public static void init() {
driveTrainCIMRearLeft = new CANTalon(2); // rear left motor
driveTrainCIMFrontLeft = new CANTalon(12); //
driveTrainCIMRearRight = new CANTalon(1);
driveTrainCIMFrontRight = new CANTalon(11);
driveTrainRobotDrive41 = new RobotDrive(driveTrainCIMRearLeft,driveTrainCIMFrontLeft,driveTrainCIMRearRight,driveTrainCIMFrontRight);
climberclimber = new CANTalon(3);
c1 = new Talon(5);
pDPPowerdistributionPanel1 = new PowerdistributionPanel(0);
gyro = new ADXRS450_Gyro(Port.kOnboardCS0);
c2 = new Talon(6);
ultra = new AnalogInput(0);
LiveWindow.addSensor("PDP","PowerdistributionPanel 1",pDPPowerdistributionPanel1);
LiveWindow.addSensor("Ultra","Ultra",ultra);
// LiveWindow.addActuator("Intake","Intake",intakeIntake);
LiveWindow.addActuator("climber","climber",climberclimber);
LiveWindow.addActuator("RearLeft (2)","Drivetrain",driveTrainCIMRearLeft);
LiveWindow.addActuator("FrontLeft (12)",driveTrainCIMFrontLeft);
LiveWindow.addActuator("RearRight (1)",driveTrainCIMRearRight);
LiveWindow.addActuator("FrontRight (11)",driveTrainCIMFrontRight);
LiveWindow.addActuator("Drive Train","Gyro",gyro);
// LiveWindow.addActuator("Shooter","Shooter",shooter1);
}
/**
*
* @param distance target distance in inches
* @param timeOut time out in milliseconds
*/
public AutoDrivedistance(double distance,long timeOut) {
requires(Robot.driveTrain);
//requires(Robot.ultrasonics);
requires(Robot.navx);
targetdistance = distance;
timeMax = timeOut;
turnController = new PIDController(kP,kI,kD,Robot.driveTrain,new MyPidOutput());
//turnController.setInputRange(-180,180);
turnController.setoutputRange(-maxOutputRange,maxOutputRange);
turnController.setAbsolutetolerance(kTolerancedistance);
turnController.setContinuous(true);
/* Add the PID Controller to the Test-mode dashboard,allowing manual */
/* tuning of the Turn Controller's P,I and D coefficients. */
/* Typically,only the P value needs to be modified. */
LiveWindow.addSensor("DriveSystem","RotateController",turnController);
}
private AutoSteerDrivetoPeg() {
requires(Robot.driveTrain);
//requires(Robot.ultrasonics);
//requires(Robot.visionTest);
requires(Robot.navx);
turnController = new PIDController(kP,Robot.navx.getAHRS(),new MyPidOutput());
turnController.setInputRange(-maxAbsSetpoint,maxAbsSetpoint);
turnController.setoutputRange(-maxOutputRange,maxOutputRange);
turnController.setAbsolutetolerance(kTolerancedegrees);
turnController.setContinuous(true);
/* Add the PID Controller to the Test-mode dashboard,allowing manual */
/* tuning of the Turn Controller's P,I and D coefficients. */
/* Typically,only the P value needs to be modified. */
LiveWindow.addSensor("DriveSystem",turnController);
}
项目：STEAMworks
文件：AutoTurnByVision.java
/**
*
* @param speed forward speed is positive volts
*/
public AutoTurnByVision(double speed) {
requires(Robot.driveTrain);
//requires(Robot.ultrasonics);
requires(Robot.visionTest);
requires(Robot.navx);
forwardSpeed = -speed;
turnController = new PIDController(kP,Robot.navx.getAHRS()/*Robot.visionTest*/,new MyPidOutput());
turnController.setInputRange(-180,maxOutputRange);
turnController.setAbsolutetolerance(kTolerancedegrees);
turnController.setContinuous(true); // Todo is this what we want???
/* Add the PID Controller to the Test-mode dashboard,turnController);
}
项目：FRC-2017-Public
文件：ADXRS453_Gyro.java
/**
* Constructor.
