public static void init() {
// BEGIN AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
driveTrainleftFrontTalon0 = new TalonSRX(0);
LiveWindow.addActuator("DriveTrain","leftFrontTalon0",(TalonSRX) driveTrainleftFrontTalon0);
driveTrainleftBackTalon1 = new TalonSRX(1);
LiveWindow.addActuator("DriveTrain","leftBackTalon1",(TalonSRX) driveTrainleftBackTalon1);
driveTrainrightFrontTalon2 = new TalonSRX(2);
LiveWindow.addActuator("DriveTrain","rightFrontTalon2",(TalonSRX) driveTrainrightFrontTalon2);
driveTrainrightBackTalon3 = new TalonSRX(3);
LiveWindow.addActuator("DriveTrain","rightBackTalon3",(TalonSRX) driveTrainrightBackTalon3);
driveTrainRobotDrive = new RobotDrive(driveTrainleftFrontTalon0,driveTrainleftBackTalon1,driveTrainrightFrontTalon2,driveTrainrightBackTalon3);
driveTrainRobotDrive.setSafetyEnabled(true);
driveTrainRobotDrive.setExpiration(0.1);
driveTrainRobotDrive.setSensitivity(0.5);
driveTrainRobotDrive.setMaxOutput(1.0);
driveTraingyro = new Gyro(0);
LiveWindow.addSensor("DriveTrain","gyro",driveTraingyro);
driveTraingyro.setSensitivity(0.007);
driveTrainleftFrontEncoder = new Encoder(17,18,false,EncodingType.k4X);
LiveWindow.addSensor("DriveTrain","leftFrontEncoder",driveTrainleftFrontEncoder);
driveTrainleftFrontEncoder.setdistancePerpulse(1.0);
driveTrainleftFrontEncoder.setPIDSourceParameter(PIDSourceParameter.kRate);
driveTrainleftBackEncoder = new Encoder(19,20,"leftBackEncoder",driveTrainleftBackEncoder);
driveTrainleftBackEncoder.setdistancePerpulse(1.0);
driveTrainleftBackEncoder.setPIDSourceParameter(PIDSourceParameter.kRate);
driveTrainrightFrontEncoder = new Encoder(21,22,"rightFrontEncoder",driveTrainrightFrontEncoder);
driveTrainrightFrontEncoder.setdistancePerpulse(1.0);
driveTrainrightFrontEncoder.setPIDSourceParameter(PIDSourceParameter.kRate);
driveTrainrightBackEncoder = new Encoder(23,24,"rightBackEncoder",driveTrainrightBackEncoder);
driveTrainrightBackEncoder.setdistancePerpulse(1.0);
driveTrainrightBackEncoder.setPIDSourceParameter(PIDSourceParameter.kRate);
// END AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}
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);
driveTrainMotors = new RobotDrive(driveTrainleftMotor,driveTrainrightMotor);
driveTrainMotors.setSafetyEnabled(true);
driveTrainMotors.setExpiration(0.1);
driveTrainMotors.setSensitivity(0.5);
driveTrainMotors.setMaxOutput(1.0);
driveTrainwheelRotations = new Encoder(2,3,"wheelRotations",driveTrainwheelRotations);
driveTrainwheelRotations.setdistancePerpulse(0.102);
driveTrainwheelRotations.setPIDSourceParameter(PIDSourceParameter.kRate);
driveTraingyro = new Gyro(0);
LiveWindow.addSensor("DriveTrain",driveTraingyro);
driveTraingyro.setSensitivity(0.0015);
driveTrainrangeFinder = new AnalogInput(1);
LiveWindow.addSensor("DriveTrain","rangeFinder",driveTrainrangeFinder);
armSolenoid = new DoubleSolenoid(0,1);
LiveWindow.addActuator("Arms","armSolenoid",armSolenoid);
armWidthLimit = new DigitalInput(1);
LiveWindow.addSensor("Arms","armWidthLimit",armWidthLimit);
elevatorlimitSwitch = new DigitalInput(0);
LiveWindow.addSensor("Elevator","limitSwitch",elevatorlimitSwitch);
elevatorSolenoid = new DoubleSolenoid(0,6,7);
LiveWindow.addActuator("Elevator","elevatorSolenoid",elevatorSolenoid);
rcSolenoid = new DoubleSolenoid(0,4,5);
LiveWindow.addActuator("RC Picker Upper Sole","rcSolenoid",rcSolenoid);
// END AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}
项目:HolonomicDrive
文件:RobotMap.java
public static void init()
{
// BEGIN AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
driveTrainLeftFront = new Talon(0);
LiveWindow.addActuator("DriveTrain","Left Front",(Talon) driveTrainLeftFront);
driveTrainLeftRear = new Talon(1);
LiveWindow.addActuator("DriveTrain","Left Rear",(Talon) driveTrainLeftRear);
