项目：RA17_RobotCode
文件：SwerveDrive.java
public SwerveDrive(CANTalon fr,CANTalon fra,AnalogInput fre,CANTalon fl,CANTalon fla,AnalogInput fle,CANTalon br,CANTalon bra,AnalogInput bre,CANTalon bl,CANTalon bla,AnalogInput ble)
{
FRM = new SwerveModule(fr,fra,fre,"FR");
FLM = new SwerveModule(fl,fla,fle,"FL");
BRM = new SwerveModule(br,bra,bre,"BR");
BLM = new SwerveModule(bl,bla,ble,"BL");
length = Config.getSetting("FrameLength",1);
width = Config.getSetting("FrameWidth",1);
diameter = Math.sqrt(Math.pow(length,2)+Math.pow(width,2));
temp = 0.0;
a = 0.0;b = 0.0;c = 0.0;d = 0.0;
ws1 = 0.0;ws2 = 0.0;ws3 = 0.0;ws4 = 0.0;
wa1 = 0.0;wa2 = 0.0;wa3 = 0.0;wa4 = 0.0;
max = 0.0;
movecount = 0;
}
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);
}
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：FRCStronghold2016
文件：CustomGyro.java
/**
* Initialize the gyro. Calibration is handled by calibrate().
*/
public void initGyro() {
result = new AccumulatorResult();
m_voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond;
m_analog.setAverageBits(kAverageBits);
m_analog.setoversampleBits(kOversampleBits);
double sampleRate = kSamplesPerSecond * (1 << (kAverageBits + kOversampleBits));
AnalogInput.setGlobalSampleRate(sampleRate);
Timer.delay(0.1);
setDeadband(0.0);
setPIDSourceType(PIDSourceType.kdisplacement);
UsageReporting.report(tResourceType.kResourceType_Gyro,m_analog.getChannel());
LiveWindow.addSensor("AnalogGyro",m_analog.getChannel(),this);
}
项目：FRCStronghold2016
文件：CustomGyro.java
/**
* {@inheritDoc}
*/
public double getAngle() {
if (m_analog == null) {
return 0.0;
} else {
m_analog.getAccumulatorOutput(result);
long value = result.value - (long) (result.count * m_offset);
double scaledValue =
value * 1e-9 * m_analog.getLSBWeight() * (1 << m_analog.getAverageBits())
/ (AnalogInput.getGlobalSampleRate() * m_voltsPerDegreePerSecond);
return scaledValue;
}
}
项目：CMonster2015
文件：AnalogGyro.java
/**
* Gyro constructor with a precreated analog channel object. Use this
* constructor when the analog channel needs to be shared.
*
* @param channel The AnalogInput object that the gyro is connected to.
* Analog gyros can only be used on on-board channels 0-1.
*/
public AnalogGyro(AnalogInput channel) {
analogInput = channel;
if (analogInput == null) {
throw new NullPointerException("AnalogInput supplied to AnalogGyro constructor is null");
}
result = new AccumulatorResult();
analogInput.setAverageBits(DEFAULT_AVERAGE_BITS);
analogInput.setoversampleBits(DEFAULT_OVERSAMPLE_BITS);
updateSampleRate();
analogInput.initaccumulator();
UsageReporting.report(tResourceType.kResourceType_Gyro,analogInput.getChannel(),"Custom more flexible implementation");
LiveWindow.addSensor("Analog Gyro",this);
calibrate(DEFAULT_CALIBRATION_TIME);
}
项目：HolonomicDrive
文件：HVAGyro.java
/**
* Return the actual angle in degrees that the robot is currently facing.
*
* The angle is based on the current accumulator value corrected by the
* over-sampling rate,the gyro type and the A/D calibration values. The
* angle is continuous,that is it will continue from 360 to 361 degrees.
* This allows algorithms that wouldn't want to see a discontinuity in the
* gyro output as it sweeps past from 360 to 0 on the second time around.
*
* @return the current heading of the robot in degrees. This heading is
* based on integration of the returned rate from the gyro.
