edu.wpi.first.wpilibj.SPI.Port的实例源码

项目：2017-emmet    文件：RobotMap.java   

public static void init() {
    driveTrainCIMRearLeft = new CANTalon(2); // rear left motor
    driveTrainCIMFrontLeft = new CANTalon(12); // 
    driveTrainCIMRearRight = new CANTalon(1);
    driveTrainCIMFrontRight = new CANTalon(11);
    driveTrainRobotDrive41 = new RobotDrive(driveTrainCIMRearLeft,driveTrainCIMFrontLeft,driveTrainCIMRearRight,driveTrainCIMFrontRight);
    climberclimber = new CANTalon(3);
    c1 = new Talon(5);
    pDPPowerdistributionPanel1 = new PowerdistributionPanel(0);
    gyro = new ADXRS450_Gyro(Port.kOnboardCS0);
    c2 = new Talon(6);
    ultra = new AnalogInput(0);

    LiveWindow.addSensor("PDP","PowerdistributionPanel 1",pDPPowerdistributionPanel1);
    LiveWindow.addSensor("Ultra","Ultra",ultra);
   //  LiveWindow.addActuator("Intake","Intake",intakeIntake);
    LiveWindow.addActuator("climber","climber",climberclimber);
    LiveWindow.addActuator("RearLeft (2)","Drivetrain",driveTrainCIMRearLeft);
    LiveWindow.addActuator("FrontLeft (12)",driveTrainCIMFrontLeft);
    LiveWindow.addActuator("RearRight (1)",driveTrainCIMRearRight);
    LiveWindow.addActuator("FrontRight (11)",driveTrainCIMFrontRight);
    LiveWindow.addActuator("Drive Train","Gyro",gyro);
    // LiveWindow.addActuator("Shooter","Shooter",shooter1);
}

项目：Cogsworth    文件：DriveSubsystem.java   

public DriveSubsystem() {
    talonFrontLeft = new CANTalon(Ports.FRONT_LEFT_MOTOR);
    talonFrontRight = new CANTalon(Ports.FRONT_RIGHT_MOTOR);
    talonBackLeft = new Talon(Ports.BACK_LEFT_MOTOR);
    talonBackRight = new Talon(Ports.BACK_RIGHT_MOTOR);
    ultraSanic.setAutomaticMode(true);

    talonFrontLeft.setFeedbackDevice(FeedbackDevice.QuadEncoder);
    talonFrontRight.setFeedbackDevice(FeedbackDevice.QuadEncoder);
    talonFrontLeft.configEncoderCodesPerRev(pulsesPerRevolution);
    talonFrontRight.configEncoderCodesPerRev(pulsesPerRevolution);

    try {
        ahrs = new AHRS(Port.kMXP);
    } catch (Exception ex) {
        //System.out.println(ex);
    }
    // SPEED MODE CODE
    // setDriveControlMode(TalonControlMode.Speed);
    drivingStraight = false;
    driveLowerSpeed = false;
    reversed = true;
    enableForwardSoftLimit(false);
    enableReverseSoftLimit(false);
}

项目：Frc2017FirstSteamWorks    文件：FrcAHRSGyro.java   

public FrcAHRSGyro(final String instanceName,Port port)
{
    super(instanceName,3,GYRO_HAS_X_AXIS | GYRO_HAS_Y_AXIS | GYRO_HAS_Z_AXIS,null);

    if (debugEnabled)
    {
        dbgTrace = new TrcDbgTrace(moduleName + "." + instanceName,tracingEnabled,traceLevel,msgLevel);
    }

