项目:FlashLib
文件:ExampleMecanumDrive.java
protected void robotinit() {
//We need to create the speed controllers for our drive system.
//In this example,we have a mecanum drive,so we create 4 speed
//controller objects from WPILib. We will use the TalonSRX speed controllers.
TalonSRX frontRight = new TalonSRX(0);
TalonSRX rearRight = new TalonSRX(1);
TalonSRX frontLeft = new TalonSRX(2);
TalonSRX rearLeft = new TalonSRX(3);
//Since FlashLib wasn't specifically built for FRC,//MecanumDrive cannot receive WPILib speed controller objects.
//We need to create a FlashSpeedController object to wrap the speed
//controllers. We will use FRCSpeedControllers. This class can receive
//several speed controller objects.
//We will create 4 wrappers: one for each controller
FRCSpeedControllers frontRightWrapper = new FRCSpeedControllers(frontRight);
FRCSpeedControllers rearRightWrapper = new FRCSpeedControllers(rearRight);
FRCSpeedControllers frontLeftWrapper = new FRCSpeedControllers(frontLeft);
FRCSpeedControllers rearLeftWrapper = new FRCSpeedControllers(rearLeft);
//Now we can create the MecanumDrive object and pass it or speed controller
//wrappers.
driveTrain = new MecanumDrive(frontRightWrapper,rearRightWrapper,frontLeftWrapper,rearLeftWrapper);
//Creating our controller for channel 0 of the DriverStation.
controller = new XBoxController(0);
}
项目:FlashLib
文件:ExampleOmniDrive.java
protected void robotinit() {
//We need to create the speed controllers for our drive system.
//In this example,we have an omni drive with 4 motors:
//one on the right side and one on the left side (moving the robot along the Y axis)
//one on the front of the robot and one on the rear of the robot (moving the robot along the X axis)
//so we create 4 speed controller objects from WPILib. We will use the TalonSRX speed controllers.
TalonSRX front = new TalonSRX(0);
TalonSRX rear = new TalonSRX(1);
TalonSRX left = new TalonSRX(2);
TalonSRX right = new TalonSRX(3);
//Since FlashLib wasn't specifically built for FRC,//FlashDrive cannot receive WPILib speed controller objects.
//We need to create a FlashSpeedController object to wrap the speed
//controllers. We will use FRCSpeedControllers.
//We will create 4 wrappers: one for each side
FRCSpeedControllers frontWrapper = new FRCSpeedControllers(front);
FRCSpeedControllers rearWrapper = new FRCSpeedControllers(rear);
FRCSpeedControllers rightWrapper = new FRCSpeedControllers(right);
FRCSpeedControllers leftWrapper = new FRCSpeedControllers(left);
//Now we can create the FlashDrive object and pass it or speed controller
//wrappers.
driveTrain = new FlashDrive(rightWrapper,leftWrapper,frontWrapper,rearWrapper);
//Creating our controller for channel 0 of the DriverStation.
controller = new XBoxController(0);
}
项目:FlashLib
文件:ExampleTankDrive.java
protected void robotinit() {
//We need to create the speed controllers for our drive system.
//In this example,we have a 4x4 tank drive,//FlashDrive cannot receive WPILib speed controller objects.
//We need to create a FlashSpeedController object to wrap the speed
//controllers. We will use FRCSpeedControllers. This class can receive
//several speed controller objects.
//We will create 2 wrappers: one for the left side,another for the right side
FRCSpeedControllers rightControllers = new FRCSpeedControllers(frontRight,rearRight);
FRCSpeedControllers leftControllers = new FRCSpeedControllers(frontLeft,rearLeft);
//Now we can create the FlashDrive object and pass it or speed controller
//wrappers.
driveTrain = new FlashDrive(rightControllers,leftControllers);
//Creating our controller for channel 0 of the DriverStation.
