerometerSystem();
this.accel.init(this);
this.gyro = new GyroSystem();
this.gyro.init(this);
this.wheels = new WheelSystem();
this.wheels.init(this);
this.shooter = new ShooterSystem();
this.shooter.init(this);
this.intake = new IntakeSystem();
this.intake.init(this);
this.compressor = new Compressor(2,1);
this.compressor.start();
}
项目:HyperionRobot2014
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() {
robotInstance = this;
RobotMap.init();
canonAngle = new CanonAngle();
canonSpinner = new CanonSpinner();
canonShooter = new CanonShooter();
driveTrain = new DriveTrain();
LedsSetter = new LedsSetter();
// This MUST be here. If the OI creates Commands (which it very likely
// will),constructing it during the construction of CommandBase (from
// which commands extend),subsystems are not guaranteed to be
// yet. Thus,their requires() statements may grab null pointers. Bad
// news. Don't move it.
oi = new OI();
// instantiate the command used for the autonomous period
autonomousCommand = new Autonomous_2balls();
Compressor m_compressor = RobotMap.m_compressor;
m_compressor.start();
RobotMap.visionFrontSonarSolenoidRelay.set(true);
}
项目:PainTrain
文件:PainTrain.java
public PainTrain(){
m_leftGearBox = new ThreeCimBallShifter( new Victor(1),new Victor(2),new Victor(3),new DoubleSolenoid (1,2) );
m_rightGearBox = new ThreeCimBallShifter( new Victor(4),new Victor(5),new Victor(6));
m_shooter = new Shooter(7,8,7,9);
m_intake = new Intake( 3,5,10 );
m_encodeLeft = new Encoder(2,3);
m_encodeRight = new Encoder(5,6);
m_compressor = new Compressor(1,4);
m_compressor.start();
}
项目:2014-robot
文件:RichardSimmons.java
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
public void robotinit() {
auto = new Autonomous(MechanismPack.getInstance());
teleop = new Teleop(ControlPack.getInstance(),MechanismPack.getInstance(),SensorPack.getInstance());
compressor = new Compressor(Channels.COMPRESSOR_PRESSURE_SWITCH_CHANNEL,Channels.COMPRESSOR_RELAY_CHANNEL);
compressor.start();
SensorPack.getInstance().getGyro().reset();
swagLights = new Relay(Channels.SWAG_LIGHT_PORT);
swagLights.set(Relay.Value.kOn);//Todo: NEEDED?
System.out.println("Robot initilization complete.");
}
项目:2014_Main_Robot
文件:Robot.java
/**
* This method is run when the robot is first powered on.
*/
public void robotinit() {
//initialize compressor
compressor = new Compressor(RobotMap.pressureSwitch.getInt(),RobotMap.compressorRelay.getInt());
// Initialize all subsystems
CommandBase.init();
//Initialize auto mode chooser
autoSelectinit();
//create thread to write dashboard variables
printer = new ConsolePrinter(200);
printer.startThread();
//init message Box on driverstation
lcd = DriverStationLCD.getInstance();
//Console Message so we kNow robot finished loading
System.out.println("****Robot Done Loading****");
}
项目:EventBasedWiredCats
文件:WiredCats2415.java
public WiredCats2415() {
compressor = new Compressor(5,8);
// textReader.pushToSmartDashboard();
initControllers();
initDrive();
initShooter();
initIntake();
initArm();
initAutonomous();
initHang();
// initLogger();
for (int i = 0; i < threads.size(); i++) {
((Thread) (threads.elementAt(i))).start();
}
}
项目:Hyperion3360-2012
文件:Robot.java
public void robotinit() {
// Ce commentaire va s'imprimmer sur la console de NetBeans
System.out.println("Initialisation du Robot HYPERION 3360 : Version " + mVersionMajeur + "." + mVErsionmineur);
// Le compresseur doit etre toujours demarer pour avoir le plus de pression.