*/
public double getAngle()
{
if (m_analog == null)
{
return 0.0;
}
else
{
m_analog.getAccumulatorOutput(result);
// correct the accumulated value by subtracting the offset
// Note: The result.count is after the center subtraction
long value = result.value - (long) (result.count * m_offset);
// compute the angle
double scaledValue = value * 1e-9 * m_analog.getLSBWeight() *
(1 << m_analog.getAverageBits()) / (AnalogInput.getGlobalSampleRate() *
m_voltsPerDegreePerSecond);
// return the angle
return scaledValue;
}
}
项目：FRC-2017-Command
文件：Ultrasonic.java
项目：RA17_RobotCode
文件：SwerveModule.java
public SwerveModule(CANTalon d,CANTalon a,AnalogInput e,String name)
{
SpeedP = Config.getSetting("speedP",1);
SpeedI = Config.getSetting("speedI",0);
SpeedD = Config.getSetting("speedD",0);
SteerP = Config.getSetting("steerP",2);
SteerI = Config.getSetting("steerI",0);
SteerD = Config.getSetting("steerD",0);
SteerTolerance = Config.getSetting("SteeringTolerance",.25);
SteerSpeed = Config.getSetting("SteerSpeed",1);
SteerEncMax = Config.getSetting("SteerEncMax",4.792);
SteerEncMax = Config.getSetting("SteerEncMin",0.01);
SteerOffset = Config.getSetting("SteerEncOffset",0);
MaxRPM = Config.getSetting("driveCIMmaxRPM",4200);
drive = d;
drive.setPID(SpeedP,SpeedI,SpeedD);
drive.setFeedbackDevice(FeedbackDevice.QuadEncoder);
drive.configEncoderCodesPerRev(20);
drive.enable();
angle = a;
encoder = e;
encFake = new FakePIDSource(SteerOffset,SteerEncMin,SteerEncMax);
PIDc = new PIDController(SteerP,SteerI,SteerD,encFake,angle);
PIDc.disable();
PIDc.setContinuous(true);
PIDc.setInputRange(SteerEncMin,SteerEncMax);
PIDc.setoutputRange(-SteerSpeed,SteerSpeed);
PIDc.setPercentTolerance(SteerTolerance);
PIDc.setSetpoint(2.4);
PIDc.enable();
s = name;
}
项目：Steamworks2017Robot
文件：GearManipulator.java
/**
* Creates the GearManipulator,and sets servo to closed position.
*/
public GearManipulator() {
logger.info("Initialize");
gearServo = new Servo(RobotMap.GEAR_SERVO_CHANNEL);
gearServo.setBounds(2.4,0.8);
gearServo.setPeriodMultiplier(PeriodMultiplier.k4X);
setPosition(Position.CLOSED);
lsspokeDown = new AnalogInput(RobotMap.AI_LS_SPOKE_DOWN);
lsWedgeDown = new AnalogInput(RobotMap.AI_LS_WEDGE_DOWN);
pressurePlate = new AnalogInput(RobotMap.AI_PRESSURE_PLATE);
}
项目：449-central-repo
文件：PressureSensor.java
/**
* Default constructor.
*
* @param port The port of the sensor.
* @param oversampleBits The number of oversample bits.
* @param averageBits The number of averaging bits.
