edu.wpi.first.wpilibj.SPI的实例源码

项目：STEAMworks    文件：NavX.java   

public NavX() {
     try {
/***********************************************************************
 * navX-MXP:
 * - Communication via RoboRIO MXP (SPI,I2C,TTL UART) and USB.            
 * - See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface.
 * 
 * navX-Micro:
 * - Communication via I2C (RoboRIO MXP or Onboard) and USB.
 * - See http://navx-micro.kauailabs.com/guidance/selecting-an-interface.
 * 
 * Multiple navX-model devices on a single robot are supported.
 ************************************************************************/
         ahrs = new AHRS(SPI.Port.kMXP); // Use SPI!!!
         //ahrs = new AHRS(I2C.Port.kMXP);
     } catch (RuntimeException ex ) {
         DriverStation.reportError("Error instantiating navX MXP:  " + ex.getMessage(),true);
     }
 }

项目：2017-newcomen    文件：IMU.java   

public IMU() {
    try {
/***********************************************************************
 * navX-MXP:
 * - Communication via RoboRIO MXP (SPI,TTL UART) and USB.            
 * - See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface.
 * 
 * navX-Micro:
 * - Communication via I2C (RoboRIO MXP or Onboard) and USB.
 * - See http://navx-micro.kauailabs.com/guidance/selecting-an-interface.
 * 
 * Multiple navX-model devices on a single robot are supported.
 ************************************************************************/
         ahrs = new AHRS(SPI.Port.kMXP);
     } catch (RuntimeException ex ) {
         DriverStation.reportError("Error instantiating navX MXP:  " + ex.getMessage(),true);
     }
 }

项目：FRC-2017-Public    文件：ADXRS453_Gyro.java   

/**
 * Constructor.
 *
 * @param port
 *            (the SPI port that the gyro is connected to)
 */
public ADXRS453_Gyro(SPI.Port port) {
    m_spi = new SPI(port);
    m_spi.setClockRate(3000000);
    m_spi.setMSBFirst();
    m_spi.setSampleDataOnRising();
    m_spi.setClockActiveHigh();
    m_spi.setChipSelectActiveLow();

    /** Validate the part ID */
    if ((readRegister(kPIDRegister) & 0xff00) != 0x5200) {
        m_spi.free();
        m_spi = null;
        DriverStation.reportError("Could not find ADXRS453 gyro on SPI port " + port.value,false);
        return;
    }

    m_spi.initaccumulator(kSamplePeriod,0x20000000,4,0x0c00000E,0x04000000,10,16,true,true);

    calibrate();

    LiveWindow.addSensor("ADXRS453_Gyro",port.value,this);
}

项目：CasseroleLib    文件：ADXRS453_Gyro.java   

/**
 * Constructor.
 *
 * @param port
 *            (the SPI port that the gyro is connected to)
 */
public ADXRS453_Gyro(SPI.Port port) {
    m_spi = new SPI(port);
    m_spi.setClockRate(3000000);
    m_spi.setMSBFirst();
    m_spi.setSampleDataOnRising();
    m_spi.setClockActiveHigh();
    m_spi.setChipSelectActiveLow();

    /** Validate the part ID */
    if ((readRegister(kPIDRegister) & 0xff00) != 0x5200) {
        m_spi.free();
        m_spi = null;
        DriverStation.reportError("Could not find ADXRS453 gyro on SPI port " + port.name(),true);

    calibrate();


}

项目：frc2017    文件：SpatialAwarenessSubsystem.java   

public SpatialAwarenessSubsystem() {
  super("SpatialAwarenessSubsystem");

  cameraServer = CameraServer.getInstance();
  gearCamera = cameraServer.startAutomaticCapture(0);
  gearCamera.setResolution(IMG_WIDTH,IMG_HEIGHT);
  gearCamera.setFPS(30);
  gearCamera.setBrightness(7);
  gearCamera.setExposureManual(30);
  gearVideo = cameraServer.getVideo(gearCamera);

  visionProcessing = new VisionProcessing();

  leftUltrasonic = new AnalogInput(RobotMap.ANALOG_ULTRASONIC_LEFT);
  rightUltrasonic = new AnalogInput(RobotMap.ANALOG_ULTRASONIC_RIGHT);

  leftUltrasonicKalman = new SimpleKalman(1.4d,64d,leftUltrasonic.getAverageVoltage() * ULTRASONIC_VOLTS_TO_METERS);
  rightUltrasonicKalman = new SimpleKalman(1.4d,rightUltrasonic.getAverageVoltage() * ULTRASONIC_VOLTS_TO_METERS);

  navX = new AHRS(SPI.Port.kMXP);

