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);
}
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
public void robotinit() {
// instantiate the command used for the autonomous period
autonomousCommand = new ExampleCommand();
frontLeft = new Victor(1); // Creating Victor motors
frontRight = new Victor(2);
rearLeft = new Victor(3);
rearRight = new Victor(4);
myDrive = new RobotDrive(frontLeft,frontRight);
// myDrive = new RobotDrive(frontLeft,frontRight,rearLeft,rearRight);
driveStick = new Joystick(1);
gyro = new Gyro(1);
// Initialize all subsystems
CommandBase.init();
}
项目:aeronautical-facilitation
文件:DriveTrain.java
/**
*
*/
public DriveTrain() {
super("DriveTrain");
FLeftMotor = new Victor(RobotMap.FLeftMotorPWM);
FRightMotor = new Victor(RobotMap.FRightMotorPWM);
BLeftMotor = new Victor(RobotMap.BLeftMotorPWM);
BRightMotor = new Victor(RobotMap.BRightMotorPWM);
//MLeftMotor = new Victor(RobotMap.MLeftMotorPWM);
//MRightMotor = new Victor(RobotMap.MRightMotorPWM);
drive = new RobotDrive(FLeftMotor,BLeftMotor,FRightMotor,BRightMotor);
//drive.setInvertedMotor(RobotDrive.MotorType.kFrontRight,true);
//drive.setInvertedMotor(RobotDrive.MotorType.kRearLeft,true);
GShiftSolDown = new Solenoid(RobotMap.DriveTrainLowGearSolenoid);
GShiftSolUp = new Solenoid(RobotMap.DriveTrainHighGearSolenoid);
display = DriverStationLCD.getInstance();
}
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:Nashoba-Robotics2014
文件:Loader.java
public void init() {
if(!hasInit) {
left = new Victor(Hardwaredefines.RIGHT_LOADER_VICTOR);
try {
right = new CANJaguar(Hardwaredefines.LEFT_LOADER_JAG);
}
catch(CANTimeoutException e) {
System.out.println("Could not instantiate left loader jag!");
}
hasInit = true;
}
else {
System.out.println("The loader subsystem has already "
+ "been initialized!");
return;
}
}
public DriveTrainSubsystem() {
motors = new SpeedController[RobotMap.DRIVE_TRAIN.MOTORS.length];
for (int i = 0; i < RobotMap.DRIVE_TRAIN.MOTORS.length; i++) {
motors[i] = new Victor(RobotMap.DRIVE_TRAIN.MOTORS[i]);
}
doubleSidedPid = new PIDController649(EncoderBasedDriving.AUTO_DRIVE_P,EncoderBasedDriving.AUTO_DRIVE_I,EncoderBasedDriving.AUTO_DRIVE_D,this,this);
doubleSidedPid.setAbsolutetolerance(EncoderBasedDriving.ABSOLUTE_TOLERANCE);
doubleSidedPid.setoutputRange(-EncoderBasedDriving.MAX_MOTOR_POWER,EncoderBasedDriving.MAX_MOTOR_POWER);
encoders = new Encoder[RobotMap.DRIVE_TRAIN.ENCODERS.length / 2];
for (int x = 0; x < RobotMap.DRIVE_TRAIN.ENCODERS.length; x += 2) {
encoders[x / 2] = new Encoder(RobotMap.DRIVE_TRAIN.ENCODERS[x],RobotMap.DRIVE_TRAIN.ENCODERS[x + 1],x == 0,EncodingType.k2X);
encoders[x / 2].setdistancePerpulse(EncoderBasedDriving.ENCODER_disTANCE_PER_pulse);
}
lastRates = new Vector();
shifterSolenoid = new DoubleSolenoid(RobotMap.DRIVE_TRAIN.FORWARD_SOLENOID_CHANNEL,RobotMap.DRIVE_TRAIN.REVERSE_SOLENOID_CHANNEL);
}
项目:2012
文件:Loader.java
public Loader()
{
Conveyor = new Victor(ReboundRumble.LOADER_CONVEYOR_PWM);
loaderInSolenoid = new Solenoid(ReboundRumble.LOADER_IN_SOLENOID_CHANNEL);
loaderOutSolenoid = new Solenoid(ReboundRumble.LOADER_OUT_SOLENOID_CHANNEL);
loaderUpSolenoid = new Solenoid(ReboundRumble.LOADER_UP_SOLENOID_CHANNEL);