mCompresseur = new Compressor(DigitalDevice.mPressionCompresseur,RelayDevice.mCompresseur);
mCompresseur.start();
// Activer les composantes du robot dans autonomus et operatorControl.
mDriveTrain = new DriveTrain();
mReserveBalon = new ReserveBallon();
mCanon = new Canon(mReserveBalon);
mPont = new Pont();
disabled = false;
//Timer.delay(10);
//camera.getInstance();
//camera.writeResolution(AxisCamera.ResolutionT.k640x480);
//camera.writeBrightness(0);
}
项目:FRC-2017-Command
文件:Robot.java
@Override
public void robotinit() {
logger = LoggerFactory.getLogger(Robot.class);
logger.info("Initializing Robot");
drivetrain = new DriveTrain();
driveEncoders = new DriveEncoders(RobotMap.leftEncoderA,RobotMap.leftEncoderB,RobotMap.rightEncoderA,RobotMap.rightEncoderB,RobotMap.encoderMaxPeriod,RobotMap.encoderMinRate,RobotMap.encoderDPP,RobotMap.encoderReverseDirection,RobotMap.encoderSamplesToAvg);
ultrasonic = new Ultrasonic(RobotMap.valuetoInches,RobotMap.ultrasonicPort);
gyro = new Gyro();
vision = new Vision();
gds = new GDS();
pickup = new Pickup();
flywheel = new Flywheel();
meter = new Meter();
winch = new Winch();
winchPush = new WinchPush();
fieldTimer = new FieldTimer();
oi = new OI();
chooser = new SendableChooser<>();
endTimer = new StartEndTimer();
stopTimers = new StopEndTimer();
vision.setUpCamera();
SmartDashboard.putData(drivetrain);
chooser.addDefault("None",noAuto);
chooser.addobject("Forward Drive",forwardAuto);
chooser.addobject("Center Gear Blue",centerGearauto);
chooser.addobject("Left Gear",leftGearauto);
chooser.addobject("Right Gear",rightGearauto);
chooser.addobject("Boiler Red",boilerAuto);
chooser.addobject("Center Gear Only",centerGearOnlyAuto);
chooser.addobject("Boiler Blue",boilerAutoBlue);
chooser.addobject("Center Gear Red",centerGearRed);
SmartDashboard.putData("Auto choices",chooser);
Compressor c = new Compressor(10);
c.setClosedLoopControl(true);
gyro.calibrate();
winchPush.setLock(false);
}
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:Steamworks2017Robot
文件:Pneumatics.java
/**
* Creates a new Pneumatics subsystem.
*/
public Pneumatics() {
logger.info("Initialize");
if (Robot.deviceFinder.isPcmAvailable(RobotMap.PCM_CAN_ID)) {
compressor = new Compressor(RobotMap.PCM_CAN_ID);
compressor.setClosedLoopControl(true);
}
}
项目:2016-Robot-Final
文件:Robot.java
public void robotinit() {
// Create subsystems
drive = new Drive();
intake = new Intake();
arm = new Arm();
shooter = new Shooter();
hanger = new Hanger();
oi = new OI();
// Create motion profiles
crossLowBar = new Profile(AutoMap.crossLowBar);
reach = new Profile(AutoMap.reach);
toShoot = new Profile(AutoMap.toShoot);
toLowGoal = new Profile(AutoMap.toLowGoal);
// Pick an auto
chooser = new SendableChooser();
chooser.addDefault("Do nothing",new Donothing());
chooser.addobject("Low Bar",new LowBarRawtonomous());
chooser.addobject("Low Bar (profile)",new CrossLowBar(crossLowBar));
chooser.addobject("Reach",new Reach(reach));
chooser.addobject("Forward Rawto",new ForwardRawtonomous());
chooser.addobject("Backward Rawto",new BackwardRawtonomous());
chooser.addobject("Shoot",new AutoShoot());
SmartDashboard.putData("Auto mode",chooser);
// Start camera stream
camera = new USBCamera();
server = CameraServer.getInstance();
server.setQuality(40);
server.startAutomaticCapture(camera);
// Start compressor
compressor = new Compressor();
compressor.start();
navx = new AHRS(SPI.Port.kMXP);
}
项目:449-central-repo
文件:Pneumatics.java
/**
* Default constructor
*
* @param nodeID The node ID of the compressor.
