edu.wpi.first.wpilibj.Gyro的实例源码

项目：2014-Aerial-Assist 文件：Robottemplate.java

/**
 * This function is run when the robot is first started up and should be
 * used for any initialization code.
 */
public void robotinit() {
    // instantiate the command used for the autonomous period
    autonomousCommand = new ExampleCommand();

    frontLeft = new Victor(1); // Creating Victor motors
    frontRight = new Victor(2);
    rearLeft = new Victor(3);
    rearRight = new Victor(4);

    myDrive = new RobotDrive(frontLeft,frontRight);
    // myDrive = new RobotDrive(frontLeft,frontRight,rearLeft,rearRight);

    driveStick = new Joystick(1);

    gyro = new Gyro(1);

    // Initialize all subsystems
    CommandBase.init();
}

项目：CMonster2014 文件：MecanumDriveAlgorithm.java

/**
 * Creates a new {@link MecanumDriveAlgorithm} that controls the specified
 * {@link FourWheelDriveController}.
 *
 * @param controller the {@link FourWheelDriveController} to control
 * @param gyro the {@link Gyro} to use for orientation correction and
 * field-oriented driving
 */
public MecanumDriveAlgorithm(FourWheelDriveController controller,Gyro gyro) {
    super(controller);
    // Necessary because we hide the controller field inherited from
    // DriveAlgorithm (if this was >=Java 5 I would use generics).
    this.controller = controller;
    this.gyro = gyro;
    rotationPIDController = new PIDController(
            ROTATION_P,ROTATION_I,ROTATION_D,ROTATION_F,gyro,new PIDOutput() {
                public void pidWrite(double output) {
                    rotationSpeedPID = output;
                }
            }
    );
    SmartDashboard.putData("Rotation PID Controller",rotationPIDController);
}

项目：RobotCode-2015 文件：Drivetrain.java

public Drivetrain () {
    leftBackMotor   = new TalonWrapper (RobotMap.Drivetrain.LEFT_BACK_MOTOR_CHANNEL,Constants.Drivetrain.LEFT_BACK_MOTOR_FLIPPED);
    leftMiddleMotor = new TalonWrapper (RobotMap.Drivetrain.LEFT_MIDDLE_MOTOR_CHANNEL,Constants.Drivetrain.LEFT_MIDDLE_MOTOR_FLIPPED);
    leftFrontMotor  = new TalonWrapper (RobotMap.Drivetrain.LEFT_FRONT_MOTOR_CHANNEL,Constants.Drivetrain.LEFT_FRONT_MOTOR_FLIPPED);
    rightBackMotor  = new TalonWrapper (RobotMap.Drivetrain.RIGHT_BACK_MOTOR_CHANNEL,Constants.Drivetrain.RIGHT_BACK_MOTOR_FLIPPED);
    rightMiddleMotor = new TalonWrapper (RobotMap.Drivetrain.RIGHT_MIDDLE_MOTOR_CHANNEL,Constants.Drivetrain.RIGHT_MIDDLE_MOTOR_FLIPPED);
    rightFrontMotor = new TalonWrapper (RobotMap.Drivetrain.RIGHT_FRONT_MOTOR_CHANNEL,Constants.Drivetrain.RIGHT_FRONT_MOTOR_FLIPPED);

    leftEnc  = new EncoderWrapper (RobotMap.Drivetrain.LEFT_ENC_CHANNEL_A,RobotMap.Drivetrain.LEFT_ENC_CHANNEL_B);
    rightEnc = new EncoderWrapper (RobotMap.Drivetrain.RIGHT_ENC_CHANNEL_A,RobotMap.Drivetrain.RIGHT_ENC_CHANNEL_B);

    gyro = new Gyro(RobotMap.Drivetrain.GYRO_CHANNEL);

    shifter = new Solenoid(RobotMap.Drivetrain.SHIFTER_CHANNEL);

    leftTargetSpeed = rightTargetSpeed = leftCurrSpeed = rightCurrSpeed = 0;

    isBusy = false;
    isShifterLocked = false;
}

项目：2015-frc-robot 文件：SensorInput.java

/**
 * Instantiates the Sensor Input module to read all sensors connected to the roboRIO.
 */
private Sensorinput() { 
    limit_left = new DigitalInput(ChiliConstants.left_limit);
    limit_right = new DigitalInput(ChiliConstants.right_limit);
    accel = new BuiltInAccelerometer(Accelerometer.Range.k2G);
    gyro = new Gyro(ChiliConstants.gyro_channel);
    pdp = new PowerdistributionPanel();
    left_encoder = new Encoder(ChiliConstants.left_encoder_channelA,ChiliConstants.left_encoder_channelB,false);
    right_encoder = new Encoder(ChiliConstants.right_encoder_channelA,ChiliConstants.right_encoder_channelB,true);
    gyro_i2c = new GyroITG3200(I2C.Port.kOnboard);

