edu.wpi.first.wpilibj.BuiltInAccelerometer的实例源码

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：Frc2017FirstSteamWorks    文件：Winch.java   

public Winch()
{
    mainMotor = new FrcCANTalon("WinchMaster",RobotInfo.CANID_WINCH_MASTER);
    slaveMotor = new FrcCANTalon("WinchSlave",RobotInfo.CANID_WINCH_SLAVE);
    slaveMotor.motor.changeControlMode(TalonControlMode.Follower);
    slaveMotor.motor.set(RobotInfo.CANID_WINCH_MASTER);
    mainMotor.setPositionSensorInverted(false);
    zAccel = new BuiltInAccelerometer();
    zAccelFilter = new TrcKalmanFilter("ZAccel");
}

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);
    drivetrain.setInvertedMotor(MotorType.kRearRight,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：FRC2015    文件：AccelerometerSystem.java   

@Override
public void init(Environment environment) {
    accelerometer = new BuiltInAccelerometer();
}

项目：turtleshell    文件：TurtleOnboardAccelerometer.java   

public TurtleOnboardAccelerometer() {
    acc = new BuiltInAccelerometer();
    cal = new TurtleSmartAccelerometerCalibration(0,0);
}

项目：2015RobotCode    文件：SensorTrack.java   

@Override
public void initialize() {

    //m_sensor = new AnalogInput(RobotMap.SENSOR_ANALOG_PORT);
    m_accel = new BuiltInAccelerometer();

}

项目：robot15    文件：RobotMap.java   

public static void init() {
    // BEGIN AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    driveTraingyro = new Gyro(0);
    LiveWindow.addSensor("DriveTrain","gyro",driveTraingyro);
    driveTraingyro.setSensitivity(0.007);
    driveTraindriveFrontRight = new CANTalon(8);


    driveTraindriveBackLeft = new CANTalon(2);


    driveTraindriveBackRight = new CANTalon(9);


    driveTraindriveFrontLeft = new CANTalon(3);


    rangeFinderultrasonic = new AnalogInput(2);
    LiveWindow.addSensor("RangeFinder","ultrasonic",rangeFinderultrasonic);

    collectorWheelstoteCollectorLeftTalon = new CANTalon(4);


    collectorWheelstoteCollectorRightTalon = new CANTalon(7);


    elevatorelevatorSecondStageSolenoid = new Solenoid(1,5);
    LiveWindow.addActuator("Elevator","elevatorSecondStageSolenoid",elevatorelevatorSecondStageSolenoid);

    elevatorelevatorFirstStageSolenoid = new Solenoid(1,4);
    LiveWindow.addActuator("Elevator","elevatorFirstStageSolenoid",elevatorelevatorFirstStageSolenoid);

    elevatorelevatorMagBottom = new DigitalInput(0);
    LiveWindow.addSensor("Elevator","elevatorMagBottom",elevatorelevatorMagBottom);

    elevatorelevatorMagLow = new DigitalInput(3);
    LiveWindow.addSensor("Elevator","elevatorMagLow",elevatorelevatorMagLow);

    elevatorelevatorMagMed = new DigitalInput(4);
    LiveWindow.addSensor("Elevator","elevatorMagMed",elevatorelevatorMagMed);

    elevatorelevatorMagHigh = new DigitalInput(5);
    LiveWindow.addSensor("Elevator","elevatorMagHigh",elevatorelevatorMagHigh);

    elevatorirsensor = new AnalogInput(1);
    LiveWindow.addSensor("Elevator","irsensor",elevatorirsensor);

    elevatorlimitSwitch = new DigitalInput(2);
    LiveWindow.addSensor("Elevator","limitSwitch",elevatorlimitSwitch);

    elevatorelevatorStackHolderSolenoid = new Solenoid(1,1);
    LiveWindow.addActuator("Elevator","elevatorStackHolderSolenoid",elevatorelevatorStackHolderSolenoid);

    elevatorelevatorRollerTalon = new CANTalon(6);


    binCollectorbinCollectorTalon = new CANTalon(5);


    binCollectorbinCollectorSolenoid = new Solenoid(1,2);
    LiveWindow.addActuator("BinCollector","binCollectorSolenoid",binCollectorbinCollectorSolenoid);

    collectorWriststoteCollectorSolenoid = new Solenoid(1,0);
    LiveWindow.addActuator("CollectorWrists","toteCollectorSolenoid",collectorWriststoteCollectorSolenoid);


// END AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS

driveTrainaccelerometer = new BuiltInAccelerometer();    

}

项目：strongback-java    文件：Hardware.java   

/**
 * Create a new {@link ThreeAxisAccelerometer} using the RoboRIO's built-in accelerometer.
 *
 * @return the accelerometer; never null
 */
public static ThreeAxisAccelerometer builtIn() {
    BuiltInAccelerometer accel = new BuiltInAccelerometer();
    return ThreeAxisAccelerometer.create(accel::getX,accel::getY,accel::getZ);
}