*
* @param port
* (the SPI port that the gyro is connected to)
*/
public ADXRS453_Gyro(SPI.Port port) {
m_spi = new SPI(port);
m_spi.setClockRate(3000000);
m_spi.setMSBFirst();
m_spi.setSampleDataOnRising();
m_spi.setClockActiveHigh();
m_spi.setChipSelectActiveLow();
/** Validate the part ID */
if ((readRegister(kPIDRegister) & 0xff00) != 0x5200) {
m_spi.free();
m_spi = null;
DriverStation.reportError("Could not find ADXRS453 gyro on SPI port " + port.value,false);
return;
}
m_spi.initaccumulator(kSamplePeriod,0x20000000,4,0x0c00000E,0x04000000,10,16,true,true);
calibrate();
LiveWindow.addSensor("ADXRS453_Gyro",port.value,this);
}
项目：FRC-Robotics-2016-Team-2262
文件：Robot.java
/**
* This function is called periodically during test mode
*/
public void testPeriodic() {
LiveWindow.run();
encoder.reset();
imu.calibrate();
SmartDashboard.putNumber("Joystick X Axis",drive.joystick.getX());
SmartDashboard.putNumber("Joystick Y Axis",drive.joystick.getY());
// drive.turnRight(-1*.2);
// drive.turnRight(.2);
/*
* drive.frontLeft.set(.2); drive.rearLeft.set(.2);
* drive.frontRight.set(-1 * .2); drive.rearRight.set(-1 * .2);
* SmartDashboard.putNumber("Front Left CAN",drive.frontLeft.get());
* SmartDashboard.putNumber("Rear Left CAN",drive.rearLeft.get());
* SmartDashboard.putNumber("Front Right CAN",drive.frontRight.get());
* SmartDashboard.putNumber("Rear Right CAN",drive.rearRight.get());
*/
}
项目：FB2016
文件：BallGetter.java
public BallGetter() {
super(1.005,0);
// super(1.75,0.04,2.5);
MAX_SPEED = getPreferencesDouble(RobotMap.PREF_BALL_GETTER_MAX_SPEED,0.65);
MIN_VALUE = getPreferencesDouble(RobotMap.PREF_BALL_GETTER_MIN_VALUE,.75);
MAX_VALUE = getPreferencesDouble(RobotMap.PREF_BALL_GETTER_MAX_VAUE,2.2);
MAXGET_SPEED = getPreferencesDouble(RobotMap.PREF_BALL_GETTER_MAXGET_SPEED,0.75);
PARK_VALUE = getPreferencesDouble(RobotMap.PREF_BALL_GETTER_PARK_VALUE,.9);
SIDE_SPEED = MAXGET_SPEED * 0.5;
getPIDController().setInputRange(MIN_VALUE,MAX_VALUE);
getPIDController().setAbsolutetolerance(0.01);
getPIDController().setToleranceBuffer(8);
setSetpoint(2.1);
// Robot.ballGetter.ballGetterPosition = 1;
getPIDController().enable();
LiveWindow.addActuator("BallGetter","PIDSubsystem Controller",getPIDController());
LiveWindow.addSensor("BallGetter","current",RobotMap.ballGetterangleMotor);
}
项目：FB2016
文件：DefenseBuster.java
public DefenseBuster() {
super(0.5,0);
// super(1.50,0.03,5.0);
MAX_SPEED = getPreferencesDouble(RobotMap.PREF_DEFENSE_BUSTER_MAX_SPEED,0.8);
MIN_VALUE = getPreferencesDouble(RobotMap.PREF_DEFENSE_BUSTER_MIN_VALUE,2.5);
MAX_VALUE = getPreferencesDouble(RobotMap.PREF_DEFENSE_BUSTER_MAX_VALUE,3.9);
PARK_VALUE = getPreferencesDouble(RobotMap.PREF_DEFENSE_BUSTER_PARK_VALUE,2.1);
softFuse = new SoftFuse(angleMotor,40,1,2);
getPIDController().setInputRange(MIN_VALUE,MAX_VALUE);
getPIDController().setAbsolutetolerance(0.01);
getPIDController().setToleranceBuffer(8);
setSetpoint(PARK_VALUE);
softFuse.positionFuse(angleMotor.getoutputCurrent());
getPIDController().enable();
LiveWindow.addActuator("DefenseBuster",getPIDController());
}
项目：snobot-2017
文件：Jaguar.java
/**
* Constructor.