*/
@JsonCreator
public PressureSensor(@JsonProperty(required = true) int port,@JsonProperty(required = true) int oversampleBits,@JsonProperty(required = true) int averageBits) {
sensor = new AnalogInput(port);
sensor.setoversampleBits(oversampleBits);
sensor.setAverageBits(averageBits);
}
项目：2017-code
文件：MaxSonarUltrasonic.java
项目：2017-code
文件：MaxSonarUltrasonic.java
public MaxSonarUltrasonic(int input,boolean useUnits,double minVoltage,double maxVoltage,double mindistance,double maxdistance) {
this.input = new AnalogInput(input);
//only use unit-specific variables if we're using units
if(useUnits){
this.useUnits = true;
this.minVoltage = minVoltage;
voltageRange = maxVoltage - minVoltage;
this.mindistance = mindistance;
distanceRange = maxdistance - mindistance;
}
}
项目：RobotBuilderTest
文件：RobotMap.java
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);
driveTrainRobotDrive = new RobotDrive(driveTrainLeftMotor,driveTrainRightMotor);
driveTrainRobotDrive.setSafetyEnabled(true);
driveTrainRobotDrive.setExpiration(0.1);
driveTrainRobotDrive.setSensitivity(0.5);
driveTrainRobotDrive.setMaxOutput(1.0);
intakeintakeMotor = new Talon(2);
LiveWindow.addActuator("Intake","intakeMotor",(Talon) intakeintakeMotor);
pneumaticSystemCompressor = new Compressor(0);
pneumaticSystemDoubleSolenoidPusher = new DoubleSolenoid(0,1);
LiveWindow.addActuator("Pneumatic System","DoubleSolenoidPusher",pneumaticSystemDoubleSolenoidPusher);
sensorBaseUltraSonicMaxbotix = new AnalogInput(0);
LiveWindow.addSensor("SensorBase","UltraSonicMaxbotix",sensorBaseUltraSonicMaxbotix);
// END AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}
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：snobot-2017
文件：Harvester.java
public Harvester(SpeedController aHarvesterRollerMotor,SpeedController aHarvesterPivotMotor,IOperatorJoystick aOperatorJoystick,Logger aLogger,AnalogInput aHarvesterPot)
{
mHarvesterRollerMotor = aHarvesterRollerMotor;
mHarvesterPivotMotor = aHarvesterPivotMotor;
mOperatorJoystick = aOperatorJoystick;
mLogger = aLogger;
mHarvesterPot = aHarvesterPot;
}
项目：FRCStronghold2016
文件：CustomGyro.java
/**
* Gyro constructor with a precreated analog channel object. Use this
* constructor when the analog channel needs to be shared.
*
* @param channel The AnalogInput object that the gyro is connected to. Gyros
* can only be used on on-board channels 0-1.
*/
public CustomGyro(AnalogInput channel) {
m_analog = channel;
if (m_analog == null) {
throw new NullPointerException("AnalogInput supplied to Gyro constructor is null");
}
initGyro();
calibrate();
}
项目：FRCStronghold2016
文件：CustomGyro.java
/**
* Gyro constructor with a precreated analog channel object along with
* parameters for presetting the center and offset values. Bypasses
* calibration.
* @param channel The analog channel the gyro is connected to. Gyros can only
* be used on on-board channels 0-1.
* @param center Preset uncalibrated value to use as the accumulator center value.
* @param offset Preset uncalibrated value to use as the gyro offset.
*/
public CustomGyro(AnalogInput channel,int center,double offset) {
m_analog = channel;
if (m_analog == null) {
throw new NullPointerException("AnalogInput supplied to Gyro constructor is null");
}
initGyro();
m_offset = offset;
m_center = center;
m_analog.setAccumulatorCenter(m_center);
m_analog.resetAccumulator();
}
项目：scorpion
文件：AnalogIn.java
public AnalogIn(int channel,boolean onRIO)
{
this.onRIO = onRIO;
if(onRIO)
{
input = new AnalogInput(channel);
input.setAverageBits(3);
}
else
{
Robot.BBBAnalogs[channel] = this;
}
}
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() {
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：DriveTrain.java
public DriveTrain() {
super();
front_left_motor = new Talon(1);
back_left_motor = new Talon(2);
front_right_motor = new Talon(3);
back_right_motor = new Talon(4);
drive = new RobotDrive(front_left_motor,back_left_motor,front_right_motor,back_right_motor);
left_encoder = new Encoder(1,2);
right_encoder = new Encoder(3,4);
// Encoders may measure differently in the real world and in
// simulation. In this example the robot moves 0.042 barleycorns
// per tick in the real world,but the simulated encoders
// simulate 360 tick encoders. This if statement allows for the
// real robot to handle this difference in devices.