* @param pressureSensor The pressure sensor attached to this pneumatics system. Can be null.
*/
@JsonCreator
public Pneumatics(@JsonProperty(required = true) int nodeID,@Nullable PressureSensor pressureSensor) {
compressor = new Compressor(nodeID);
this.pressureSensor = pressureSensor;
}
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:2016-Robot
文件:Robot.java
public void robotinit() {
// Create subsystems
drive = new Drive();
intake = new Intake();
arm = new Arm();
shooter = new Shooter();
hanger = new Hanger();
oi = new OI();
// Create motion profiles
crossLowBar = new Profile(AutoMap.crossLowBar);
reach = new Profile(AutoMap.reach);
toShoot = new Profile(AutoMap.toShoot);
toLowGoal = new Profile(AutoMap.toLowGoal);
// Pick an auto
chooser = new SendableChooser();
chooser.addDefault("Do nothing",chooser);
// Start camera stream
camera = new USBCamera();
server = CameraServer.getInstance();
server.setQuality(40);
server.startAutomaticCapture(camera);
// Start compressor
compressor = new Compressor();
compressor.start();
navx = new AHRS(SPI.Port.kMXP);
}
项目:FRC-2016-Robot-Code
文件:Robot.java
public void robotinit() {
frontLeft = new VictorSP(0);
backLeft = new VictorSP(1);
frontRight = new VictorSP(2);
backRight = new VictorSP(3);
intakeMotor = new VictorSP(4);
compressor = new Compressor(0);
intakeSolenoid = new Solenoid(0);
driveTrain = new RobotDrive(frontLeft,backLeft,frontRight,backRight);
driveTrain.setSafetyEnabled(false);
driveTrain.setExpiration(0.1);
driveTrain.setSensitivity(0.5);
driveTrain.setInvertedMotor(RobotDrive.MotorType.kFrontLeft,false);
driveTrain.setInvertedMotor(RobotDrive.MotorType.kRearLeft,false);
driveTrain.setInvertedMotor(RobotDrive.MotorType.kFrontRight,false);
driveTrain.setInvertedMotor(RobotDrive.MotorType.kRearRight,false);
XBoxController = new Joystick(2);
rightJoystick = new Joystick(1);
leftJoystick = new Joystick(0);
}
项目:FRC-2016
文件:Pneumatics.java
/**
* Constructor
*/
private Pneumatics() {
shifter = new DoubleSolenoid(1,SHIFTER_EXT,SHIFTER_RET);
comp = new Compressor(1);
comp.setClosedLoopControl(true);
shifter.set(DoubleSolenoid.Value.kForward);
shifter.set(DoubleSolenoid.Value.kOff);
}
项目:FRC2015Code
文件:RobotMap.java
public static void init() {
leftDriveMotor = new Talon(leftDriveMotorPin);
LiveWindow.addActuator("driveTrain","Left Motor",(Talon) leftDriveMotor);
rightDriveMotor = new Talon(rightDriveMotorPin);
LiveWindow.addActuator("driveTrain","Right Motor",(Talon) rightDriveMotor);
shifterSolenoid = new DoubleSolenoid(shifterSolenoidUpPin,shifterSolenoidDownPin);
LiveWindow.addActuator("driveTrain","GearBox Shifter",(DoubleSolenoid) shifterSolenoid);
winchMotor = new Talon(winchMotorPin);
LiveWindow.addActuator("chainLifter","Elevator Motor",(Talon) winchMotor);
robotDrive = new RobotDrive(leftDriveMotor,rightDriveMotor);
robotDrive.setSafetyEnabled(true);
robotDrive.setExpiration(0.1);
robotDrive.setSensitivity(0.5);
robotDrive.setMaxOutput(1.0);
robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearLeft,false);
robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearRight,false);
grabberSolenoid = new DoubleSolenoid(grabberSolenoidOpenPin,grabberSolenoidClosePin);
LiveWindow.addActuator("grabberArm","Grabber Solenoid",(DoubleSolenoid) grabberSolenoid);
compressor = new Compressor();
LiveWindow.addActuator("grabberArm","compressor",(Compressor) compressor);
}
项目:strongback-java
文件:HardwarePneumaticsModule.java
HardwarePneumaticsModule(Compressor pcm) {
this.pcm = pcm;