*
* @param channel The PWM channel that the Jaguar is attached to. 0-9 are on-board,10-19 are on
* the MXP port
*/
public Jaguar(final int channel) {
super(channel);
/*
* Input profile defined by Luminary Micro.
*
* Full reverse ranges from 0.671325ms to 0.6972211ms Proportional reverse
* ranges from 0.6972211ms to 1.4482078ms Neutral ranges from 1.4482078ms to
* 1.5517922ms Proportional forward ranges from 1.5517922ms to 2.3027789ms
* Full forward ranges from 2.3027789ms to 2.328675ms
*/
setBounds(2.31,1.55,1.507,1.454,.697);
setPeriodMultiplier(PeriodMultiplier.k1X);
setSpeed(0.0);
setZeroLatch();
HAL.report(tResourceType.kResourceType_Jaguar,getChannel());
LiveWindow.addActuator("Jaguar",getChannel(),this);
}
项目：snobot-2017
文件：ADXRS450_Gyro.java
/**
* Constructor.
*
* @param port The SPI port that the gyro is connected to
*/
public ADXRS450_Gyro(SPI.Port port) {
m_spi = new SPI(port);
m_spi.setClockRate(3000000);
m_spi.setMSBFirst();
m_spi.setSampleDataOnRising();
m_spi.setClockActiveHigh();
m_spi.setChipSelectActiveLow();
// Validate the part ID
if ((readRegister(kPIDRegister) & 0xff00) != 0x5200) {
m_spi.free();
m_spi = null;
DriverStation.reportError("Could not find ADXRS450 gyro on SPI port " + port.value,false);
return;
}
m_spi.initaccumulator(kSamplePeriod,0x0c00000e,true);
calibrate();
HAL.report(tResourceType.kResourceType_ADXRS450,port.value);
LiveWindow.addSensor("ADXRS450_Gyro",this);
}
项目：snobot-2017
文件：Ultrasonic.java
/**
* Initialize the Ultrasonic Sensor. This is the common code that initializes the ultrasonic
* sensor given that there are two digital I/O channels allocated. If the system was running in
* automatic mode (round robin) when the new sensor is added,it is stopped,the sensor is added,* then automatic mode is restored.
*/
private synchronized void initialize() {
if (m_task == null) {
m_task = new UltrasonicChecker();
}
final boolean originalMode = m_automaticEnabled;
setAutomaticMode(false); // kill task when adding a new sensor
m_nextSensor = m_firstSensor;
m_firstSensor = this;
m_counter = new Counter(m_echoChannel); // set up counter for this
// sensor
m_counter.setMaxPeriod(1.0);
m_counter.setSemiPeriodMode(true);
m_counter.reset();
m_enabled = true; // make it available for round robin scheduling
setAutomaticMode(originalMode);
m_instances++;
HAL.report(tResourceType.kResourceType_Ultrasonic,m_instances);
LiveWindow.addSensor("Ultrasonic",m_echoChannel.getChannel(),this);
}
/**
* Constructor.
*
* @param port The SPI port that the gyro is connected to
*/
public ADXRS450_Gyro(SPI.Port port) {
m_spi = new SPI(port);
m_spi.setClockRate(3000000);
m_spi.setMSBFirst();
m_spi.setSampleDataOnRising();
m_spi.setClockActiveHigh();
m_spi.setChipSelectActiveLow();
// Validate the part ID
if ((readRegister(kPIDRegister) & 0xff00) != 0x5200) {
m_spi.free();
m_spi = null;
DriverStation.reportError("Could not find ADXRS450 gyro on SPI port " + port.getValue(),0x0c000000,true);
calibrate();
UsageReporting.report(tResourceType.kResourceType_ADXRS450,port.getValue());
LiveWindow.addSensor("ADXRS450_Gyro",port.getValue(),this);
}
/**
* Construct an analog output on a specified MXP channel.