  System.out.println("SpatialAwarenessSubsystem constructor finished");
}

项目：FRC-2017    文件：NavXSensor.java   

public static void initialize()
{
    if (!initialized) {

        System.out.println("NavXSensor::initialize() called...");

        try {
            ahrs = new AHRS(SPI.Port.kMXP);     
        } catch (RuntimeException ex ) {
            DriverStation.reportError("Error instantiating navX MXP:  " + ex.getMessage(),true);
        }

        reset();

        initialized = true;
    }
}

项目：turtleshell    文件：Robot.java   

public Robot() {
     myRobot = new RobotDrive(0,1);
     myRobot.setExpiration(0.1);
     stick = new Joystick(0);
     try {
/***********************************************************************
 * navX-MXP:
 * - Communication via RoboRIO MXP (SPI,TTL UART) and USB.            
 * - See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface.
 * 
 * navX-Micro:
 * - Communication via I2C (RoboRIO MXP or Onboard) and USB.
 * - See http://navx-micro.kauailabs.com/guidance/selecting-an-interface.
 * 
 * Multiple navX-model devices on a single robot are supported.
 ************************************************************************/
         ahrs = new AHRS(SPI.Port.kMXP); 
     } catch (RuntimeException ex ) {
         DriverStation.reportError("Error instantiating navX MXP:  " + ex.getMessage(),true);
     }
 }

项目：turtleshell    文件：Robot.java   

public Robot() {
     myRobot = new RobotDrive(frontLeftChannel,rearLeftChannel,frontRightChannel,rearRightChannel);
     myRobot.setExpiration(0.1);
     stick = new Joystick(0);
     try {
/***********************************************************************
 * navX-MXP:
 * - Communication via RoboRIO MXP (SPI,true);
     }
 }

项目：turtleshell    文件：Robot.java   

public Robot() {
    myRobot = new RobotDrive(frontLeftChannel,rearRightChannel);
    myRobot.setExpiration(0.1);
    stick = new Joystick(0);
    try {
/***********************************************************************
 * navX-MXP:
 * - Communication via RoboRIO MXP (SPI,TTL UART) and USB.            
 * - See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface.
 * 
 * navX-Micro:
 * - Communication via I2C (RoboRIO MXP or Onboard) and USB.
 * - See http://navx-micro.kauailabs.com/guidance/selecting-an-interface.
 * 
 * Multiple navX-model devices on a single robot are supported.
 ************************************************************************/
      ahrs = new AHRS(SPI.Port.kMXP); 
    } catch (RuntimeException ex ) {
        DriverStation.reportError("Error instantiating navX MXP:  " + ex.getMessage(),true);
    }
}

项目：turtleshell    文件：Robot.java   

public Robot() {
    myRobot = new RobotDrive(frontLeftChannel,TTL UART) and USB.            
 * - See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface.
 * 
 * navX-Micro:
 * - Communication via I2C (RoboRIO MXP or Onboard) and USB.
 * - See http://navx-micro.kauailabs.com/guidance/selecting-an-interface.
 * 
 * Multiple navX-model devices on a single robot are supported.
 ************************************************************************/
        ahrs = new AHRS(SPI.Port.kMXP); 
    } catch (RuntimeException ex ) {
        DriverStation.reportError("Error instantiating navX MXP:  " + ex.getMessage(),true);
    }
}

项目：turtleshell    文件：Robot.java   

public Robot() {
     stick = new Joystick(0);
     try {
/***********************************************************************
 * navX-MXP:
 * - Communication via RoboRIO MXP (SPI,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：MappedAHRS.java   

/**
 * Default constructor.
 *
 * @param port      The port the NavX is plugged into. It seems like only kMXP (the port on the RIO) works.
 * @param invertYaw Whether or not to invert the yaw axis. Defaults to true.
 */
@JsonCreator
public MappedAHRS(@JsonProperty(required = true) SPI.Port port,Boolean invertYaw) {
    this.ahrs = new AHRS(port);
    ahrs.reset();
    if (invertYaw == null || invertYaw) {
        this.invertYaw = -1;
    } else {
        this.invertYaw = 1;
    }
}

项目：CasseroleLib    文件：DotStarsLEDStrip.java   

/**
 * Constructor for led strip class
 * 
 * @param numLEDs number of LED's in the total strip.
 */
public DotStarsLEDStrip(int numLEDs) {

    // Number of bytes in color buffer needed - each LED has 4 bytes (1 brightness,then 1 for
    // RGB each),// plus the start and end frame.
    num_leds = numLEDs;
    int num_bytes_for_strip = 4 * numLEDs + startFrame.length + endFrame.length;
    endFrameOffset = 4 * numLEDs + startFrame.length;