loaderDownSolenoid = new Solenoid(ReboundRumble.LOADER_DOWN_SOLENOID_CHANNEL);
loaderIn = new DigitalInput(ReboundRumble.LOAD_IN_GPIO_CHANNEL);
loaderOut = new DigitalInput(ReboundRumble.LOAD_OUT_GPIO_CHANNEL);
loaderUp = new DigitalInput(ReboundRumble.LOAD_UP_GPIO_CHANNEL);
loaderDown = new DigitalInput(ReboundRumble.LOAD_DOWN_GPIO_CHANNEL);
loaderDownSolenoid.set(false);
loaderUpSolenoid.set(true);
loaderOutSolenoid.set(false);
loaderInSolenoid.set(true);
}
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
public void robotinit() {
// instantiate the command used for the autonomous period
autonomousCommand = new ExampleCommand();
frontLeft = new Victor(1); // Creating Victor motors
frontRight = new Victor(2);
rearLeft = new Victor(3);
rearRight = new Victor(4);
myDrive = new RobotDrive(frontLeft,rearRight);
driveStick = new Joystick(1);
gyro = new Gyro(1);
// Initialize all subsystems
CommandBase.init();
}
public SystemShooter() {
super();
wheel1 = new Victor(5); // Both bots: 5
wheel2 = new Victor(6); // Both bots: 6
cockOn = new Solenoid(4); //competition: 4 / practice: 1
cockOff = new Solenoid(3); //competition: 3 / practice: 2
fireOn = new Solenoid(6); // competition: 6 / practice: 5
fireOff = new Solenoid(5); // competition: 5 / practice 6
gateUp = new Solenoid(1); // competition: 1 / practice 3
gateDown = new Solenoid(2); // competition: 2 / practice 4
autoShoot = false;
isShootingAngle = true;
frisbeesShot = 0;
enteringLoop = false;
cockTime = WiredCats2415.textReader.getValue("cockTime");
gatesDownTime = WiredCats2415.textReader.getValue("gatesDownTime");
fireTime = WiredCats2415.textReader.getValue("fireTime");
System.out.println("[WiredCats] Initialized System Shooter");
}
public SystemArm(ControllerShooter cs) {
super();
this.shooter = cs;
arm = new Victor(3); // Both bots: 3
kp = WiredCats2415.textReader.getValue("propConstantArm");
ki = WiredCats2415.textReader.getValue("integralConstantArm");
kd = WiredCats2415.textReader.getValue("derivativeConstantArm");
intakePreset = WiredCats2415.textReader.getValue("intakePreset");
backPyramidPreset = WiredCats2415.textReader.getValue("backPyramidPreset");
frontPyramidPreset = WiredCats2415.textReader.getValue("frontPyramidPreset");
hoverPreset = WiredCats2415.textReader.getValue("hoverPreset");
upperBoundHardStop = WiredCats2415.textReader.getValue("upperBoundHardStop");
desiredArmAngle = 0;
isManualControl = false;
armHasBeenReset = false;
System.out.println("[WiredCats] Initialized System Arm.");
}
public RightTankDrivePIDSubsystem() {
super("LeftTankDrivePIDSubsystem",Kp,Ki,Kd);
// Use these to get going:
// setSetpoint() - Sets where the PID controller should move the system
// to
// enable() - Enables the PID controller.
frontRightMotor = new Victor(RobotMap.FRONT_RIGHT_DRIVE_MOTOR);
backRightMotor = new Victor(RobotMap.BACK_RIGHT_DRIVE_MOTOR);
rightEncoder = new Encoder(RobotMap.FRONT_RIGHT_ENCODER_A,RobotMap.FRONT_RIGHT_ENCODER_B);
rightEncoder.start();
rightEncoder.setdistancePerpulse(1.0);
rampTimer = new Timer();
rampTimer.start();
}
public LeftTankDrivePIDSubsystem() {
super("LeftTankDrivePIDSubsystem",Kd);
// Use these to get going:
// setSetpoint() - Sets where the PID controller should move the system
// to
// enable() - Enables the PID controller.