*
* @param channel The channel number to represent.
*/
public Analogoutput(final int channel) {
m_channel = channel;
if (!AnalogJNI.checkAnalogoutputChannel(channel)) {
throw new AllocationException("Analog output channel " + m_channel
+ " cannot be allocated. Channel is not present.");
}
try {
channels.allocate(channel);
} catch (CheckedAllocationException e) {
throw new AllocationException("Analog output channel " + m_channel + " is already allocated");
}
long port_pointer = AnalogJNI.getPort((byte) channel);
m_port = AnalogJNI.initializeAnalogoutputPort(port_pointer);
LiveWindow.addSensor("Analogoutput",channel,this);
UsageReporting.report(tResourceType.kResourceType_Analogoutput,channel);
}
/**
* Initialize the Ultrasonic Sensor. This is the common code that initializes
* the ultrasonic sensor given that there are two digital I/O channels
* allocated. If the system was running in automatic mode (round robin) when
* the new sensor is added,then automatic
* mode is restored.
*/
private synchronized void initialize() {
if (m_task == null) {
m_task = new UltrasonicChecker();
}
boolean originalMode = m_automaticEnabled;
setAutomaticMode(false); // kill task when adding a new sensor
m_nextSensor = m_firstSensor;
m_firstSensor = this;
m_counter = new Counter(m_echoChannel); // set up counter for this
// sensor
m_counter.setMaxPeriod(1.0);
m_counter.setSemiPeriodMode(true);
m_counter.reset();
m_enabled = true; // make it available for round robin scheduling
setAutomaticMode(originalMode);
m_instances++;
UsageReporting.report(tResourceType.kResourceType_Ultrasonic,this);
}
/**
* Initialize the gyro. Calibration is handled by calibrate().
*/
public void initGyro() {
result = new AccumulatorResult();
m_voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond;
m_analog.setAverageBits(kAverageBits);
m_analog.setoversampleBits(kOversampleBits);
double sampleRate = kSamplesPerSecond * (1 << (kAverageBits + kOversampleBits));
AnalogInput.setGlobalSampleRate(sampleRate);
Timer.delay(0.1);
setDeadband(0.0);
setPIDSourceType(PIDSourceType.kdisplacement);
UsageReporting.report(tResourceType.kResourceType_Gyro,m_analog.getChannel());
LiveWindow.addSensor("AnalogGyro",m_analog.getChannel(),this);
}
/**
* Common function to implement constructor behavior.
*/
private synchronized void initSolenoid() {
checkSolenoidModule(m_moduleNumber);
checkSolenoidChannel(m_channel);
try {
m_allocated.allocate(m_moduleNumber * kSolenoidChannels + m_channel);
} catch (CheckedAllocationException e) {
throw new AllocationException("Solenoid channel " + m_channel + " on module "
+ m_moduleNumber + " is already allocated");
}
long port = SolenoidJNI.getPortWithModule((byte) m_moduleNumber,(byte) m_channel);
m_solenoid_port = SolenoidJNI.initializeSolenoidPort(port);
LiveWindow.addActuator("Solenoid",m_moduleNumber,m_channel,this);
UsageReporting.report(tResourceType.kResourceType_Solenoid,m_moduleNumber);
}
/**
* Common relay initialization method. This code is common to all Relay
* constructors and initializes the relay and reserves all resources that need
* to be locked. Initially the relay is set to both lines at 0v.