controller = new XBoxController(0);
}
项目:swerve-code
文件:Robot.java
public void robotinit() {
this.mod1Spin = new TalonSRX(Constants.MOD1SPIN);
this.mod1Drive = new TalonSRX(Constants.MOD1DRIVE);
this.spinEncoder1 = new Encoder(0,0); //Needs real values
this.driveEncoder1 = new Encoder(0,0); //Needs real values
this.mod2Spin = new TalonSRX(Constants.MOD2SPIN);
this.mod2Drive = new TalonSRX(Constants.MOD2DRIVE);
this.spinEncoder2 = new Encoder(0,0); //Needs real values
this.driveEncoder2 = new Encoder(0,0); //Needs real values
this.mod3Spin = new TalonSRX(Constants.MOD3SPIN);
this.mod3Drive = new TalonSRX(Constants.MOD3DRIVE);
this.spinEncoder3 = new Encoder(0,0); //Needs real values
this.driveEncoder3 = new Encoder(0,0); //Needs real values
this.mod4Spin = new TalonSRX(Constants.MOD4SPIN);
this.mod4Drive = new TalonSRX(Constants.MOD4DRIVE);
this.spinEncoder4 = new Encoder(0,0); //Needs real values
this.driveEncoder4 = new Encoder(0,0); //Needs real values
this.xBoxDrive = new Joystick(Constants.XBoxDRIVEPORT);
this.frontLeft = new SwerveModule("frontLeft",mod1Drive,mod1Spin,spinEncoder1,driveEncoder1); // needs completion0
this.backLeft = new SwerveModule("backLeft",mod2Drive,mod2Spin,spinEncoder2,driveEncoder2);
this.frontRight = new SwerveModule("frontRight",mod3Drive,mod3Spin,spinEncoder3,driveEncoder3);
this.backRight = new SwerveModule("backRight",mod4Drive,mod4Spin,spinEncoder4,driveEncoder4);
this.swerveDrive = new SwerveDrive(this.frontLeft,this.backLeft,this.frontRight,this.backRight,25,25);
crab = new CrabDrive(swerveDrive,xBoxDrive,"crabDrive",1);
spin = new SpinDrive(swerveDrive,"spinDrive",2);
unicorn = new UnicornDrive(swerveDrive,"unicornDrive",3);
drive = new DriveBase(crab,spin,unicorn,"driveBase",0);
drive.init();
}
项目:Stronghold2016-340
文件:ClawArm.java
public ClawArm() {
System.out.println("Claw arm constructor method called");
armMotor = new TalonSRX(RobotMap.ClawArmMotor);
clawPiston = new Solenoid(RobotMap.ClawPiston);
armAngleSensor = new AnalogPotentiometer(RobotMap.ClawArmAngleSensor,270);
bottomSwitch = new DigitalInput(RobotMap.ClawBottomSwitch);
topSwitch = new DigitalInput(RobotMap.ClawTopSwitch);
System.out.println("Claw arm constructor method complete.");
}
项目:RobotControl
文件:Robot.java
/**
* This is the initialization for all robot code
*/
public void robotinit()
{
robotDrive = new RobotDrive(0,1);
driveStick = new Joystick(0);
liftServo = new TalonSRX(3);
liftStick = new Joystick(3);
server = CameraServer.getInstance();
server.setQuality(50);
server.startAutomaticCapture("cam0");
}
项目:FRC-Robotics-2016-Team-2262
文件:DriveMotor.java
public DriveMotor(int frontChannel,int backChannel) {
front = new TalonSRX(frontChannel);
back = new TalonSRX(backChannel);
}
项目:Stronghold2016-340
文件:Drive.java
public Drive() {
leftDrive = new TalonSRX(RobotMap.DriveLeftMotor);
rightDrive = new TalonSRX(RobotMap.DriveRightMotor);
gyro = new AnalogGyro(RobotMap.DriveGyro);
}
项目:Stronghold2016-340
文件:RightDrive.java
public RightDrive() {
rightDrive = new TalonSRX(1);
}
项目:Stronghold2016-340
文件:LeftDrive.java
public LeftDrive() {
leftDrive = new TalonSRX(0);
}
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;
}
}
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
}
项目:turtleshell
文件:TurtleTalonSRXPWM.java
public TurtleTalonSRXPWM(int port,boolean isReversed) {
v = new TalonSRX(port);
this.isReversed = isReversed;
}
public static void init() {
driveTrainPWM0 = new TalonSRX(0);
LiveWindow.addActuator("DriveTrain","PWM0",(TalonSRX) driveTrainPWM0);
driveTrainPWM9 = new TalonSRX(9);
LiveWindow.addActuator("DriveTrain","PWM9",(TalonSRX) driveTrainPWM9);
driveTrainRobotDrive = new RobotDrive(driveTrainPWM0,driveTrainPWM9);
driveTrainRobotDrive.setSafetyEnabled(true);
driveTrainRobotDrive.setExpiration(0.1);
driveTrainRobotDrive.setSensitivity(0.5);
driveTrainRobotDrive.setMaxOutput(1.0);
intakePWM4 = new TalonSRX(4);
LiveWindow.addActuator("Intake","PWM4",(TalonSRX) intakePWM4);
intakePWM5 = new TalonSRX(5);
LiveWindow.addActuator("Intake","PWM5",(TalonSRX) intakePWM5);
elevatorPWM3 = new TalonSRX(3);
LiveWindow.addActuator("Elevator","PWM3",(TalonSRX) elevatorPWM3);
elevatorPWM6 = new TalonSRX(6);
LiveWindow.addActuator("Elevator","PWM6",(TalonSRX) elevatorPWM6);
armPWM2 = new TalonSRX(2);
LiveWindow.addActuator("Arm","PWM2",(TalonSRX) armPWM2);
}
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