frontLeftMotor = new Victor(RobotMap.FRONT_LEFT_DRIVE_MOTOR);
backLeftMotor = new Victor(RobotMap.BACK_LEFT_DRIVE_MOTOR);
leftEncoder = new Encoder(RobotMap.FRONT_LEFT_ENCODER_A,RobotMap.FRONT_LEFT_ENCODER_B);
leftEncoder.start();
leftEncoder.setdistancePerpulse(1.0);
rampTimer = new Timer();
rampTimer.start();
}
项目:SteamWorks
文件:RobotMap.java
public static void init() {
// BEGIN AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
driveTrainLeftFront = new Victor(0);
LiveWindow.addActuator("DriveTrain","LeftFront",(Victor) driveTrainLeftFront);
driveTrainLeftRear = new Victor(1);
LiveWindow.addActuator("DriveTrain","LeftRear",(Victor) driveTrainLeftRear);
driveTrainRightFront = new Victor(2);
LiveWindow.addActuator("DriveTrain","RightFront",(Victor) driveTrainRightFront);
driveTrainRightRear = new Victor(3);
LiveWindow.addActuator("DriveTrain","RightRear",(Victor) driveTrainRightRear);
driveTrainRobotDrive = new RobotDrive(driveTrainLeftFront,driveTrainLeftRear,driveTrainRightFront,driveTrainRightRear);
driveTrainRobotDrive.setSafetyEnabled(false);
driveTrainRobotDrive.setExpiration(0.1);
driveTrainRobotDrive.setSensitivity(1.0);
driveTrainRobotDrive.setMaxOutput(1.0);
shootershooterTalon = new CANTalon(0);
LiveWindow.addActuator("Shooter","shooterTalon",shootershooterTalon);
// END AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
// set this up
gyro = new ADXRS450_Gyro();
}
项目:frc-2016
文件:Intake.java
项目:PCRobotClient
文件:Robot.java
public void reset() {
for (int i = 0; i < motors.length; i++) {
if (motors[i] == null) {
continue;
}
if (motors[i] instanceof CANTalon) {
((CANTalon) motors[i]).delete();
} else if (motors[i] instanceof Victor) {
((Victor) motors[i]).free();
}
}
motors = new SpeedController[64];
for (int i = 0; i < solenoids.length; i++) {
if (solenoids[i] == null) {
continue;
}
solenoids[i].free();
}
solenoids = new Solenoid[64];
for (int i = 0; i < relays.length; i++) {
if (relays[i] == null) {
continue;
}
relays[i].free();
}
relays = new Relay[64];
for (int i = 0; i < analogInputs.length; i++) {
if (analogInputs[i] == null) {
continue;
}
analogInputs[i].free();
}
analogInputs = new AnalogInput[64];
if (compressor != null)
compressor.free();
}
项目:turtleshell
文件:Robot.java
public Robot() {
stick = new Joystick(0);
try {
/* Construct Digital I/O Objects */
pwm_out_9 = new Victor( getChannelFromPin( PinType.PWM,9 ));
pwm_out_8 = new Jaguar( getChannelFromPin( PinType.PWM,8 ));
dig_in_7 = new DigitalInput( getChannelFromPin( PinType.DigitalIO,7 ));
dig_in_6 = new DigitalInput( getChannelFromPin( PinType.DigitalIO,6 ));
dig_out_5 = new DigitalOutput( getChannelFromPin( PinType.DigitalIO,5 ));
dig_out_4 = new DigitalOutput( getChannelFromPin( PinType.DigitalIO,4 ));
enc_3and2 = new Encoder( getChannelFromPin( PinType.DigitalIO,3 ),getChannelFromPin( PinType.DigitalIO,2 ));
enc_1and0 = new Encoder( getChannelFromPin( PinType.DigitalIO,1 ),0 ));
/* Construct Analog I/O Objects */
/* NOTE: Due to a board layout issue on the navX MXP board revision */
/* 3.3,there is noticeable crosstalk between AN IN pins 3,2 and 1. */
/* For that reason,use of pin 3 and pin 2 is NOT RECOMMENDED. */