*/
private void initRelay() {
SensorBase.checkRelayChannel(m_channel);
try {
if (m_direction == Direction.kBoth || m_direction == Direction.kForward) {
relayChannels.allocate(m_channel * 2);
UsageReporting.report(tResourceType.kResourceType_Relay,m_channel);
}
if (m_direction == Direction.kBoth || m_direction == Direction.kReverse) {
relayChannels.allocate(m_channel * 2 + 1);
UsageReporting.report(tResourceType.kResourceType_Relay,m_channel + 128);
}
} catch (CheckedAllocationException e) {
throw new AllocationException("Relay channel " + m_channel + " is already allocated");
}
m_port = dioJNI.initializeDigitalPort(dioJNI.getPort((byte) m_channel));
m_safetyHelper = new MotorSafetyHelper(this);
m_safetyHelper.setSafetyEnabled(false);
LiveWindow.addActuator("Relay",this);
}
/**
* Construct an analog channel.
*
* @param channel The channel number to represent. 0-3 are on-board 4-7 are on
* the MXP port.
*/
public AnalogInput(final int channel) {
m_channel = channel;
if (!AnalogJNI.checkAnalogInputChannel(channel)) {
throw new AllocationException("Analog input channel " + m_channel
+ " cannot be allocated. Channel is not present.");
}
try {
channels.allocate(channel);
} catch (CheckedAllocationException e) {
throw new AllocationException("Analog input channel " + m_channel + " is already allocated");
}
long port_pointer = AnalogJNI.getPort((byte) channel);
m_port = AnalogJNI.initializeAnalogInputPort(port_pointer);
LiveWindow.addSensor("AnalogInput",this);
UsageReporting.report(tResourceType.kResourceType_AnalogChannel,channel);
}
/**
* Constructor for the CANTalon device.
* @param deviceNumber The CAN ID of the Talon SRX
* @param controlPeriodMs The period in ms to send the CAN control frame.
* Period is bounded to [1ms,95ms].
*/
public CANTalon(int deviceNumber,int controlPeriodMs) {
m_deviceNumber = deviceNumber;
/* bound period to be within [1 ms,95 ms] */
m_handle = CanTalonJNI.new_CanTalonSRX(deviceNumber,controlPeriodMs);
m_safetyHelper = new MotorSafetyHelper(this);
m_controlEnabled = true;
m_profile = 0;
m_setPoint = 0;
m_codesPerRev = 0;
m_numPotturns = 0;
m_FeedbackDevice = FeedbackDevice.QuadEncoder;
setProfile(m_profile);
applyControlMode(TalonControlMode.PercentVbus);
LiveWindow.addActuator("CANTalon",m_deviceNumber,this);
}
@Override
public void runPeriodic(double elapsedtime)
{
switch (test)
{
case SENSORS_TEST:
//
// Allow TeleOp to run so we can control the robot in sensors test mode.
//
super.runPeriodic(elapsedtime);
doSensorstest();
break;
case DRIVE_MOTORS_TEST:
doDriveMotorstest();
break;
case LIVE_WINDOW:
LiveWindow.run();
break;
default:
break;
}
}
项目：FRCStronghold2016
文件：CustomGyro.java
/**
* Initialize the gyro. Calibration is handled by calibrate().