this.closedLoop = Relay.instantaneous(this.pcm::setClosedLoopControl,this.pcm::getClosedLoopControl);
this.instantaneousFaults = new Faults() {
@Override
public Switch currentTooHigh() {
return pcm::getCompressorCurrentTooHighFault;
}
@Override
public Switch notConnected() {
return pcm::getCompressorNotConnectedFault;
}
@Override
public Switch shorted() {
return pcm::getCompressorShortedFault;
}
};
this.stickyFaults = new Faults() {
@Override
public Switch currentTooHigh() {
return pcm::getCompressorCurrentTooHighStickyFault;
}
@Override
public Switch notConnected() {
return pcm::getCompressorNotConnectedStickyFault;
}
@Override
public Switch shorted() {
return pcm::getCompressorShortedStickyFault;
}
};
}
项目:2015RobotCode
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() {
// initialize all subsystems and important classes
oi = new OI();
//autoSys = new AutonomousSys();
driveSys = new DrivingSys();
// instantiate the command used for the autonomous period
//autonomousCommand = new AutonomousCmd();
// instantiate cmd used for teleop period
arcadeDriveCmd = new ArcadeDriveJoystick();
// Show what cmd the susbsystem is running on SmartDashboard
SmartDashboard.putData(driveSys);
// Initialize Power distribution Panel
pdp = new PowerdistributionPanel();
// Compressor is controlled automatically by PCM
compressor = new Compressor();
solenoid = new DoubleSolenoid(0,1);
solenoid.set(DoubleSolenoid.Value.kReverse);
/*camera = CameraServer.getInstance();
camera.setQuality(50);
camera.startAutomaticCapture("cam0");*/
}
项目:2015RobotCode
文件:PneumaticControl.java
项目:2015RobotCode
文件:Robot.java
public Robot() {
myRobot = new RobotDrive(RobotMap.FRONT_LEFT_MOTOR,RobotMap.REAR_RIGHT_MOTOR);
myRobot.setExpiration(0.1);
stick = new Joystick(RobotMap.JOYSTICK_PORT1);
compressor = new Compressor();
solenoid = new DoubleSolenoid(RobotMap.soLENOID_PCM_PORT1,RobotMap.soLENOID_PCM_PORT2);
jaguar = new Jaguar(RobotMap.LIFT_MOTOR);
}
public void robotinit(){
driveStick= new JoyStickCustom(1,DEADZONE);
secondStick=new JoyStickCustom(2,DEADZONE);
frontLeft= new Talon(1);
rearLeft= new Talon(2);
frontRight= new Talon(3);
rearRight= new Talon(4);
timer=new Timer();
timer.start();
armM = new Victor(7);
rollers =new Victor(6);
mainDrive=new RobotDrive(frontLeft,rearLeft,rearRight);
mainDrive.setInvertedMotor(RobotDrive.MotorType.kFrontRight,true);
mainDrive.setInvertedMotor(RobotDrive.MotorType.kRearRight,true);
armP = new AnalogPotentiometer(1);
distance= new AnalogChannel(2);
ultra=new Ultrasonic(6,7);
ultra.setAutomaticMode(true);
compress=new Compressor(5,1);
handJoint=new Pneumatics(3,4);
//ultra = new Ultrasonic(6,5);
//ultra.setAutomaticMode(true);
winch = new Winch(secondStick);
}
项目:aeronautical-facilitation
文件:AeronauticalFacilitation.java
/**
*
*/
public void robotinit() {
// instantiate the command used for the autonomous period
DriveTrain = new DriveTrain();
launchercontroller = new Launcher();
rollerSubsystem = new Roller();
display = DriverStationLCD.getInstance();
compressor = new Compressor(RobotMap.PressureSwitchDigitalInput,RobotMap.CompressorRelay);
compressor.start();
DriveTrain.shiftHighGear();
OI.initialize();
autonomousCommand = new Autonomous();
arduino = new ArduinoConnection();
arduino.setPattern("4");
pattern = 0;
driverStation = DriverStation.getInstance();
alliance = driverStation.getAlliance().value;
digital1 = driverStation.getDigitalIn(1);
digital2 = driverStation.getDigitalIn(2);
digital3 = driverStation.getDigitalIn(3);
// Initialize all subsystems.
