edu.wpi.first.wpilibj.Spark的实例源码

项目：RA17_RobotCode    文件：Manipulation.java   

public Manipulation(int in1,int in2,int out)
{
    input1 = new Spark(in1);
    input2 = new Spark(in2);
    output = new CANTalon(out);
    output.changeControlMode(TalonControlMode.PercentVbus);
}

项目：RA17_RobotCode    文件：GearPlacer.java   

public GearPlacer(int m)
{
    state = GearPlacerState.Waiting;
    M = new Spark(m);
    motorSpeedOpen = Config.getSetting("gearMotorSpeedOpen",.4);
    motorSpeedClose = Config.getSetting("gearMotorSpeedClose",0.25);
}

项目：GearBot    文件：RobotMap.java   

public static void init() {
    // BEGIN AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    leftSideLeftPaddle = new Spark(0);
    LiveWindow.addActuator("LeftSide","LeftPaddle",(Spark) leftSideLeftPaddle);

    leftSideLeftOut = new DigitalInput(0);
    LiveWindow.addSensor("LeftSide","LeftOut",leftSideLeftOut);

    leftSideLeftIn = new DigitalInput(2);
    LiveWindow.addSensor("LeftSide","LeftIn",leftSideLeftIn);

    rightSideRightPaddle = new Spark(1);
    LiveWindow.addActuator("RightSide","RightPaddle",(Spark) rightSideRightPaddle);

    rightSideRightOut = new DigitalInput(1);
    LiveWindow.addSensor("RightSide","RightOut",rightSideRightOut);

    rightSideRightIn = new DigitalInput(3);
    LiveWindow.addSensor("RightSide","RightIn",rightSideRightIn);

    gearGate = new Spark(2);
    LiveWindow.addActuator("Gear","Gate",(Spark) gearGate);

    gearGearIsIn = new DigitalInput(4);
    LiveWindow.addSensor("Gear","GearIsIn",gearGearIsIn);


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

项目：2016-Robot-Final    文件：Shooter.java   

public Shooter() {
isCocked = false;

motor = new Spark(RobotMap.ShooterMap.PWM_MOTOR);
motor.setInverted(RobotMap.ShooterMap.INV_MOTOR);

solenoid = new DoubleSolenoid(RobotMap.ShooterMap.soL_FORWARD,RobotMap.ShooterMap.soL_REVERSE);
   }

项目：2016-Robot-Final    文件：Intake.java   

public Intake() {
motor = new Spark(RobotMap.IntakeMap.PWM_MOTOR);
motor.setInverted(RobotMap.IntakeMap.INV_MOTOR);

limit = new DigitalInput(RobotMap.IntakeMap.dio_LIMIT);
stop();
   }

项目：2016-Robot    文件：Shooter.java   

public Shooter() {
isCocked = false;

motor = new Spark(RobotMap.ShooterMap.PWM_MOTOR);
motor.setInverted(RobotMap.ShooterMap.INV_MOTOR);

solenoid = new DoubleSolenoid(RobotMap.ShooterMap.soL_FORWARD,RobotMap.ShooterMap.soL_REVERSE);
   }

项目：2016-Robot    文件：Intake.java   

public Intake() {
motor = new Spark(RobotMap.IntakeMap.PWM_MOTOR);
motor.setInverted(RobotMap.IntakeMap.INV_MOTOR);

limit = new DigitalInput(RobotMap.IntakeMap.dio_LIMIT);
stop();
   }

项目：Spartonics-Code    文件：wheelIntake.java   

public wheelIntake() {
    leftIntakeMotor = new Spark(0);
    rightIntakeMotor = new Spark(1);
}