    this.ahrs = new AHRS(port);
}

项目：RA17_RobotCode    文件：Robot.java   

@Override
public void robotinit()
{
    timer = new Timer();
    logger = new DataLogger();
    pdp = new PowerdistributionPanel(20);
    redLED = new Solenoid(0);
    whiteLED = new Solenoid(1);
    scopetoggler = new Scopetoggler(0,1);
    Config.loadFromFile("/home/lvuser/config.txt");
    ////////////////////////////////////////////////
    try
    {
        navx = new LoggableNavX(Port.kMXP);
    }
    catch (RuntimeException ex )
    {
           DriverStation.reportError("Error instantiating navX MXP:  " + ex.getMessage(),true);
    }
    ////////////////////////////////////////////////
    FRe = new AnalogInput(0);
    FLe = new AnalogInput(isCompetition() ? 1 : 2);
    BRe = new AnalogInput(3);
    BLe = new AnalogInput(isCompetition() ? 2 : 1);
    FR = new CANTalon(1);
    FRa = new CANTalon(5);
    FL = new CANTalon(isCompetition() ? 2 : 3);
    FLa = new CANTalon(isCompetition() ? 6 : 7);
    BR = new CANTalon(4);
    BRa = new CANTalon(8);
    BL = new CANTalon(isCompetition() ? 3 : 2);
    BLa = new CANTalon(isCompetition() ? 7 : 6);
    drive = new SwerveDrive(FR,FRa,FRe,FL,FLa,FLe,BR,BRa,BRe,BL,BLa,BLe);
    ////////////////////////////////////////////////
    driver = new XBoxController(4);
    op = new XBoxController(0);
    ////////////////////////////////////////////////
    driveMode = new EdgeDetect();
    collection = new EdgeDetect();
    ////////////////////////////////////////////////
    cameraSource = new FakePIDSource();
    driveOutput = new FakePIDOutput();
    driveaimer = new PIDController(Config.getSetting("AutoaimP",0.12),Config.getSetting("AutoaimI",0.00),Config.getSetting("AutoaimD",cameraSource,driveOutput);
    driveaimer.setInputRange(-24,24);
    driveaimer.setoutputRange(-.3,.3);
    driveaimer.setAbsolutetolerance(.5);
    ////////////////////////////////////////////////
    climber = new climber(0,1);
    ////////////////////////////////////////////////
    gear = new GearPlacer(2);
    Config.addConfigurable(gear);
    ////////////////////////////////////////////////
    manip = new Manipulation(3,4,22);

    shooter = new Shooter(new CANTalon(10));
    Config.addConfigurable(shooter);

    carousel = new Carousel(new CANTalon(9));
    Config.addConfigurable(carousel);

    ReloadConfig();
}

项目：RA17_RobotCode    文件：LoggableNavX.java   

public LoggableNavX(Port spi_port_id)
{
    super(spi_port_id);
}

项目：2017-emmet    文件：RobotMap.java   

public static void init() {
    // DRIVETRAIN MOTORS \\
    drivetrainCIMRearLeft = new CANTalon(2);
    drivetrainCIMFrontLeft = new CANTalon(12);
    drivetrainCIMRearRight = new CANTalon(1);
    drivetrainCIMFrontRight = new CANTalon(11);
    LiveWindow.addActuator("Drivetrain","RearLeft(2)",drivetrainCIMRearLeft);
    LiveWindow.addActuator("Drivetrain","FrontLeft(12)",drivetrainCIMFrontLeft);
    LiveWindow.addActuator("Drivetrain","RearRight(1)",drivetrainCIMRearRight);
    LiveWindow.addActuator("Drivetrain","FrontRight(11)",drivetrainCIMFrontRight);

    // DRIVE \\
    drivetrainRobotDrive41 = new RobotDrive(drivetrainCIMRearLeft,drivetrainCIMFrontLeft,drivetrainCIMRearRight,drivetrainCIMFrontRight);

    // DRIVE SENSORS \\
    gyro = new ADXRS450_Gyro(Port.kOnboardCS0);
    // accel = new BuiltInAccelerometer();
    enc = new Encoder(9,8);
    LiveWindow.addSensor("Drive Sensors",gyro);
    // LiveWindow.addSensor("Drive Sensors","Accelerometer",accel);
    LiveWindow.addSensor("Drive Sensors","Encoder",enc);

    // climB \\
    climber = new Talon(5);
    climber2 = new Talon(6);
    LiveWindow.addActuator("climber",climber);
    LiveWindow.addActuator("climber","climber2",climber2);

    // GEAR \\
    claw = new CANTalon(3);
    LiveWindow.addActuator("Gear","Claw",claw);

    // FUEL \\
    // shooter = new Talon(6);
    // LiveWindow.addActuator("Fuel",shooter);

    // DIAGNOSTIC \\
    pdp = new PowerdistributionPanel(0);
    LiveWindow.addSensor("PDP","Power distribution Panel",pdp);

}

项目：2017-emmet    文件：RobotMap.java   

public static void init() {
    // DRIVETRAIN MOTORS \\
    drivetrainCIMRearLeft = new CANTalon(2);
    drivetrainCIMFrontLeft = new CANTalon(12);
    drivetrainCIMRearRight = new CANTalon(1);
    drivetrainCIMFrontRight = new CANTalon(11);
    LiveWindow.addActuator("Drivetrain",drivetrainCIMFrontRight);

    // DRIVE SENSORS \\
    gyro = new ADXRS450_Gyro(Port.kOnboardCS0);
    // accel = new BuiltInAccelerometer();
    enc = new Encoder(0,1);
    LiveWindow.addSensor("Drive Sensors",claw);

    // FUEL \\
    shooter = new Talon(6);
    LiveWindow.addActuator("Fuel",pdp);

}

项目：thirdcoast    文件：GyroModule.java   

@Provides
@Singleton
public static AHRS provideGyro() {
  return new AHRS(Port.kMXP);
}