    gyro_i2c.initialize();
    gyro_i2c.reset();
    gyro.initGyro();

    left_encoder.setdistancePerpulse(ChiliConstants.kdistancePerpulse);
    right_encoder.setdistancePerpulse(ChiliConstants.kdistancePerpulse);
}

项目：bainbridgefirst 文件：Robottemplate.java

/**
 * This function is run when the robot is first started up and should be
 * used for any initialization code.
 */
public void robotinit() {
    // instantiate the command used for the autonomous period
    autonomousCommand = new ExampleCommand();

    frontLeft = new Victor(1); // Creating Victor motors
    frontRight = new Victor(2);
    rearLeft = new Victor(3);
    rearRight = new Victor(4);

    myDrive = new RobotDrive(frontLeft,rearRight);

    driveStick = new Joystick(1);

    gyro = new Gyro(1);

    // Initialize all subsystems
    CommandBase.init();
}

项目：EventBasedWiredCats 文件：ControllerDrive.java

public ControllerDrive(int limit)
{
    super(limit);
    //Todo
    leftEncoder = new Encoder(3,4);  //competition: 3,4 / practice: 8,7
    rightEncoder = new Encoder(2,1); //competition: 2,1 / practice: 6,5
    gyro = new Gyro(2);

    leftEncoderdistance = 0;
    rightEncoderdistance = 0;
    lastLeftEncoderdistance = 0;
    lastRightEncoderdistance = 0;

    timer = new Timer();
    timer.start();

    lastGyrovalue = 0;
    System.out.println("[WiredCats] Drive Controller Initialized.");
}

项目：2013_drivebase_proto 文件：GyroSimulation.java

public void update() {
    left_drive_speed = ((Double) WsOutputManager.getInstance().getoutput(WsOutputManager.LEFT_DRIVE_SPEED).get((IoUtputEnum) null));
    right_drive_speed = ((Double) WsOutputManager.getInstance().getoutput(WsOutputManager.RIGHT_DRIVE_SPEED).get((IoUtputEnum) null));

    Gyro gyro = ((WsDriveBase) (WsSubsystemContainer.getInstance().getSubsystem(WsSubsystemContainer.WS_DRIVE_BASE))).getGyro();
    double angle = gyro.getAngle();
    //Handle brakes
    if ((left_drive_speed > 0.1) && (right_drive_speed < 0.1)) {
        angle--;
    } else if ((left_drive_speed < 0.1) && (right_drive_speed > 0.1)) {
        angle++;
    }
    gyro.setAngle(angle);
    SmartDashboard.putNumber("Gyro Angle",angle);
}

项目：FRC-2015-Robot-Java 文件：RobotHardwareMecbot.java

@Override
public void initialize()
{
    rightFront = new Talon(0);
    rightBack = new Talon(1);
    leftFront = new Talon(3);
    leftBack = new Talon(2);
    drivetrain = new RobotDrive(leftBack,leftFront,rightBack,rightFront);        

    gyro = new Gyro(0);

    drivetrain.setInvertedMotor(MotorType.kFrontRight,true);
    drivetrain.setInvertedMotor(MotorType.kRearRight,true);
}

项目：FRC-2015-Robot-Java 文件：RobotHardwareWoodbot.java

public void initialize() 
{
    rearLeftMotor = new Jaguar(0);
    frontLeftMotor = new Jaguar(1);
    liftMotor = new Jaguar(2);
    liftMotor2 = new Jaguar(3);
    liftEncoder = new Encoder(6,7,false,EncodingType.k4X);

    drivetrain = new RobotDrive(rearLeftMotor,frontLeftMotor); 

    drivetrain.setInvertedMotor(MotorType.kFrontLeft,true);
    drivetrain.setInvertedMotor(MotorType.kFrontRight,true);

    halsensor = new DigitalInput(0);

    horizontalCamera = new Servo(8);
    verticalCamera = new Servo(9);

    solenoid = new DoubleSolenoid(0,1);

    gyro = new Gyro(1);
    accelerometer = new BuiltInAccelerometer();

    liftEncoder.reset();