    // Initialize color buffer
    ledBuffer = new byte[num_bytes_for_strip];

    // Write in the start/end buffers
    for (int i = 0; i < startFrame.length; i++)
        ledBuffer[i] = startFrame[i];
    for (int i = 0; i < endFrame.length; i++)
        ledBuffer[i + endFrameOffset] = endFrame[i];

    // mark buffer as not-yet-written-to-the-LEDs
    newBuffer = true;

    // Initialize SPI coms on the Offboard port
    spi = new SPI(SPI.Port.kMXP);
    spi.setMSBFirst();
    spi.setClockActiveLow();
    spi.setClockRate(SPI_CLK_RATE);
    spi.setSampleDataOnFalling();
    timerThread = new java.util.Timer("DotStar LED Strip Control");
    timerThread.schedule(new DotStarsTask(this),(long) (m_update_period_ms),(long) (m_update_period_ms));

}

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：Stronghold-2016    文件：Sensors.java   

public Sensors() {
    ahrs = new AHRS(SPI.Port.kMXP);
    ahrs.reset();
    intakeLidar = new AnalogInput(RobotMap.INTAKE_LIDAR_PORT);
    longLidar = new AnalogInput(RobotMap.LONG_LIDAR_PORT);
    table = NetworkTable.getTable("SmartDashboard");
}

项目：turtleshell    文件：Robot.java   

public Robot() {
     myRobot = new RobotDrive(frontLeftChannel,true);
     }
     turnController = new PIDController(kP,kI,kD,kF,ahrs,this);
     turnController.setInputRange(-180.0f,180.0f);
     turnController.setoutputRange(-1.0,1.0);
     turnController.setAbsolutetolerance(kTolerancedegrees);
     turnController.setContinuous(true);

     /* Add the PID Controller to the Test-mode dashboard,allowing manual  */
     /* tuning of the Turn Controller's P,I and D coefficients.            */
     /* Typically,only the P value needs to be modified.                   */
     LiveWindow.addActuator("DriveSystem","RotateController",turnController);
 }

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：FRC-2017-Public    文件：ADXRS453_Gyro.java   

/**
 * Constructor. Uses the onboard CS0.
 */
public ADXRS453_Gyro() {
    this(SPI.Port.kOnboardCS0);
}

项目：CasseroleLib    文件：ADXRS453_Gyro.java   

/**
 * Constructor. Uses the onboard CS0.
 */
public ADXRS453_Gyro() {
    this(SPI.Port.kOnboardCS0);
}

项目：CasseroleLib    文件：Adis16448_IMU.java   

/**
 * Constructor.
 */
public Adis16448_IMU() {
  m_spi = new SPI(SPI.Port.kMXP);
  m_spi.setClockRate(1000000);
  m_spi.setMSBFirst();
  m_spi.setSampleDataOnFalling();
  m_spi.setClockActiveLow();
  m_spi.setChipSelectActiveLow();

  readRegister(kRegPROD_ID); // dummy read

  // Validate the part ID
  if (readRegister(kRegPROD_ID) != 16448) {
    m_spi.free();
    m_spi = null;
    DriverStation.reportError("IMU is NOT Responding!!! Cannot Initalize!",false);
    return;
  }

  // Set IMU internal decimation to 102.4 SPS
  writeRegister(kRegSMPL_PRD,769);

  // Enable Data Ready (LOW = Good Data) on dio1 (PWM0 on MXP)
  writeRegister(kRegMSC_CTRL,4);

  // Configure IMU internal Bartlett filter
  writeRegister(kRegSENS_AVG,1030);

  m_cmd = ByteBuffer.allocateDirect(26);
  m_cmd.put(0,(byte) kGLOB_CMD);
  m_cmd.put(1,(byte) 0);
  m_resp = ByteBuffer.allocateDirect(26);
  m_resp.order(ByteOrder.BIG_ENDIAN);

  // Configure interrupt on MXP dio0
  m_interrupt = new DigitalInput(10);  // MXP dio0
  m_task = new Thread(new ReadTask(this));
  m_interrupt.requestInterrupts();
  m_interrupt.setupsourceEdge(false,true);
  m_task.setDaemon(true);
  m_task.start();

  calibrate();
}

项目：FRC-Robotics-2016-Team-2262    文件：Adis16448_IMU.java   

/**
 * Constructor.
 */
public Adis16448_IMU() {
  m_spi = new SPI(SPI.Port.kMXP);
  m_spi.setClockRate(1000000);
  m_spi.setMSBFirst();
  m_spi.setSampleDataOnFalling();
  m_spi.setClockActiveLow();
  m_spi.setChipSelectActiveLow();

