edu.wpi.first.wpilibj.livewindow.LiveWindowSendable的实例源码

项目：FRC-2015cb    文件：RobotMap.java   

public static void init() {
    // BEGIN AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    driveTrainFrontLeftMotor = new Jaguar(2);
    LiveWindow.addActuator("DriveTrain","FrontLeftMotor",(Jaguar) driveTrainFrontLeftMotor);

    driveTrainRearLeftMotor = new Jaguar(3);
    LiveWindow.addActuator("DriveTrain","RearLeftMotor",(Jaguar) driveTrainRearLeftMotor);

    driveTrainFrontRightMotor = new Jaguar(1);
    LiveWindow.addActuator("DriveTrain","FrontRightMotor",(Jaguar) driveTrainFrontRightMotor);

    driveTrainRearRightMotor = new Jaguar(0);
    LiveWindow.addActuator("DriveTrain","RearRightMotor",(Jaguar) driveTrainRearRightMotor);

    /*driveTrainRearLeftPID = new PIDSpeedController(backLeftEncoder,driveTrainRearLeftMotor,"Drive","Back Left");
    LiveWindow.addActuator("DriveTrain","RearLeftPID",(Jaguar) driveTrainRearLeftMotor);

    driveTrainRearRightMotor = new PIDSpeedController(backRightEncoder,driveTrainRearRightMotor,"Back Right");
    LiveWindow.addActuator("DriveTrain","RearRightPID",(Jaguar) driveTrainRearRightMotor);*/

    driveTrainrobotDrive = new RobotDrive(driveTrainFrontLeftMotor,driveTrainFrontRightMotor,driveTrainRearRightMotor);

    driveTrainrobotDrive.setSafetyEnabled(true);
    driveTrainrobotDrive.setExpiration(0.1);
    driveTrainrobotDrive.setSensitivity(0.3);
    driveTrainrobotDrive.setMaxOutput(1.0);
    driveTrainrobotDrive.setInvertedMotor(RobotDrive.MotorType.kFrontLeft,true);
    driveTrainrobotDrive.setInvertedMotor(RobotDrive.MotorType.kRearLeft,true);

    accel = new BuiltInAccelerometer();
    accel = new BuiltInAccelerometer(Accelerometer.Range.k4G);
    LiveWindow.addSensor("DriveTrain","Accelerometer",(LiveWindowSendable) accel); 

    gyro = new Gyro(0);
    LiveWindow.addSensor("DriveTrain","Gyro",(LiveWindowSendable) gyro); 

    liftMotor = new Talon(4);
    LiveWindow.addActuator("Lift","Lift Motor",(Talon) liftMotor);

    topLimit = new DigitalInput(8);
    LiveWindow.addSensor("Lift","Upper Limit Switch",topLimit);
    bottomLimit = new DigitalInput(9);
    LiveWindow.addSensor("Lift","Lower Limit Switch",bottomLimit);

    toteInRobot = new DigitalInput(4);
    LiveWindow.addSensor("Lift","Tote In Robot",toteInRobot);
    lotOfTotes = new DigitalInput(5);
    LiveWindow.addSensor("Lift","5 Totes in Robot",lotOfTotes);

    liftEncoder = new Encoder(6,7);
    LiveWindow.addSensor("Lift","Lift Encoder",liftEncoder);
    backLeftEncoder = new Encoder(2,3);
    LiveWindow.addSensor("Lift","Back Left Encoder",backLeftEncoder);
    backRightEncoder = new Encoder(0,1);
    LiveWindow.addSensor("Lift","Back Right Encoder",backRightEncoder);

    leftPicker = new Talon(5);
    LiveWindow.addActuator("Pickers","Left Picker",(Talon) leftPicker);
    rightPicker = new Talon(6);
    LiveWindow.addActuator("Pickers","Right Picker",(Talon) rightPicker);

    compressor = new Compressor(0);
    LiveWindow.addActuator("Lift","Compressor",compressor);
    dogs = new Solenoid(0);
    LiveWindow.addActuator("Lift","Dogs",dogs);
    pusher = new Solenoid(1);
    LiveWindow.addActuator("Lift","Pusher",pusher);
    flipper = new Solenoid(2);
    LiveWindow.addActuator("Lift","Flipper",flipper);

    thatArmThatOpensToReleaseStacks = new Solenoid(3);
    LiveWindow.addActuator("Lift","Stack Arm",thatArmThatOpensToReleaseStacks);

}