项目：2017    文件：Shooter.java   

/**
 * Creates a new shooter object for the 2017 season,SteamWorks
 * 
 * @param controller
 *            The motor controller which runs the flywheel.
 * @param ballLoaderSensor
 *            Detects if there's a ball ready to be fired.
 * @param elevator
 *            The motor controller which loads the loader elevator
 * @param acceptableFlywheelSpeedError
 *            The error we can handle on the flywheel without losing
 *            accuracy
 * @param visiontargeting
 *            Our vision processor object,used to target the high boiler.
 * @param acceptableGimbalError
 *            The acceptable angular angle,in degrees,the gimbal turret is
 *            allowed to be off.
 * @param gimbalMotor
 *            The motor controller the turret is run on
 * @param agitatorMotor
 *            The motor controller the agitator motor is connected to
 * @param distanceSensor
 *            Todo
 * @param gimbalEnc
 *            The potentiometer that reads the bearing of the turret.
 */
public Shooter (CANTalon controller,irsensor ballLoaderSensor,Spark elevator,double acceptableFlywheelSpeedError,ImageProcessor visiontargeting,double acceptableGimbalError,CANTalon gimbalMotor,Victor agitatorMotor,UltraSonic distanceSensor)
{
    this.flywheelController = controller;
    this.elevatorSensor = ballLoaderSensor;
    this.elevatorController = elevator;
    this.acceptableError = acceptableFlywheelSpeedError;
    this.visionTargeter = visiontargeting;
    this.gimbalMotor = gimbalMotor;
    this.agitatorMotor = agitatorMotor;
    this.distanceSensor = distanceSensor;
}

项目：RA17_RobotCode    文件：climber.java   

public climber(int c1,int c2)
{
    climber1 = new Spark(c1);
    climber2 = new Spark(c2);
}

项目：FRC-2017    文件：BallManagement.java   

public static void initialize() {
    if (initialized)
        return;

    // reset trigger init time
    initTriggerTime = Utility.getFPGATime();        

       // create and reset collector relay
    collectorSolenoid = new Spark(HardwareIDs.COLLECTOR_SOLENOID_PWM_ID);

       // create and reset gear tray spark & relay
       gearTrayRelay = new Relay(HardwareIDs.GEAR_TRAY_RELAY_CHANNEL_1,Relay.Direction.kForward);
       gearTrayRelay.set(Relay.Value.kOff);
       gearTrayRelay2 = new Relay(HardwareIDs.GEAR_TRAY_RELAY_CHANNEL_2,Relay.Direction.kForward);
       gearTrayRelay2.set(Relay.Value.kOff);

    // create motors & servos
    transportMotor = new Spark(HardwareIDs.TRANSPORT_PWM_ID);
    collectorMotor = new CANTalon(HardwareIDs.COLLECTOR_TALON_ID);
    agitatorServo = new Spark(HardwareIDs.AGITATOR_PWM_ID);    // continuous servo control modeled as Spark PWM

    FeederMotor = new CANTalon(HardwareIDs.FeedER_TALON_ID);
    shooterMotor = new CANTalon(HardwareIDs.SHOOTER_TALON_ID);

    // set up shooter motor sensor
    shooterMotor.reverseSensor(false);
    shooterMotor.setFeedbackDevice(FeedbackDevice.QuadEncoder);

    // FOR REFERENCE ONLY:
    //shooterMotor.configEncoderCodesPerRev(12);   // use this ONLY if you are NOT reading Native units

    // USE FOR DEBUG ONLY:  configure shooter motor for open loop speed control
    //shooterMotor.changeControlMode(TalonControlMode.PercentVbus);

    // configure shooter motor for closed loop speed control
    shooterMotor.changeControlMode(TalonControlMode.Speed);
    shooterMotor.configNominalOutputVoltage(+0.0f,-0.0f);
    shooterMotor.configPeakOutputVoltage(+12.0f,-12.0f);

    // set PID(F) for shooter motor (one profile only)
    shooterMotor.setProfile(0);

    shooterMotor.setP(3.45);
    shooterMotor.setI(0);
    shooterMotor.setD(0.5);
    shooterMotor.setF(9.175);