an_in_1 = new AnalogInput( getChannelFromPin( PinType.AnalogIn,1 ));
an_trig_0 = new AnalogTrigger( getChannelFromPin( PinType.AnalogIn,0 ));
an_trig_0_counter = new Counter( an_trig_0 );
an_out_1 = new Analogoutput( getChannelFromPin( PinType.Analogout,1 ));
an_out_0 = new Analogoutput( getChannelFromPin( PinType.Analogout,0 ));
/* Configure I/O Objects */
pwm_out_9.setSafetyEnabled(false); /* disable Motor Safety for Demo */
pwm_out_8.setSafetyEnabled(false); /* disable Motor Safety for Demo */
/* Configure Analog Trigger */
an_trig_0.setAveraged(true);
an_trig_0.setLimitsVoltage(MIN_AN_TRIGGER_VOLTAGE,MAX_AN_TRIGGER_VOLTAGE);
} catch (RuntimeException ex ) {
DriverStation.reportError( "Error instantiating MXP pin on navX MXP: "
+ ex.getMessage(),true);
}
}
项目:turtleshell
文件:Claw.java
public Claw() {
super();
motor = new Victor(7);
contact = new DigitalInput(5);
// Let's show everything on the LiveWindow
LiveWindow.addActuator("Claw","Motor",(Victor) motor);
LiveWindow.addActuator("Claw","Limit Switch",contact);
}
项目:2015RobotCode
文件:ArmElevator.java
@Override
public void initialize() {
m_victor = new Victor(RobotMap.LIFT_MOTOR);
m_victor.enableDeadbandElimination(true);
m_victor.setExpiration(Victor.DEFAULT_SAFETY_EXPIRATION);
m_encoder = new Encoder(RobotMap.ENCODER_dio_PORTA,RobotMap.ENCODER_dio_PORTB,true);
m_encoder.setSamplesToAverage(10);
m_maxLimit = new DigitalInput(RobotMap.LIMIT_dio_PORT1);
max_counter = new Counter(m_maxLimit);
}
项目:4500-2014
文件:Winch.java
Winch(JoyStickCustom inStick){
winchRelease=new Pneumatics(1,2);
winch= new Victor(5);
states[0]="WINDING";
states[1]="RELEASING";
states[2]="HOLDING";
setState(HOLDING1);//same as holding used to be
limitSwitch= new DigitalInput(4);
secondStick = inStick;
winchE= new Encoder(3,2);
winchE.start();
}
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,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);
}
public EncoderPIDSubsystem(String name,double kP,double kI,double kD,int motorChannel,int encoderAChannel,int encoderBChannel,boolean reverseEncoder,double gearRatioEncoderToOutput) {
super(name,kP,kI,kD);
try {
m_motorController = new Victor(motorChannel);
m_encoder = new Encoder(1,encoderAChannel,1,encoderBChannel,reverseEncoder,CounterBase.EncodingType.k4X);
double degPerpulse = 360.0 / gearRatioEncoderToOutput / DEFAULT_pulseS_PER_ROTATION;
m_encoder.setdistancePerpulse(degPerpulse);
resetZeroPosition();
} catch (Exception e) {
System.out.println("UnkNown error initializing " + getName() + "-EncoderPIDSubsystem. Message = " + e.getMessage());
}
}
public EncoderPIDSubsystem(String name,double wheelDiameter,double gearRatioEncoderToWheel) {
super(name,CounterBase.EncodingType.k4X);
double distancePerpulse = Math.PI * wheelDiameter / gearRatioEncoderToWheel / DEFAULT_pulseS_PER_ROTATION;
m_encoder.setdistancePerpulse(distancePerpulse);
resetZeroPosition();
} catch (Exception e) {
System.out.println("UnkNown error initializing " + getName() + "-EncoderPIDSubsystem. Message = " + e.getMessage());
}
}
项目:Team3310FRC2014
文件:Intake.java
public Intake() {
super("Intake",RobotMap.INTAKE_EXTEND_PNEUMATIC_MODULE_ID,RobotMap.INTAKE_EXTEND_PNEUMATIC_RELAY_ID,RobotMap.INTAKE_RETRACT_PNEUMATIC_MODULE_ID,RobotMap.INTAKE_RETRACT_PNEUMATIC_RELAY_ID);
