public ShooterSubsystem() {
winchSafety = new WinchSafetyThread();
initalizeCANJaguar();
firedLimit = new DigitalIOButton(RobotMap.SHOOTER_FIRED_LIMIT);
canLimitBottom = new CANLimitButton(false);
firedLimit.whenpressed(new LogToBlackBox("CAN Button hit top"));
canLimitBottom.whenpressed(new LogToBlackBox("CAN Button hit bottom"));
latch = new Solenoid(RobotMap.SHOOTER_LATCH);
compressor = new Compressor(RobotMap.COMPRESSOR_SWITCH,RobotMap.COMPRESSOR_RELAY);
compressor.start();
SmartDashboard.putNumber("P",P);
SmartDashboard.putNumber("I",I);
SmartDashboard.putNumber("D",D);
}
项目:Hyperion3360-2012
文件:Pont.java
public Pont() {
mjControl = JoystickDevice.Getcopilot();
mjDroite = JoystickDevice.GetTankDriveDroite();
msBrasDown = new Solenoid(SolenoidDevice.mBrasDown);
msBrasUp = new Solenoid(SolenoidDevice.mBrasUp);
msBrasLock = new Solenoid(SolenoidDevice.mBrasLock);
msBrasUnlock = new Solenoid(SolenoidDevice.mBrasUnlock);
mdLimitLock = new DigitalIOButton(DigitalDevice.mBrasLimiteLock);
msBrasLock.set(false);
msBrasUnlock.set(true);
msBrasDown.set(false);
msBrasUp.set(true);
}
项目:Hyperion3360-2012
文件:ReserveBallon.java
public ReserveBallon() {
mElevator = new Relay(RelayDevice.mReserveBallon);
mjGauche = JoystickDevice.GetTankDriveGauche();
mjControl = JoystickDevice.Getcopilot();
limitSwitchBallonHaut = new DigitalIOButton(DigitalDevice.mReserveBallonPresenceHaut);
limitSwitchBallonBas = new DigitalIOButton(DigitalDevice.mReserveBallonPresenceBas);
mElevator.setDirection(Relay.Direction.kForward);
count = 0;
}
项目:HyperionRobot2014
文件:OI.java
public OI() {
driverRightJoystick = new Joystick(2);
driverLeftJoystick = new Joystick(1);
Button_Canon_SetAngleWhiteZone = new DigitalIOButton(3);
Button_Canon_SetAngleWhiteZone.whileHeld(new Canon_copilotSetAngleZone());
Button_Canon_SetAngleWhiteZone.whenReleased(new Canon_CancelPreparetopGoal());
Button_Canon_SetAngleWhiteZone.whenReleased(new CanonAngle_HandleManualMode());
Button_DriverCanon_PreparetopGoal = new JoystickButton(driverLeftJoystick,1);
Button_DriverCanon_PreparetopGoal.whileHeld(new CanonSpinner_PreparetopGoal());
Button_DriverCanon_PreparetopGoal.whenReleased(new Canon_CancelPreparetopGoal());
Button_DriverCanon_Shoot = new JoystickButton(driverLeftJoystick,7);
Button_DriverCanon_Shoot.whenpressed(new CanonShooter_Shoot());
Button_Canon_PilotShootAuto = new JoystickButton(driverRightJoystick,1);
Button_Canon_PilotShootAuto.whileHeld(new Canon_ShoottopGoalTeleop());
Button_Canon_PilotShootAuto.whenInactive(new CanonAngle_HandleManualMode());
Button_DriveTrain_Moveto = new JoystickButton(driverRightJoystick,9);
Button_DriveTrain_Moveto.whenpressed(new DriveTrain_Moveto(2));
Button_Canon_copilotGrab = new JoystickButton(driverLeftJoystick,2);
Button_Canon_copilotGrab.whileHeld(new Canon_copilotGrab());
Button_Canon_copilotGrab.whenInactive(new CanonAngle_HandleManualMode());
Button_CanonShooter_Shoot = new DigitalIOButton(1);
Button_CanonShooter_Shoot.whenpressed(new CanonShooter_Shoot());
Button_CanonSpinner_ShootSpeed = new DigitalIOButton(2);
Button_CanonSpinner_ShootSpeed.whileHeld(new CanonSpinner_PreparetopGoal());
Button_CanonSpinner_CatchSpeed = new DigitalIOButton(4);
Button_CanonSpinner_CatchSpeed.whileHeld(new CanonSpinner_ReceivePass());
Button_CanonSpinner_SetManualMode = new DigitalIOButton(8);
Button_CanonSpinner_SetManualMode.whenInactive(new CanonSpinner_HandlePresetMode());
Button_CanonSpinner_SetManualMode.whileHeld(new CanonSpinner_HandleManualMode());
Button_ResetShooterMIN = new JoystickButton(driverRightJoystick,6);
Button_ResetShooterMIN.whileHeld(new CanonAngle_SetShooterangle(8));
Button_ResetShooterMIN.whenReleased(new CanonAngle_Cancel());
Button_ResetShooterMAX = new JoystickButton(driverRightJoystick,11);
Button_ResetShooterMAX.whileHeld(new CanonAngle_SetShooterangle(90));
Button_ResetShooterMAX.whenReleased(new CanonAngle_Cancel());
}
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