*/
public void initGyro() {
result = new AccumulatorResult();
m_voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond;
m_analog.setAverageBits(kAverageBits);
m_analog.setoversampleBits(kOversampleBits);
double sampleRate = kSamplesPerSecond * (1 << (kAverageBits + kOversampleBits));
AnalogInput.setGlobalSampleRate(sampleRate);
Timer.delay(0.1);
setDeadband(0.0);
setPIDSourceType(PIDSourceType.kdisplacement);
UsageReporting.report(tResourceType.kResourceType_Gyro,this);
}
项目：Robot_2017
文件：RobotMap.java
public static void init() {
// BEGIN AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
compressor = new Compressor();
driveTrainLeftFront = new CANTalon(1);
LiveWindow.addActuator("DriveTrain","LeftFront",driveTrainLeftFront);
driveTrainRightFront = new CANTalon(3);
LiveWindow.addActuator("DriveTrain","RightFront",driveTrainRightFront);
driveTrainLeftRear = new CANTalon(2);
driveTrainLeftRear.changeControlMode(TalonControlMode.Follower);
driveTrainLeftRear.set(driveTrainLeftFront.getdeviceid());
LiveWindow.addActuator("DriveTrain","LeftRear",driveTrainLeftRear);
driveTrainRightRear = new CANTalon(4);
driveTrainRightRear.changeControlMode(TalonControlMode.Follower);
driveTrainRightRear.set(driveTrainRightFront.getdeviceid());
driveTrainRightRear.reverSEOutput(false);
LiveWindow.addActuator("DriveTrain","RightRear",driveTrainRightRear);
driveTrainLeftFront.setInverted(true);
driveTrainRightFront.setInverted(true);
driveTrainLeftRear.setInverted(true);
driveTrainRightRear.setInverted(true);
driveTrainRobotDrive41 = new RobotDrive(driveTrainRightFront,driveTrainLeftFront);
driveTrainRobotDrive41.setSafetyEnabled(true);
driveTrainRobotDrive41.setExpiration(0.1);
driveTrainRobotDrive41.setSensitivity(0.5);
driveTrainRobotDrive41.setMaxOutput(1.0);
climbMotor = new CANTalon(5);
LiveWindow.addActuator("climbing","Motor",climbMotor);
lightsLightEnable = new Relay(0);
LiveWindow.addActuator("Lights","LightEnable",lightsLightEnable);
gearIntakeRamp = new DoubleSolenoid(1,0);
LiveWindow.addActuator("GearIntake","IntakeRamp",gearIntakeRamp);
// END AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}
项目：Robot_2017
文件：Shooter.java
public Shooter() {
super();
shooterFeeder = new CANTalon(8);
LiveWindow.addActuator("Shooter","Feeder",shooterFeeder);
shooterFeeder.enableBrakeMode(false);
shooterShootMotor = new CANTalon(7);
LiveWindow.addActuator("Shooter","ShootMotor",shooterShootMotor);
shooterShootMotor.enableBrakeMode(false);
/* choose the sensor */
shooterShootMotor.setFeedbackDevice(FeedbackDevice.QuadEncoder);
shooterShootMotor.reverseSensor(true);
shooterShootMotor.configEncoderCodesPerRev(pulsesPerRevolution); // if using FeedbackDevice.QuadEncoder
/* set the peak and nominal outputs,12V means full */
shooterShootMotor.configNominalOutputVoltage(+0.0f,-0.0f);
shooterShootMotor.configPeakOutputVoltage(+12.0f,-12.0f);
/* set closed loop gains in slot0 */
shooterShootMotor.setProfile(0);
shooterShootMotor.setF(pidF);
shooterShootMotor.setP(pidP);
//only change I and D to smooth out control
shooterShootMotor.setI(0);
shooterShootMotor.setD(0);
shooteragitator = new CANTalon(10);
LiveWindow.addActuator("Shooter","Agitator",shooteragitator);
shooteragitator.enableBrakeMode(false);
}
项目：Robot_2017
文件：BallIntake.java
public BallIntake() {
super();
ballIntakeMotor = new CANTalon(9);
LiveWindow.addActuator("BallIntake",ballIntakeMotor);
ballIntakeMotor.enableBrakeMode(false);
}
项目：SteamWorks
文件：RobotMap.java
public static void init() {
// BEGIN AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
driveTrainLeftFront = new Victor(0);
LiveWindow.addActuator("DriveTrain",(Victor) driveTrainLeftFront);
driveTrainLeftRear = new Victor(1);
LiveWindow.addActuator("DriveTrain",(Victor) driveTrainLeftRear);
driveTrainRightFront = new Victor(2);