try {
m_ballDetectSwitch1 = new DigitalInput(RobotMap.BALL_INTAKE_1_DSC_dio_ID);
m_motorControllerTop = new Victor(RobotMap.INTAKE_TOP_DSC_PWM_ID);
m_motorControllerBottom = new Victor(RobotMap.INTAKE_BottOM_DSC_PWM_ID);
} catch (Exception e) {
System.out.println("UnkNown error initializing " + getName() + ". Message = " + e.getMessage());
}
}
项目:Team3310FRC2014
文件:MotorTest.java
public MotorTest(int numMotors) {
super("MotorTestSubsystem");
try {
m_motorController = new Victor[numMotors];
for (int motorId = 0; motorId < numMotors; motorId++) {
m_motorController[motorId] = new Victor(motorId+1);
}
} catch (Exception e) {
System.out.println("UnkNown error initializing " + getName() + ". Message = " + e.getMessage());
}
}
项目:2013_drivebase_proto
文件:WsDriveSpeed.java
public WsDriveSpeed(String name,int channel1,int channel2) {
this.motorSpeed = new DoubleSubject(name);
this.victor1 = new Victor(channel1);
this.victor2 = new Victor(channel2);
motorSpeed.setValue(0.0);
}
项目:Robot2014
文件:Winch.java
/**
* the winch of the shooter device
*/
public Winch() {
rightMotor = new Victor(RobotMap.rightShooterMotor);
leftMotor = new Victor(RobotMap.leftShooterMotor);
limitSwitch = new DigitalInput(RobotMap.shooterLimitSwitch);
winch = new Piston(RobotMap.shooterExtended,RobotMap.shooterRetracted);
}
项目:Robot2014
文件:Drivetrain.java
/**
* controls the drive train motors of the robot
*/
public Drivetrain() {
left = new Victor(RobotMap.leftMotors);
leftTwo = new Victor(RobotMap.leftTwoMotors);
right = new Victor(RobotMap.rightMotors);
rightTwo = new Victor(RobotMap.rightTwoMotors);
}
项目:PainTrain
文件:Shooter.java
public Shooter(int encoderA,int encoderB,int victor1,int victor2,int victor3) {
m_encode = new Encoder(encoderA,encoderB);
m_encode.start();
m_encode.reset();
m_motor1 = new Victor(victor1);
m_motor2 = new Victor(victor2);
m_motor3 = new Victor(victor3);
m_shoottimer = new Timer();
m_retractTimer = new Timer();
}
项目:PainTrain
文件:Intake.java
Intake(int solenoid1Port1,int solenoid2Port1,int victorNumber){
m_leftSolenoid = new DoubleSolenoid(solenoid1Port1,solenoid1Port1 +1);
m_rightSolenoid = new DoubleSolenoid(solenoid2Port1,solenoid2Port1 +1);
m_intakeMotor = new Victor(victorNumber);
m_solenoidTime = new NerdyTimer(.05);
m_solenoidTime.start();
}
项目:TitanRobot2014
文件:SpeedControllerFactory.java
public TitanSpeedController create(int pChannel,Class<?> pClass,Switch pForwardLimitSwitch,Switch pReverseLimitSwitch,boolean pInvertDirection) {
TitanSpeedController controller;
if (pClass.equals(Talon.class)) {
controller = new TitanSpeedController(new Talon(pChannel),pForwardLimitSwitch,pReverseLimitSwitch,pInvertDirection);
}
else if (pClass.equals(Victor.class)) {
controller = new TitanSpeedController(new Victor(pChannel),pInvertDirection);
}
else {
controller = new TitanSpeedController(new Jaguar(pChannel),pInvertDirection);
}
return controller;
}
项目:TitanRobot2014
文件:SpeedControllerFactory.java
public TitanSpeedController create(int pChannel,Class pClass,pInvertDirection);
}
return controller;
}
项目:Veer
文件:O_SwerveModule.java