  System.out.println("Adis16448_IMU.java");
  readRegister(kRegPROD_ID); // dummy read

  // Validate the part ID
  if (readRegister(kRegPROD_ID) != 16448) {
    m_spi.free();
    m_spi = null;
    DriverStation.reportError("Could not find Adis16448",(byte) 0);
  m_resp = ByteBuffer.allocateDirect(26);
  m_resp.order(ByteOrder.BIG_ENDIAN);

  // Configure interrupt on MXP dio0
  m_interrupt = new InterruptSource(10);  // MXP dio0
  m_task = new Thread(new ReadTask(this));
  m_interrupt.requestInterrupts();
  m_interrupt.setupsourceEdge(false,true);
  m_task.setDaemon(true);
  m_task.start();

  calibrate();

  //UsageReporting.report(tResourceType.kResourceType_Adis16448,0);
  LiveWindow.addSensor("Adis16448_IMU",this);
}

项目：Stronghold2016    文件：RegisterIO_SPI.java   

public RegisterIO_SPI( SPI spi_port ) {
    port = spi_port;
    bitrate = DEFAULT_SPI_BITRATE_HZ;
}

项目：Stronghold2016    文件：RegisterIO_SPI.java   

public RegisterIO_SPI( SPI spi_port,int bitrate ) {
    port = spi_port;
    this.bitrate = bitrate;
}

项目：FRCStronghold2016    文件：Sensors.java   

public Sensors() {
    // Todo Instantiate IMU and add appropriate variables
    imu = new AHRS(SPI.Port.kMXP);
}

项目：FRCStronghold2016    文件：RegisterIO_SPI.java   

public RegisterIO_SPI( SPI spi_port ) {
    port = spi_port;
    bitrate = DEFAULT_SPI_BITRATE_HZ;
}

项目：FRCStronghold2016    文件：RegisterIO_SPI.java   

public RegisterIO_SPI( SPI spi_port,int bitrate ) {
    port = spi_port;
    this.bitrate = bitrate;
}

项目：turtleshell    文件：RegisterIO_SPI.java   

public RegisterIO_SPI( SPI spi_port ) {
    port = spi_port;
    bitrate = DEFAULT_SPI_BITRATE_HZ;
}

项目：turtleshell    文件：RegisterIO_SPI.java   

public RegisterIO_SPI( SPI spi_port,int bitrate ) {
    port = spi_port;
    this.bitrate = bitrate;
}

项目：Stronghold2016    文件：AHRS.java   

/**
 * Constructs the AHRS class using SPI communication,overriding the default
 * update rate with a custom rate which may be from 4 to 60,representing
 * the number of updates per second sent by the sensor.
 * <p>
 * This constructor should be used if communicating via SPI.
 * <p>
 * Note that increasing the update rate may increase the cpu utilization.
 * <p>
 * 
 * @param spi_port_id
 *            SPI Port to use
 * @param update_rate_hz
 *            Custom Update Rate (Hz)
 */
public AHRS(SPI.Port spi_port_id,byte update_rate_hz) {
    commonInit(update_rate_hz);
    io = new RegisterIO(new RegisterIO_SPI(new SPI(spi_port_id)),update_rate_hz,io_complete_sink,board_capabilities);
    io_thread.start();
}

项目：Stronghold2016    文件：AHRS.java   

/**
 * The AHRS class provides an interface to AHRS capabilities of the
 * KauaiLabs navX Robotics Navigation Sensor via SPI,I2C and Serial (TTL
 * UART and USB) communications interfaces on the RoboRIO.
 *
 * The AHRS class enables access to basic connectivity and state
 * information,as well as key 6-axis and 9-axis orientation information
 * (yaw,pitch,roll,compass heading,fused (9-axis) heading and magnetic
 * disturbance detection.
 *
 * Additionally,the ARHS class also provides access to extended information
 * including linear acceleration,motion detection,rotation detection and
 * sensor temperature.
 *
 * If used with the navX Aero,the AHRS class also provides access to
 * altitude,barometric pressure and pressure sensor temperature data
 *
 * This constructor allows the specification of a custom SPI bitrate,in
 * bits/second.
 *
 * @param spi_port_id
 *            SPI Port to use
 * @param spi_bitrate
 *            SPI bitrate (Maximum: 2,000,000)
 * @param update_rate_hz
 *            Custom Update Rate (Hz)
 */

public AHRS(SPI.Port spi_port_id,int spi_bitrate,byte update_rate_hz) {
    commonInit(update_rate_hz);
    io = new RegisterIO(new RegisterIO_SPI(new SPI(spi_port_id),spi_bitrate),board_capabilities);
    io_thread.start();
}