if (Robot.isReal()) {
left_encoder.setdistancePerpulse(0.042);
right_encoder.setdistancePerpulse(0.042);
} else {
// Circumference in ft = 4in/12(in/ft)*PI
left_encoder.setdistancePerpulse((4.0/12.0*Math.PI) / 360.0);
right_encoder.setdistancePerpulse((4.0/12.0*Math.PI) / 360.0);
}
rangefinder = new AnalogInput(6);
gyro = new AnalogGyro(1);
// Let's show everything on the LiveWindow
LiveWindow.addActuator("Drive Train","Front_Left Motor",(Talon) front_left_motor);
LiveWindow.addActuator("Drive Train","Back Left Motor",(Talon) back_left_motor);
LiveWindow.addActuator("Drive Train","Front Right Motor",(Talon) front_right_motor);
LiveWindow.addActuator("Drive Train","Back Right Motor",(Talon) back_right_motor);
LiveWindow.addSensor("Drive Train","Left Encoder",left_encoder);
LiveWindow.addSensor("Drive Train","Right Encoder",right_encoder);
LiveWindow.addSensor("Drive Train","Rangefinder",rangefinder);
LiveWindow.addSensor("Drive Train",gyro);
}
项目：CMonster2015
文件：AnalogGyro.java
/**
* Return the actual angle in radians that the robot is currently facing.
*
* The angle is based on the current accumulator value corrected by the
* oversampling rate,that is it will continue from past 2pi radians. This
* allows algorithms that wouldn't want to see a discontinuity in the gyro
* output as it sweeps past from 2pi to 0 on the second time around.
*
* @return the current heading of the robot in radians. This heading is
* based on integration of the returned rate from the gyro.
*/
@Override
public double getAngle() {
analogInput.getAccumulatorOutput(result);
long value = result.value - (long) (result.count * offset);
double scaledValue = value
* 1e-9
* analogInput.getLSBWeight()
* (1 << analogInput.getAverageBits())
/ (AnalogInput.getGlobalSampleRate() * voltsPerRadianPerSecond);
return scaledValue + angleOffset;
}
项目：HolonomicDrive
文件：HVAGyro.java
/**
* Gyro constructor with a pre-created analog channel object. Use this
* constructor when the analog channel needs to be shared.
*
* @param channel
* The AnalogInput object that the gyro is connected to. Gyros
* can only be used on on-board channels 0-1.
*/
public HVAGyro(AnalogInput channel)
{
m_analog = channel;
if (m_analog == null)
{
throw new NullPointerException("AnalogInput supplied to Gyro constructor is null");
}
initGyro();
}
项目：TitanRobot2014
文件：InfraredSwitch.java
public InfraredSwitch(int pInfraredDetectorChannel,AnalogInput pAnalogVoltageMeter,double pHammerLevel,int pOnState,boolean pForceStateChange) {
infraredDetector = new AnalogInput(pInfraredDetectorChannel);
analogVoltageMeter = pAnalogVoltageMeter;
hammerLevel = pHammerLevel;
onState = pOnState;
setForceStateChange(pForceStateChange);
}
项目：TitanRobot2014
文件：Potentiometer.java
public Potentiometer(int pPotentiometerChannel,boolean pReverse) {
potentiometer = new AnalogInput(pPotentiometerChannel);
analogVoltageMeter = pAnalogVoltageMeter;
scaled = false;
scale = 0.0;
minValue = 0.0;
maxValue = 0.0;
reverse = pReverse;
}
项目：TitanRobot2014
文件：Potentiometer.java
public Potentiometer(int pPotentiometerChannel,boolean pReverse,double pScale,double pMinValue,double pMaxValue) {
potentiometer = new AnalogInput(pPotentiometerChannel);
analogVoltageMeter = pAnalogVoltageMeter;