driveTrainRightFront = new Talon(2);
LiveWindow.addActuator("DriveTrain","Right Front",(Talon) driveTrainRightFront);
driveTrainRightRear = new Talon(3);
LiveWindow.addActuator("DriveTrain","Right Rear",(Talon) driveTrainRightRear);
driveTrainHolonomicDrive = new RobotDrive(driveTrainLeftFront,driveTrainLeftRear,driveTrainRightFront,driveTrainRightRear);
driveTrainHolonomicDrive.setSafetyEnabled(false);
driveTrainHolonomicDrive.setExpiration(0.1);
driveTrainHolonomicDrive.setSensitivity(0.5);
driveTrainHolonomicDrive.setMaxOutput(1.0);
driveTrainHolonomicDrive.setInvertedMotor(RobotDrive.MotorType.kFrontRight,true);
driveTrainHolonomicDrive.setInvertedMotor(RobotDrive.MotorType.kRearRight,true);
forkliftMotor = new Talon(4);
LiveWindow.addActuator("Forklift","Motor",(Talon) forkliftMotor);
forkliftEncoder = new Encoder(0,1,EncodingType.k4X);
LiveWindow.addSensor("Forklift","Encoder",forkliftEncoder);
forkliftEncoder.setdistancePerpulse(0.012);
forkliftEncoder.setPIDSourceParameter(PIDSourceParameter.kdistance);
rollerMotor = new Talon(5);
LiveWindow.addActuator("Roller",(Talon) rollerMotor);
stabilizerBackLeft = new Servo(6);
LiveWindow.addActuator("Stabilizer","Back Left",stabilizerBackLeft);
stabilizerBackRight = new Servo(8);
LiveWindow.addActuator("Stabilizer","Back Right",stabilizerBackRight);
stabilizerFrontLeft = new Servo(7);
LiveWindow.addActuator("Stabilizer","Front Left",stabilizerFrontLeft);
stabilizerFrontRight = new Servo(9);
LiveWindow.addActuator("Stabilizer","Front Right",stabilizerFrontRight);
// END AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
driveTrainGyro = new HVAGyro(0);
LiveWindow.addSensor("DriveTrain","Gyro",driveTrainGyro);
driveTrainGyro.setSensitivity(0.007);
powerdistributionPanel = new PowerdistributionPanel();
}
项目:CMonster2014
文件:RobotMap.java
public static void init() {
// BEGIN AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
driveSubsystemFrontLeftJaguar = new Jaguar(1,1);
LiveWindow.addActuator("Drive Subsystem","Front Left Jaguar",(Jaguar) driveSubsystemFrontLeftJaguar);
driveSubsystemFrontRightJaguar = new Jaguar(1,2);
LiveWindow.addActuator("Drive Subsystem","Front Right Jaguar",(Jaguar) driveSubsystemFrontRightJaguar);
driveSubsystemRearLeftJaguar = new Jaguar(1,3);
LiveWindow.addActuator("Drive Subsystem","Rear Left Jaguar",(Jaguar) driveSubsystemRearLeftJaguar);
driveSubsystemRearRightJaguar = new Jaguar(1,4);
LiveWindow.addActuator("Drive Subsystem","Rear Right Jaguar",(Jaguar) driveSubsystemRearRightJaguar);
driveSubsystemRearRightEncoder = new Encoder(1,2,EncodingType.k2X);
LiveWindow.addSensor("Drive Subsystem","Rear Right Encoder",driveSubsystemRearRightEncoder);
driveSubsystemRearRightEncoder.setdistancePerpulse(0.002908882);
driveSubsystemRearRightEncoder.setPIDSourceParameter(PIDSourceParameter.kdistance);
driveSubsystemRearRightEncoder.start();
compressorSubsystemCompressor = new Compressor(1,1);
sweeperSubsystemSolenoid = new Solenoid(1,2);
LiveWindow.addActuator("sweeper Subsystem","Solenoid",sweeperSubsystemSolenoid);
sweeperSubsystemJaguar = new Jaguar(1,5);
LiveWindow.addActuator("sweeper Subsystem","Jaguar",(Jaguar) sweeperSubsystemJaguar);
catcherSubsytemSolenoid = new Solenoid(1,1);
LiveWindow.addActuator("Catcher Subsytem",catcherSubsytemSolenoid);
ledSubsystemPin0 = new DigitalOutput(1,4);
ledSubsystemPin1 = new DigitalOutput(1,5);
ledSubsystemPin2 = new DigitalOutput(1,6);
ledSubsystemPin3 = new DigitalOutput(1,7);
ledSubsystemPin4 = new DigitalOutput(1,8);
ledSubsystemPin5 = new DigitalOutput(1,9);
// END AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
driveSubsystemSteeringGyro = new BetterGyro(1,1);
driveSubsystemSteeringGyroTemp = new TempSensor(2);
driveSubsystemAccelerometer = new ADXL345_I2C(1,ADXL345_I2C.DataFormat_Range.k4G);
}