// Subsystems: a self-contained system within a larger system.
CommandBase.init();
}
项目:ProjectShifter
文件:Drivetrain.java
public Drivetrain(){
leftFront = new Talon(Constants.leftFront);
leftMiddle = new Talon(Constants.leftMiddle);
leftBack = new Talon(Constants.leftBack);
rightFront = new Talon(Constants.rightFront);
rightMiddle = new Talon(Constants.rightMiddle);
rightBack = new Talon(Constants.rightBack);
relay = new Relay(Constants.shifter);
compressor = new Compressor(Constants.pressureGauge,Constants.compressor);
compressor.start();
}
public ShooterSubsystem() {
winchSafety = new WinchSafetyThread();
initalizeCANJaguar();
firedLimit = new DigitalIOButton(RobotMap.SHOOTER_FIRED_LIMIT);
canLimitBottom = new CANLimitButton(false);
firedLimit.whenpressed(new LogToBlackBox("CAN Button hit top"));
canLimitBottom.whenpressed(new LogToBlackBox("CAN Button hit bottom"));
latch = new Solenoid(RobotMap.SHOOTER_LATCH);
compressor = new Compressor(RobotMap.COMPRESSOR_SWITCH,RobotMap.COMPRESSOR_RELAY);
compressor.start();
SmartDashboard.putNumber("P",P);
SmartDashboard.putNumber("I",I);
SmartDashboard.putNumber("D",D);
}
项目:FRC2014
文件:Shooter.java
public Shooter(Collector collector) {
//initializing everything
shooterMotors = new Talon(4);
shootCommand = false;
compressor = new Compressor(7,1);
compressor.start();
driverStation = DriverStation.getInstance();
this.collector = collector;
}
项目:Team_3200_2014_Aerial_Assist
文件:PneumaticShooter.java
/**
* Creates the pneumatic shooter.