public O_SwerveModule(O_Point center,int CimPort,int turnPort,int turnEncoderA,int turnEncoderB,int zeroPort,double zeroOffset,boolean reverseEncoder){
location = center;
cim = new Victor(RobotMap.driveModule,CimPort);
cim.setExpiration(0.5);
turnMotor = new Talon(RobotMap.turnModule,turnPort);
turnMotor.setExpiration(0.5);
turnEncoder = new O_TurnEncoder(turnEncoderA,turnEncoderB,zeroPort,zeroOffset,reverseEncoder);
turn = new PIDController(1.0,0.1,turnEncoder,turnMotor,.0010) {{
setInputRange(-180,180);
setoutputRange(-.85,.85);
setContinuous();
enable();
}};
}
项目:FRC-2015
文件:MotorClass.java
public void ControlToggleRunMotor(Victor vMotor,int speed) {
if (!toggleMotor) {
vMotor.set(speed);
toggleMotor = true;
}else if (toggleMotor) {
vMotor.set(0.0);
toggleMotor = false;
}
}
项目:FRC-2015
文件:MotorClass.java
public void ControlHoldRunMotor(Victor vMotor,int speed,boolean holdingButton) {
if (holdingButton) {
vMotor.set(speed);
}else{
vMotor.set(0.0);
}
}
项目:FRC-2015
文件:MotorClass.java
public void AutoRunMotor(Victor vMotor,int seconds) {
queueThread(new Runnable() {
public void run() {
R.autonomousCounter = 0;
while ((Math.floor(R.autonomousCounter / loopsPerSecond)) <= seconds) {
vMotor.set(speed);
Timer.delay(timerDelay);
}
vMotor.set(0.0);
}
});
}
项目:FRC-2015-Robot-Java
文件:RobotHardwareCompbot.java
@Override
public void initialize()
{
//PWM
liftMotor = new Victor(0); //2);
leftMotors = new Victor(1);
rightMotors = new Victor(2); //0);
armMotors = new Victor(3);
transmission = new Servo(7);
//CAN
armSolenoid = new DoubleSolenoid(4,5);
//dio
liftEncoder = new Encoder(0,false,EncodingType.k4X);
liftBottomLimit = new DigitalInput(2);
liftTopLimit = new DigitalInput(3);
backupLiftBottomLimit = new DigitalInput(5);
switch1 = new DigitalInput(9);
switch2 = new DigitalInput(8);
//ANALOG
gyro = new Gyro(0);
//roboRio
accelerometer = new BuiltInAccelerometer();
//Stuff
drivetrain = new RobotDrive(leftMotors,rightMotors);
liftSpeedratio = 1; //Half power default
liftGear = 1;
driverSpeedratio = 1;
debounceComp = 0;
drivetrain.setInvertedMotor(MotorType.kRearLeft,true);
drivetrain.setInvertedMotor(MotorType.kRearRight,true);
}
public ClawPivotSubsystem() {
super("ClawSubsystem");
motor = new Victor(RobotMap.CLAW_PIVOT.MOTOR);
potentiometer = new AnalogPotentiometer(RobotMap.CLAW_PIVOT.POTENTIOMETER);
clawPID = new PIDController649(kP,kD,potentiometer,this);
clawPID.setAbsolutetolerance(0.01);
clawPID.setoutputRange(MAX_FORWARD_SPEED,MAX_BACKWARD_SPEED);
}
项目:2014-robot
文件:Pickup.java
/**
* Creates a pickup object using the controlPack and sensorPack
*/
public Pickup(){
//motors
rightPickupupdown = new Victor(Channels.PICKUP_RAISE_LOWER_RIGHT_CHANNEL);
leftPickupupdown = new Victor(Channels.PICKUP_RAISE_LOWER_LEFT_CHANNEL);//was (1,CONSTANT)
pickupRoller = new Victor(Channels.PICKUP_ROLLER_CHANNEL);
// pickupEncoder = new Encoder(Channels.PICKUP_ENCODER_A_CHANNEL,Channels.PICKUP_ENCODER_B_CHANNEL);
// sensors
// pickupLoweredSwitch = new DigitalInput(Channels.PICKUP_LOWERED_CHANNEL);
// pickupLiftedSwitch = new DigitalInput(Channels.PICKUP_RAISED_CHANNEL);
controls = ControlPack.getInstance();
System.out.println("Pickup online");
}