scaled = true;
scale = pScale;
minValue = pMinValue;
maxValue = pMaxValue;
reverse = pReverse;
}
项目：El-Jefe-2017
文件：AnalogUltrasonic.java
public AnalogUltrasonic(int pin){
input = new AnalogInput(pin);
}
项目：2017SteamBot2
文件：UltraSonic.java
public UltraSonic() {
Robot.logList.add(this);
ultraSonic = new AnalogInput(RobotMap.Ports.ultraSonic);
}
项目：frc-2016
文件：IntakeRoller.java
public IntakeRoller() {
motor = new Victor(RobotMap.Pwm.RollerVictor);
intakeSensor = new AnalogInput(RobotMap.Analog.IntakeSensor);
}
项目：2016Robot
文件：Robot.java
public void robotinit() {
System.out.println("Pre RobotMap Init");
RobotMap.init();
System.out.println("Post RobotMap Init");
System.out.println("Elevator");
shooteraim = new Shooteraim();
System.out.println("Shooter aim");
shooterWheels = new ShooterWheels();
System.out.println("Shooter Wheels");
nav6 = new Nav6();
if(nav6 != null && nav6.isValid()) {
System.out.println("Nav6");
} else {
nav6 = null;
System.out.println("Nav6 is offline. PID disabled.");
}
pneumatics = new Pneumatics();
System.out.println("Pneumatics");
driveTrain = new DriveTrain();
System.out.println("DriveTrain");
oi = new OI();
System.out.println("OI");
ultrasonicSensor = new AnalogInput(3);
System.out.println("Ultrasonic");
table = NetworkTable.getTable("grip");
System.out.println("Network");
accelerometerSampling = new AccelerometerSampling();
System.out.println("Accelerometer");
datadisplayer = new Datadisplayer();
System.out.println("Datadisplayer");
System.out.println("Robot init done");
autonomousCommand = new ObstacleHighGoalAndReset();
System.out.println("Autonomous command initialized");
(new SafeArmsUp()).start();
System.out.println("Arms retracted");
}
public PressureSensorSubsystem()
{
pressureSensor = new AnalogInput(RobotMap.Electrical.PRESSURE_SENSOR);
}
public MaxbotixMB1013(int AINPort){
port=AINPort;
ain=new AnalogInput(port);
}
项目：frc-2015
文件：Drive.java
public Drive() {
// SPEED CONTROLLER PORTS
frontLeftTalon = new Talon(RobotMap.Pwm.FrontLeftDrive);
rearLeftTalon = new Talon(RobotMap.Pwm.RearLeftDrive);
frontRightTalon = new Talon(RobotMap.Pwm.FrontRightDrive);
rearRightTalon = new Talon(RobotMap.Pwm.RearRightDrive);
// ULTRASONIC SENSORS
leftAngleIR = new AnalogInput(RobotMap.Analog.LeftAngleIR);
rightAngleIR = new AnalogInput(RobotMap.Analog.RightAngleIR);
leftCenterIR = new AnalogInput(RobotMap.Analog.LeftCenterIR);
rightCenterIR = new AnalogInput(RobotMap.Analog.RightCenterIR);
// YAWRATE SENSOR
gyro = new AnalogGyro(RobotMap.Analog.Gryo);
// ENCODER PORTS
frontLeftEncoder = new Encoder(RobotMap.Encoders.FrontLeftDriveA,RobotMap.Encoders.FrontLeftDriveB);
rearLeftEncoder = new Encoder(RobotMap.Encoders.RearLeftDriveA,RobotMap.Encoders.RearLeftDriveB);
frontRightEncoder = new Encoder(RobotMap.Encoders.FrontRightDriveA,RobotMap.Encoders.FrontRightDriveB);
rearRightEncoder = new Encoder(RobotMap.Encoders.RearRightDriveA,RobotMap.Encoders.RearRightDriveB);
// ENCODER MATH
frontLeftEncoder.setdistancePerpulse(distancePerpulse);
frontLeftEncoder.setPIDSourceType(PIDSourceType.kRate);
frontRightEncoder.setdistancePerpulse(distancePerpulse);
frontRightEncoder.setPIDSourceType(PIDSourceType.kRate);
rearLeftEncoder.setdistancePerpulse(distancePerpulse);