    RobotHardwareWoodbot hardware = (RobotHardwareWoodbot)Robot.bot;

    LiveWindow.addActuator("Drive Train","Front Left Motor",(Jaguar)hardware.frontLeftMotor);
    LiveWindow.addActuator("Drive Train","Back Left Motor",(Jaguar)hardware.rearLeftMotor);
    //LiveWindow.addActuator("Drive Train","Front Right Motor",(Jaguar)hardware.frontRightMotor);
    //LiveWindow.addActuator("Drive Train","Back Right Motor",(Jaguar)hardware.rearRightMotor);
}

项目：FRC-2015-Robot-Java 文件：RobotHardwareCompbot.java

@Override
public void initialize()

{
    //PWM
    liftMotor = new Victor(0); //2);
    leftMotors = new Victor(1);
    rightMotors = new Victor(2); //0);
    armMotors = new Victor(3);
    transmission = new Servo(7);

    //CAN
    armSolenoid = new DoubleSolenoid(4,5);

    //dio
    liftEncoder = new Encoder(0,1,EncodingType.k4X);
    liftBottomLimit = new DigitalInput(2);
    liftTopLimit = new DigitalInput(3);
    backupLiftBottomLimit = new DigitalInput(5);

    switch1 = new DigitalInput(9);
    switch2 = new DigitalInput(8);

    //ANALOG
    gyro = new Gyro(0);

    //roboRio
    accelerometer = new BuiltInAccelerometer();

    //Stuff
    drivetrain = new RobotDrive(leftMotors,rightMotors);

    liftSpeedratio = 1; //Half power default
    liftGear = 1;
    driverSpeedratio = 1;
    debounceComp = 0;

    drivetrain.setInvertedMotor(MotorType.kRearLeft,true);
}

项目：FRC-2015-Robot-Java 文件：RobotHardwarePracticebot.java

@Override
public void initialize()
{
    //PWM
    liftMotor = new Talon(0); //2);
    leftMotors = new Talon(1);
    rightMotors = new Talon(2); //0);
    armMotors = new Talon(3);
    transmission = new Servo(7);

    //CAN
    armSolenoid = new DoubleSolenoid(4,5);

    //dio
    /*liftEncoder = new Encoder(0,EncodingType.k4X);
    liftBottomLimit = new DigitalInput(2);
    liftTopLimit = new DigitalInput(3);
    backupLiftBottomLimit = new DigitalInput(4);

    switch1 = new DigitalInput(9);
    switch2 = new DigitalInput(8);*/

    //ANALOG
    gyro = new Gyro(0);

    //roboRio
    accelerometer = new BuiltInAccelerometer();

    //Stuff
    drivetrain = new RobotDrive(leftMotors,true);
}

项目：Staley-Robotics-2014 文件：RobotMap.java

public static void init()
{

driveTrainRightVictor = new Victor(1,1);
driveTrainLeftVictor = new Victor(1,3);
loaderVictor = new Victor(1,2);
CatapultVictor = new Victor(1,4);  

FireSolenoidSpike = new Relay(2);
PrimeSolenoidSpike = new Relay(3);
lightSpike = new Relay(7);
compressorSpike = new Relay(8);

gyro = new Gyro(1);
ultrasonic = new AnalogChannel(3);

limitSwitch = new DigitalInput(3);
pressureSwitch = new DigitalInput(2);

LiveWindow.addActuator("Drive Train","Right Victor",(Victor) driveTrainRightVictor);
LiveWindow.addActuator("Drive Train","Left Victor",(Victor) driveTrainLeftVictor);

robotDriveTrain = new RobotDrive(driveTrainLeftVictor,driveTrainRightVictor);

robotDriveTrain.setSafetyEnabled(true);
robotDriveTrain.setExpiration(0.1);
robotDriveTrain.setSensitivity(0.5);
robotDriveTrain.setMaxOutput(1.0);
}

项目：2014_software 文件：GyroSimulation.java

@Override
public void update() {
    left_drive_speed = ((Double) OutputManager.getInstance().getoutput(OutputManager.LEFT_DRIVE_SPEED_INDEX).get((IoUtputEnum) null));
    right_drive_speed = ((Double) OutputManager.getInstance().getoutput(OutputManager.RIGHT_DRIVE_SPEED_INDEX).get((IoUtputEnum) null));
    Gyro gyro = ((DriveBase) (SubsystemContainer.getInstance().getSubsystem(SubsystemContainer.DRIVE_BASE_INDEX))).getGyro();
    double angle = gyro.getAngle();
    //Handle brakes
    if ((left_drive_speed > 0.1) && (right_drive_speed < 0.1)) {
        angle--;
    } else if ((left_drive_speed < 0.1) && (right_drive_speed > 0.1)) {
        angle++;
    }
    gyro.setAngle(angle);
    SmartDashboard.putNumber("Gyro Angle",angle);
}

