项目:steamworks-java
文件:Winch.java
public void winchUp(XBoxController controller) {
double y = deadZoneInput(controller.getY(GenericHID.Hand.kLeft),.1);
if(y > .1)
speedController1.set(y);
else
speedController1.set(0);
}
项目:snobot-2017
文件:Snobot.java
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
public void robotinit()
{
// PWM's
mTestMotor1 = new Talon(0);
mTestMotor2 = new Jaguar(1);
mServo = new Servo(2);
// Digital IO
mDigitalOutput = new DigitalOutput(0);
mRightEncoder = new Encoder(4,5);
mLeftEncoder = new Encoder(1,2);
mUltrasonic = new Ultrasonic(7,6);
// Analog IO
mAnalogGryo = new AnalogGyro(0);
mPotentiometer = new AnalogPotentiometer(1);
// Solenoid
mSolenoid = new Solenoid(0);
// Relay
mRelay = new Relay(0);
// Joysticks
mJoystick1 = new Joystick(0);
mJoystick2 = new XBoxController(1);
// SPI
mSpiGryo = new ADXRS450_Gyro();
// Utilities
mTimer = new Timer();
mPDP = new PowerdistributionPanel();
Preferences.getInstance().putDouble("Motor One Speed",.5);
}
项目:ShayaTeamPreSeason
文件:ControllerHandler.java
public ControllerHandler(int port) {
controller = new XBoxController(port);
}
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:Steamworks2017Robot
文件:JoystickPov.java
public JoystickPov(XBoxController controller,Direction triggerDirection) {
this.controller = controller;
this.triggerDirection = triggerDirection;
}
项目:steamworks-java
文件:OI.java
public OI() {
driveJoystick = new XBoxController(0);
armJoystick = new XBoxController(1);
// BEGIN AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
clawButton = new JoystickButton(armJoystick,2);
clawButton.whenpressed(new Jaws());
armButton = new JoystickButton(armJoystick,1);
armButton.whenpressed(new ArmUp());
//testButton = new JoystickButton(driveJoystick,1);
//testButton.whenpressed(new TestDriveCount());
gearSwitch = new GearSensorDigitalSwitch();
gearSwitch.whenpressed(new CloSEOnTrigger());
// SmartDashboard Buttons
SmartDashboard.putData("Autonomous Command",new AutonomousCommand());
SmartDashboard.putData("Mecanum Drive",new MecanumDrive());
SmartDashboard.putData("Arm Up",new ArmUp());
//SmartDashboard.putData("Arm Down",new ArmDown());
SmartDashboard.putData("Jaws Close",new Jaws());
//SmartDashboard.putData("Jaws Open",new Jawsopen());
SmartDashboard.putData("Winch Up",new WinchUp());
SmartDashboard.putData("DrivetoPeg",new DrivetoPeg());
// END AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
/* xBox button mapping
* A = 1
* B = 2
* X = 3
* Y = 4
* leftStick press = 9
* rightStick press = 10
* backButton = 7
* startButton = 8
* leftBumper = 5
* rightBumper = 6
*/
}
项目:steamworks-java
文件:OI.java
public XBoxController getDriveJoystick() {
return driveJoystick;
}
项目:steamworks-java
文件:OI.java
public XBoxController getArmJoystick() {
return armJoystick;
}
项目:steamworks-java
文件:DriveBase.java
public void mecanumDrive(XBoxController controller) {
double x = deadZoneInput(controller.getX(GenericHID.Hand.kLeft),.3);
double y = deadZoneInput(controller.getY(GenericHID.Hand.kLeft),.1) * .5;
double rotation = deadZoneInput(controller.getX(GenericHID.Hand.kRight),.1) * .7;
if(controller.getTriggerAxis(GenericHID.Hand.kRight) != 0.0) {
double trigger = controller.getTriggerAxis(GenericHID.Hand.kRight);
y = y * (trigger + 1);
rotation = rotation * (1-(trigger*.5));
}
StringBuilder sb = new StringBuilder();
if(controller.getBumper(GenericHID.Hand.kLeft)) {
rFM.changeControlMode(TalonControlMode.PercentVbus);
rRM.changeControlMode(TalonControlMode.PercentVbus);
lFM.changeControlMode(TalonControlMode.PercentVbus);
lRM.changeControlMode(TalonControlMode.PercentVbus);
robotDrive41.mecanumDrive_Cartesian(x,y,rotation,0);
}
else {
y = y * -1;
//sb.append("rawx:" + rotation + ",rawy:" + y);
//double motorOutput = lFM.getoutputVoltage() / lFM.getBusVoltage();
double z = Math.sqrt(rotation * rotation + y * y);
double rad = Math.acos(Math.abs(rotation)/z);
double angle = rad * 180.0 / Math.PI;
double tcoeff = -1 + (angle/90.0)*2.0;
double turn = tcoeff * Math.abs(Math.abs(y) - Math.abs(rotation));
turn = Math.round(turn*100.0)/100.0;
double move = Math.max(Math.abs(y),Math.abs(rotation));