rearLeftEncoder.setPIDSourceType(PIDSourceType.kRate);
rearRightEncoder.setdistancePerpulse(distancePerpulse);
rearRightEncoder.setPIDSourceType(PIDSourceType.kRate);
// PID SPEED CONTROLLERS
frontLeftPID = new PIDSpeedController(frontLeftEncoder,frontLeftTalon,"Drive","Front Left");
frontRightPID = new PIDSpeedController(frontRightEncoder,frontRightTalon,"Front Right");
rearLeftPID = new PIDSpeedController(rearLeftEncoder,rearLeftTalon,"Rear Left");
rearRightPID = new PIDSpeedController(rearRightEncoder,rearRightTalon,"Rear Right");
// DRIVE DECLaraTION
robotDrive = new RobotDrive(frontLeftPID,rearLeftPID,frontRightPID,rearRightPID);
robotDrive.setExpiration(0.1);
// MOTOR INVERSIONS
robotDrive.setInvertedMotor(MotorType.kFrontRight,true);
robotDrive.setInvertedMotor(MotorType.kRearRight,true);
LiveWindow.addActuator("Drive","Front Left Talon",frontLeftTalon);
LiveWindow.addActuator("Drive","Front Right Talon",frontRightTalon);
LiveWindow.addActuator("Drive","Rear Left Talon",rearLeftTalon);
LiveWindow.addActuator("Drive","Rear Right Talon",rearRightTalon);
LiveWindow.addSensor("Drive Encoders","Front Left Encoder",frontLeftEncoder);
LiveWindow.addSensor("Drive Encoders","Front Right Encoder",frontRightEncoder);
LiveWindow.addSensor("Drive Encoders","Rear Left Encoder",rearLeftEncoder);
LiveWindow.addSensor("Drive Encoders","Rear Right Encoder",rearRightEncoder);
}
项目：2015-Robot
文件：Robot.java
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
public void robotinit() {
RobotMap.init();
//maxTankDriveSpeed = prefs.getDouble("MaxTankDriveSpeed",1.0);
// These need to be added to the smartdashboard or the program will crash
// see this link for instructions http://wpilib.screenstepslive.com/s/3120/m/7932/l/81114-setting-robot-preferences-from-smartdashboard
//try
//{
//MaxElevatorSpeed = prefs.getDouble("MaxElevatorSpeed",MaxElevatorSpeed);
//RampTimeInSeconds = prefs.getDouble("RamptTimeInSeconds",RampTimeInSeconds);
//CushyStopSteps = prefs.getInt("CushyStopSteps",CushyStopSteps);
//StopRampFactor = prefs.getDouble("StopRampFactor",StopRampFactor);
//}
//catch(Exception ex)
//{
// System.out.println(ex.getMessage());
//}
//System.out.println("Ramp Time: " + String.format("%.3f",RampTimeInSeconds));
// BEGIN AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
driveTrain = new DriveTrain();
frontElevator = new FrontElevator();
backElevator = new BackElevator();
binArm = new BinArm();
autonSwitch = new AutonSwitch();
// END AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
// OI must be constructed after subsystems. If the OI creates Commands
//(which it very likely will),subsystems are not guaranteed to be
// constructed yet. Thus,their requires() statements may grab null
// pointers. Bad news. Don't move it.
oi = new OI();
// instantiate the command used for the autonomous period
// BEGIN AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=AUTONOMOUS
autonomousCommand = new AutonomousCommandGroup();
// END AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=AUTONOMOUS
AnalogInput.setGlobalSampleRate(1000);
}
版权声明：本文内容由互联网用户自发贡献，该文观点与技术仅代表作者本人。本站仅提供信息存储空间服务，不拥有所有权，不承担相关法律责任。如发现本站有涉嫌侵权/违法违规的内容， 请发送邮件至 dio@foxmail.com 举报，一经查实，本站将立刻删除。