项目：ultimate-ascent 文件：climber.java

public climber(int leftM,int rightM,int leftSecondaryM,int rightSecondaryM,int leftS,int rightS,int gyro)
{
    this.leftM = new Jaguar(leftM);
    this.rightM = new Jaguar(rightM);
    this.leftSecondaryM = new Victor(leftSecondaryM);
    this.rightSecondaryM = new Victor(rightSecondaryM);
    this.leftS = new Servo(leftS);
    this.rightS = new Servo(rightS);
    this.gyro = new Gyro(gyro);
    this.gyro.setSensitivity(.007);
    System.out.println("Sensitivity set");
    this.gyro.reset();

    Log.v(TAG,"climber subsystem instantiated.");
}

项目：ultimate-ascent 文件：DriveTrain.java

public DriveTrain(int left,int right,int gyro)
{
    this.left = new Jaguar(left);
    this.right = new Jaguar(right);
    this.gyro = new Gyro(gyro);

    Log.v(TAG,"Drive train subsystem instantiated.");
}

项目：ScraperBike2013 文件：VerticalTurretAxis.java

/** The VerticalTurretAxis constructor is called by the ScraperBike constructor.
 *
 */
public VerticalTurretAxis(){
    super("VerticalTurretAxis");
    verTurretTalon = new Talon(RobotMap.VerTurretMotor);

    gyro = new Gyro(RobotMap.gyroAnalogInput);
}

项目：2013robot 文件：SensorInput.java

void init() {
    gy = new Gyro(RobotMap.gyroport);
    gy.reset();
    rotaryEncoder = new Encoder(1,2);
    rotaryEncoder.start();
    rotaryEncoder.reset();//Justin Case,attorney at law!
    FeederLimit = new DigitalInput(14);
}

项目：2013-Ultimate-Ascent-Robot 文件：Sensors.java

public Sensors(UltimateAscentRobot robot){
    super(robot);
    leftStick      = new Joystick(1);
    rightStick     = new Joystick(2);
    frontEncoder = new Encoder(4,3);   //digital sources 1 and 2
    gyro           = new Gyro(1);      //analog channel 1
    armlimit       = new DigitalInput(2);
    //gyro.setSensitivity(.007);
    gyro.reset();
}

项目：frc1675-2013 文件：GyroPID.java

public GyroPID(double p,double i,double d,int gyroChannel,double inputRangeminimum,double inputRangeMaximum,double gyroSensitivity) {
    super("Gyro",p,i,d);
    gyro = new Gyro(gyroChannel);       
    this.getPIDController().setContinuous();
    setInputRange(inputRangeminimum,inputRangeMaximum);

    // Use these to get going:
    // setSetpoint() -  Sets where the PID controller should move the system
    //                  to
    // enable() - Enables the PID controller.
    // 0.007 volts per degree per second
    gyro.setSensitivity(gyroSensitivity);   

}

项目：AutoTest 文件：MotionDetector.java

/**
 * @param gyroPort slot in the analog module where the gyro is plugged in
 */
public MotionDetector(int gyroPort)
{
    _gyro   = new Gyro(gyroPort);
    _accelerometer  = new Accelerometer2();
    reset();
}

项目：2013_robot_software 文件：GyroSimulation.java

public void update() {
    left_drive_speed = ((Double) WsOutputManager.getInstance().getoutput(WsOutputManager.LEFT_DRIVE_SPEED).get((IoUtputEnum) null));
    right_drive_speed = ((Double) WsOutputManager.getInstance().getoutput(WsOutputManager.RIGHT_DRIVE_SPEED).get((IoUtputEnum) null));

    Gyro gyro = ((WsDriveBase) (WsSubsystemContainer.getInstance().getSubsystem(WsSubsystemContainer.WS_DRIVE_BASE))).getGyro();
    double angle = gyro.getAngle();
    //Handle brakes
    if ((left_drive_speed > 0.1) && (right_drive_speed < 0.1)) {
        angle--;
    } else if ((left_drive_speed < 0.1) && (right_drive_speed > 0.1)) {
        angle++;
    }
    gyro.setAngle(angle);
    gyroAngle.updateWithValue(angle,360);
}