*/
public PneumaticShooter() {
// Define pneumatics-related items
compressor = new Compressor(RobotMap.DIGITAL_MODULE,RobotMap.COMPRESSOR_PRESSURE_SWITCH,RobotMap.DIGITAL_MODULE,RobotMap.COMPRESSOR_RELAY);
leftPiston = new Piston(RobotMap.soLENOID_MODULE,RobotMap.LEFT_PISTON_SOLA,RobotMap.LEFT_PISTON_SOLB);
middlePiston = new Piston(RobotMap.soLENOID_MODULE,RobotMap.MIDDLE_PISTON_SOLA,RobotMap.MIDDLE_PISTON_SOLB);
rightPiston = new Piston(RobotMap.soLENOID_MODULE,RobotMap.RIGHT_PISTON_SOLA,RobotMap.RIGHT_PISTON_SOLB);
leftPiston.set(false);
middlePiston.set(false);
rightPiston.set(false);
ballIn = new RangeFinderBall(RobotMap.ANALOG_MODULE,RobotMap.RANGE_UNDER_BALL);
timeStarted = -1;
timeFire = -1;
aShootButtonHeld = false;
powSwitchButtonHeld = false;
airpulseIncreaseStart = -1;
airpulseDecreaseStart = -1;
dryFireButtonHeld = false;
dryFireStart = -1;
RANGE_FOR_disT[6] = 500;
RANGE_FOR_disT[10] = 600;
SmartDashboard.putNumber("Time Extend (milliseconds)",350);
SmartDashboard.putNumber("Auto 2nd Ball Air pulse (milliseconds)",250);
SmartDashboard.putBoolean("Ball Sensor_Active",true);
SmartDashboard.putBoolean("Ball in",false);
SmartDashboard.putBoolean("Unstuckify",false);
}
项目:2014_software
文件:WsCompressor.java
public WsCompressor(String name,int pressureSwitchSlot,int pressureSwitchChannel,int compresssorRelaySlot,int compressorRelayChannel)
{
super(name);
compressor = new Compressor(pressureSwitchSlot,pressureSwitchChannel,compresssorRelaySlot,compressorRelayChannel);
compressor.start();
LOW_VOLTAGE_CONfig = new DoubleConfigFileParameter(this.getClass().getName(),"LowVoltage",0.5);
HIGH_VOLTAGE_CONfig = new DoubleConfigFileParameter(this.getClass().getName(),"HighVoltage",4.0);
MAX_PSI_CONfig = new DoubleConfigFileParameter(this.getClass().getName(),"MaxPSI",115);
lowVoltage = LOW_VOLTAGE_CONfig.getValue();
highVoltage = HIGH_VOLTAGE_CONfig.getValue();
maxPSI = MAX_PSI_CONfig.getValue();
}
项目:FRC623Robot2014
文件:RobotHardware.java
public RobotHardware() {
try {
// Initializes the Jaguar motor controllers for driving
CANJaguar frontLeftJaguar = new CANJaguar(Constants.FRONT_LEFT_MOTOR_PORT);
CANJaguar backLeftJaguar = new CANJaguar(Constants.BACK_LEFT_MOTOR_PORT);
CANJaguar frontRightJaguar = new CANJaguar(Constants.FRONT_RIGHT_MOTOR_PORT);
CANJaguar backRightJaguar = new CANJaguar(Constants.BACK_RIGHT_MOTOR_PORT);
// Initializes the controller for the four driving motors and reverses two of them
driveControl = new RobotDrive(frontLeftJaguar,backLeftJaguar,frontRightJaguar,backRightJaguar);
driveControl.setInvertedMotor(RobotDrive.MotorType.kFrontRight,true);
driveControl.setInvertedMotor(RobotDrive.MotorType.kRearRight,true);
} catch (CANTimeoutException ex) {
ex.printstacktrace();
}
// Initialize joysticks
driverJoystick = new Joystick(Constants.DRIVER_JOYSTICK_PORT);
secondJoystick = new Joystick(Constants.SECOND_JOYSTICK_PORT);
sonar = new AnalogChannel(Constants.ANALOG_SONAR_PORT);
compressor = new Compressor(Constants.COMPRESSOR_PRESSURE_SWITCH_CHANNEL,Constants.COMPRESSOR_RELAY_CHANNEL);
doubleSol = new DoubleSolenoid(Constants.DOUBLE_SOLENOID_FORWARD_CHANNEL,Constants.DOUBLE_SOLENOID_REVERSE_CHANNEL);
sol1 = new Solenoid(Constants.soLENOID_PORT_1);