    // make sure all motors are off
    resetMotors();

    gamepad = new Joystick(HardwareIDs.GAMEPAD_ID);

    initialized = true;
}

项目：FRC-2017    文件：BallManagement.java   

public static void initialize() {
    if (initialized)
        return;

    // reset trigger init time
    initTriggerTime = Utility.getFPGATime();        

       // create and reset collector relay
    collectorSolenoid = new Spark(HardwareIDs.COLLECTOR_SOLENOID_PWM_ID);

       // create and reset gear tray spark & relay
       gearTrayRelay = new Relay(HardwareIDs.GEAR_TRAY_RELAY_CHANNEL_1,-12.0f);

    // set PID(F) for shooter motor (one profile only)
    shooterMotor.setProfile(0);

    shooterMotor.setP(P_COEFF);
    shooterMotor.setI(I_COEFF);
    shooterMotor.setD(D_COEFF);
    shooterMotor.setF(F_COEFF);

    // make sure all motors are off
    resetMotors();

    gamepad = new Joystick(HardwareIDs.GAMEPAD_ID);

    initialized = true;
}

项目：FRC-2016    文件：Shooter.java   

/**
    * Constructor
    */
private Shooter() {
    left = new Spark(SHOOTER_LEFT);
    right = new Spark(SHOOTER_RIGHT);
    launcher = new DoubleSolenoid(1,LAUNCHER_EXT,LAUNCHER_RET);
}

项目：r2016    文件：SpeedControllerSubsystem.java   

public SpeedControllerSubsystem(SpeedControllerSubsystemType type,final int channel) {
    switch(type) {
    case CAN_JAGUAR:
        this._controller = new CANJaguar(channel);
        break;

    case CAN_TALON:
        this._controller = new CANTalon(channel);
        break;

    case JAGUAR:
        this._controller = new Jaguar(channel);
        break;

    case SD540:
        this._controller = new SD540(channel);
        break;

    case SPARK:
        this._controller = new Spark(channel);
        break;

    case TALON:
        this._controller = new Talon(channel);
        break;

    case TALON_SRX:
        this._controller = new TalonSRX(channel);
        break;

    case VICTOR:
        this._controller = new Victor(channel);
        break;

    case VICTOR_SP:
        this._controller = new VictorSP(channel);
        break;

    default:
        break;
    }
}

项目：turtleshell    文件：TurtleSpark.java   

public TurtleSpark(int port,boolean isReversed) {
    v = new Spark(port);
    this.isReversed = isReversed;
}

项目：Spartonics-Code    文件：Chassis.java   

public Chassis() {
    rightMotor = new Spark(4);
    leftMotor = new Spark(RobotMap.LEFT_MOTOR);
    drive = new RobotDrive(rightMotor,leftMotor);

    this.drive.setInvertedMotor(MotorType.kFrontLeft,true);
    this.drive.setInvertedMotor(MotorType.kFrontRight,true);


}

项目：FRC-2017    文件：FreezyDriveTrain.java   

public static void initialize() {

    if (initialized)
        return;

    motorL = new Spark(LEFT_SPARK_ID);
    motorR = new Spark(RIGHT_SPARK_ID);

    driveControl = new DriveControl();

    Controller.initialize();

    initialized = true;
}

项目：strongback-java    文件：Hardware.java   

/**
 * Create a motor driven by a <a href="http://www.revrobotics.com/SPARK">RevRobotics Spark Motor Controller</a> on the
 * specified channel,with a custom speed limiting function.
 *
 * @param channel the channel the controller is connected to
 * @param speedLimiter function that will be used to limit the speed (input voltage); may not be null
 * @return a motor on the specified channel
 */
public static Motor spark(int channel,DoubletoDoubleFunction speedLimiter) {
    return new HardwareSpark(new Spark(channel),SPEED_LIMITER);
}