double left = 0;
double right = 0;
if ((rotation >= 0 && y >=0) || (rotation < 0 && y < 0))
{
left = move;
right = turn;
}
else {
right = move;
left = turn;
}
if (y < 0)
{
left = 0 - left;
right = 0 - right;
}
double rightTargetSpeed = right * 1200;
rFM.changeControlMode(TalonControlMode.Speed);
rFM.set(rightTargetSpeed);
//rRM.changeControlMode(TalonControlMode.Follower);
//rRM.set(0);
rRM.changeControlMode(TalonControlMode.Speed);
rRM.set(rightTargetSpeed);
double leftTargetSpeed = left * 1200;
lFM.changeControlMode(TalonControlMode.Speed);
lFM.set(leftTargetSpeed);
//lRM.changeControlMode(TalonControlMode.Follower);
//lRM.set(1);
lRM.changeControlMode(TalonControlMode.Speed);
lRM.set(leftTargetSpeed);
}
}
项目:frc2017
文件:OI.java
public OI() {
this.joystick = new XBoxController(RobotMap.XBox_CONTROLLER);
this.joystick2 = new XBoxController(RobotMap.XBox_CONTROLLER2);
this.buttonA2 = new JoystickButton(this.joystick2,1);
this.buttonB2 = new JoystickButton(this.joystick2,2);
this.buttonX2 = new JoystickButton(this.joystick2,3);
this.buttonY2 = new JoystickButton(this.joystick2,4);
this.buttonLeftBumper2 = new JoystickButton(this.joystick2,5);
this.buttonRightBumper2 = new JoystickButton(this.joystick2,6);
this.buttonBack2 = new JoystickButton(this.joystick2,7);
this.buttonStart2 = new JoystickButton(this.joystick2,8);
this.buttonLeftThumb2 = new JoystickButton(this.joystick2,9);
this.buttonRightThumb2 = new JoystickButton(this.joystick2,10);
this.dpadUp2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 0;}};
this.dpadUpRight2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 45;}};
this.dpadright2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 90;}};
this.dpadDownRight2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 135;}};
this.dpadDown2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 180;}};
this.dpadDownLeft2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 225;}};
this.dpadLeft2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 270;}};
this.dpadUpLeft2 = new Trigger() {@Override public boolean get() {return joystick2.getPOV(0) == 315;}};
// mappings based on this post from CD...
// https://www.chiefdelphi.com/forums/attachment.PHP?attachmentid=20028&d=1455109186
this.buttonA = new JoystickButton(this.joystick,1);
this.buttonB = new JoystickButton(this.joystick,2);
this.buttonX = new JoystickButton(this.joystick,3);
this.buttonY = new JoystickButton(this.joystick,4);
this.buttonLeftBumper = new JoystickButton(this.joystick,5);
this.buttonRightBumper = new JoystickButton(this.joystick,6);
this.buttonBack = new JoystickButton(this.joystick,7);
this.buttonStart = new JoystickButton(this.joystick,8);
this.buttonLeftThumb = new JoystickButton(this.joystick,9);
this.buttonRightThumb = new JoystickButton(this.joystick,10);
this.dpadUp = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 0;}};
this.dpadUpRight = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 45;}};
this.dpadright = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 90;}};
this.dpadDownRight = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 135;}};
this.dpadDown = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 180;}};
this.dpadDownLeft = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 225;}};
this.dpadLeft = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 270;}};
this.dpadUpLeft = new Trigger() {@Override public boolean get() {return joystick.getPOV(0) == 315;}};
//this.buttonA.whenpressed(new DriveheadingAnddistance(0,1));
//this.buttonA.whenpressed(new DriveStraightCommand(5));
// this.buttonA.whenpressed(new DriveStraightCommand(5));
//this.buttonB.whenpressed(new TurnToheading(180));
this.buttonRightBumper.whileHeld(new DeliverGearCommand());
this.buttonA2.whenpressed(new FeederCommand());
this.buttonB2.toggleWhenpressed(new ShooterCommand());
//this.buttonX2.whenpressed(new PushGear());
}
项目:frc2017
文件:OI.java
public XBoxController getJoystick() {
return joystick;
}
项目:frc2017
文件:OI.java
public XBoxController getJoystick2() {
return joystick2;
}
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。