sol2 = new Solenoid(Constants.soLENOID_PORT_2);
}
public Robottemplate() {
// initialize all the objects
ingest = new VictorPair(5,6);
elevator = new Victor(1);
shooter = new VictorPair(2,4);
robotDrive = new Drive(8,10,9);
xBox = new JStick(1);
joystick = new JStick(2);
compressor = new Compressor(4,3);
compressor.start();
driveGeara = new Solenoid(1);
driveGearB = new Solenoid(2);
driveGeara.set(true);
driveGearB.set(false);
selectedGear = 1;
leftEnc = new Encoder(6,true,CounterBase.EncodingType.k2X);
leftEnc.setdistancePerpulse(0.103672558);
rightEnc = new Encoder(9,false);
rightEnc.setdistancePerpulse(0.103672558);
lcd = DriverStationLCD.getInstance();
}
项目:2012
文件:GameMech.java
public GameMech()
{
load = new Loader();
shoot = new SlingShot();
camera = new CameraUnit();
// PushDownerrr = new RampGodownerrrr();
airCompressor = new Compressor(ReboundRumble.AIR_PRESSURE_SENSOR_GPIO_CHANNEL,ReboundRumble.AIR_COMPRESSOR_RELAY_CHANNEL);
}
项目:frc-2013-offseason
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() {
scheduler = Scheduler.getInstance();
mDrive = Drive.getInstance();
mArm = Arm.getInstance();
compressor = new Compressor(RobotMap.PRESSURE_SWITCH,RobotMap.COMPRESSOR_RELAY);
compressor.start();
autonChooser.addobject("Do nothing",new FakeCommand());
SmartDashboard.putData("Autonomous Chooser",autonChooser);
}
项目:2013-Ultimate-Ascent-Robot
文件:Pnuematics.java
public Pnuematics(UltimateAscentRobot robot){
super(robot);
compressor = new Compressor(1,1);
//compressor = new Relay(1);
//compressor.setDirection(Relay.Direction.kForward);
//pSwitch = new DigitalInput(1);
}
项目:2484-tesla-2013
文件:Robot_Tesla_2013.java
protected void robotinit()
{
m_LeftDriveMotor = new Victor(SLOT,LEFT_MOTOR_CHANNEL); //cRIO Slot,Channel
m_RightDriveMotor = new Victor(SLOT,RIGHT_MOTOR_CHANNEL);
//m_ArmMotor = new Victor(SLOT,ARM_MOTOR);
m_FrisbeeMotor = new Victor(SLOT,FRISBEE_MOTOR);
m_Driver = new Joystick(1); //USB Port
m_Secondary = new Joystick(2);
m_RobotDrive = new RobotDrive(m_LeftDriveMotor,m_RightDriveMotor);
m_Compressor = new Compressor(14,1); //Pressure switch channel,Relay channel
m_Compressor.start();
//m_ArmSolIn = new Solenoid(SOL_ARM_IN);
//m_ArmSolOut = new Solenoid(SOL_ARM_OUT);
m_FrisbeeSolIn = new Solenoid(SOL_FRISBEE_IN);
m_FrisbeeSolOut = new Solenoid(SOL_FRISBEE_OUT);
m_Lights = new Solenoid(SOL_LIGHTS);
//m_ArmPist = new Piston(m_ArmSolIn,m_ArmSolOut,false,3);
m_FrisbeePist = new Piston(m_FrisbeeSolIn,m_FrisbeeSolOut,0.5f);
m_Shooter = new Shooter(m_FrisbeePist,m_FrisbeeMotor,1);
//m_ArmTop = new DigitalInput(ARMTOP); //Channel
//m_ArmBot = new DigitalInput(ARMBOT);
m_LCD = DriverStationLCD.getInstance();
}
项目:StormRobotics2017
文件:Robot.java
@Override
public void robotinit() {
driveTrain = new DriveTrain();
//driveTrainPID = new DriveTrainPID();
gear = new GearSystem();
hang = new HangingSystem();
intake = new IntakeSystem();
shoot = new ShootingSystem();
oi = new OI();
vision = new VisionSystem();
compressor = new Compressor();
compressor.start();
leds = new LEDz();
ds = DriverStation.getInstance();
chooser = new SendableChooser<>();
chooser.addDefault("Do nothing",new DriveForwarddistance(0,true));
chooser.addobject("Baseline",new Baseline());
chooser.addobject("Left",new LeftPeg());
chooser.addobject("Center No Vision",new CenterNoVision());
chooser.addobject("Right",new RightPeg());
chooser.addobject("Center Vision",new CenterVision());
chooser.addobject("Right Peg Boiler",new RightPegBoiler());
chooser.addobject("Left Peg Boiler",new LeftPegBoiler());
chooser.addobject("CODE NIGHT FOLLOWER",new CodeNightFollow());
SmartDashboard.putData("Autochooser",chooser);
// String[] autoModeNames = new String[] { "Drive Forward distance","Drive Forward Time","Right","GyroTurn" };
// Command[] autoModes = new Command[] { new DriveForwarddistance(50,2,2),// new DriveForward(-0.25,10),new Right()};// Almost full turn
//
//// Command[] autoModes = new Command[] { new DriveForwarddistance(encoderTicsPerRev * 20,encoderTicsPerRev * 20),//// new DriveForward(-0.25,10) };
//
//
// // configure and send the sendableChooser,which allows the modes
// // to be chosen via radio button on the SmartDashboard
// for (int i = 0; i < autoModes.length; i++) {
// chooser.addobject(autoModeNames[i],autoModes[i]);
// }
SmartDashboard.putData(Scheduler.getInstance());
new Command("Sensor Feedback") {
@Override
protected void initialize() {
}
@Override
protected void execute() {
sendSensorData();
}
@Override
protected boolean isFinished() {
return false;
}
@Override
protected void end() {
}
@Override
protected void interrupted() {
}
}.start();
}
项目:2017-Robot
文件:Robot.java
@Override
public void robotinit() {
chooser = new SendableChooser<Integer>();
chooser.addDefault("center red",1);
chooser.addobject("center blue",2);
chooser.addobject("boiler red",3);
chooser.addobject("boiler blue",4);
chooser.addobject("ret red",5);
chooser.addobject("ret blue",6);
chooser.addobject("current test",7);
SmartDashboard.putData("Auto choices",chooser);
//NETWORK TABLE VARIABLES
table = NetworkTable.getTable("dataTable");
//POWER disT PANEL
pdp = new PowerdistributionPanel();
//NAVX
navx = new AHRS(SPI.Port.kMXP);
// CONTROLLER
jsLeft = new Joystick(0);
jsRight = new Joystick(1);
xBox = new XBoxController(5);
// MOTORS
leftFront = new Talon(pwm5);
leftMid = new Talon(pwm3);
leftBack = new Talon(pwm1);
rightFront = new Talon(pwm4);
rightMid = new Talon(pwm2);
rightBack = new Talon(pwm0);
// ENCODERS
encLeftDrive = new Encoder(0,1);
encRightDrive = new Encoder(2,3);
// COMPRESSOR
compressor = new Compressor();
compressor.start();
//SOLENOIDs
driveChain = new DoubleSolenoid(0,1);
driveChain.set(Value.kReverse);
presser = new DoubleSolenoid(2,3);
presser.set(Value.kReverse);
gearpiston = new DoubleSolenoid(4,5);
gearpiston.set(Value.kReverse);
//CANTALONS
climber = new CANTalon(2);
shooter = new CANTalon(4);
intake = new CANTalon(9);
Feeder = new CANTalon(13);
// CAMERA
//DON'T DELETE THE COMMENTED THREAD-IT IS USED FOR CALIBRATION
/*
UsbCamera usbCam = new UsbCamera("mscam",0);
usbCam.setVideoMode(VideoMode.PixelFormat.kMJPEG,160,120,20);
MjpegServer server1 = new MjpegServer("cam1",1181);
server1.setSource(usbCam);
*/
UsbCamera camera = CameraServer.getInstance().startAutomaticCapture();
camera.setVideoMode(VideoMode.PixelFormat.kMJPEG,20);
//SMARTDASBOARD
driveSetting = "LOW START";
gearSetting = "GEAR CLOSE START";
}
项目:2015RobotCode
文件:PneumaticSys.java