LiveWindow.addActuator("DriveTrain",(Victor) driveTrainRightFront);
driveTrainRightRear = new Victor(3);
LiveWindow.addActuator("DriveTrain",(Victor) driveTrainRightRear);
driveTrainRobotDrive = new RobotDrive(driveTrainLeftFront,driveTrainLeftRear,driveTrainRightFront,driveTrainRightRear);
driveTrainRobotDrive.setSafetyEnabled(false);
driveTrainRobotDrive.setExpiration(0.1);
driveTrainRobotDrive.setSensitivity(1.0);
driveTrainRobotDrive.setMaxOutput(1.0);
shootershooterTalon = new CANTalon(0);
LiveWindow.addActuator("Shooter","shooterTalon",shootershooterTalon);
// END AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
// set this up
gyro = new ADXRS450_Gyro();
}
项目：Practice_Robot_Code
文件：RobotMap.java
public static void init() {
// BEGIN AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
motorRelayMotorRelay1 = new Relay(0);
LiveWindow.addActuator("MotorRelay","MotorRelay1",motorRelayMotorRelay1);
lFront = new CANTalon(1);
LiveWindow.addActuator("Wheels","Speed Controller 1",(CANTalon) lFront);
rFront = new CANTalon(3);
LiveWindow.addActuator("Wheels","Speed Controller 2",(CANTalon) rFront);
lRear = new CANTalon(2);
LiveWindow.addActuator("Wheels","Speed Controller 3",(CANTalon) lRear);
rRear = new CANTalon(4);
LiveWindow.addActuator("Wheels","Speed Controller 4",(CANTalon) rRear);
driveSystem = new RobotDrive(lFront,lRear,rFront,rRear);
driveSystem.setSafetyEnabled(true);
driveSystem.setExpiration(0.1);
driveSystem.setSensitivity(0.5);
driveSystem.setMaxOutput(1.0);
// END AUTOGENERATED CODE,SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}
项目：Steamworks2017Robot
文件：Robot.java
/**
* This function is called periodically during test mode.
*/
@Override
public void testPeriodic() {
try {
logger.trace("testPeriodic()");
LiveWindow.run();
vision.setVisionEnabled(true);
} catch (Throwable ex) {
logger.error("testPeriodic error",ex);
ex.printstacktrace();
}
}
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：RobotCode2018
文件：WPI_TalonSRXF.java
/**
* Constructor
*/
public WPI_TalonSRXF(int deviceNumber)
{
super(deviceNumber);
HAL.report(66,deviceNumber + 1);
m_description = "Talon SRX " + deviceNumber;
/* prep motor safety */
m_safetyHelper = new MotorSafetyHelper(this);
m_safetyHelper.setExpiration(0.0);
m_safetyHelper.setSafetyEnabled(false);
LiveWindow.add(this);
setName("Talon SRX ",deviceNumber);
}
项目：VikingRobot
文件：Rotate.java
public distancePID() {
super("distancePID",0.14,0.0,0.01); //calls the parent constructor with arguments P,I,D
//working PIDs: 0.24,0
setAbsolutetolerance(0.2); // more parameters
getPIDController().setContinuous(false);
setInputRange(-10,10);
setoutputRange(-0.25,0.25); //1/5 speed
LiveWindow.addActuator("distancePID","distancePID",getPIDController());
}
public headingPID() {
super("headingPID",0.06,0.0); //calls the parent constructor with arguments P,D
//keep P term at 0.06!!!!
setAbsolutetolerance(0.5); // more parameters
getPIDController().setContinuous(false);
setInputRange(-180.0,180.0);
setoutputRange(-0.25,0.25);
LiveWindow.addActuator("headingPID","headingPID",getPIDController());
}
项目：CMonster2017
文件：Robot.java
public DrivetoAngle(double angle,PIDSource source) {
requires(Robot.driveTrain);
setPoint = angle;
Robot.driveTrain.ahrs.reset();
controller = new PIDController(0.75,0.9,source,this);
controller.setInputRange(-180,180);
controller.setoutputRange(-.26,.26);
controller.setAbsolutetolerance(1.0);
controller.setContinuous(true);
LiveWindow.addActuator("DrivetoAngle","RotationController",controller);
}
项目：Stronghold
文件：Drivetrain.java
public void initDefaultCommand() {
setDefaultCommand(new TankDrive());
robotDrive.setInvertedMotor(MotorType.kFrontLeft,true);
robotDrive.setInvertedMotor(MotorType.kRearLeft,true);
LiveWindow.addActuator("Drive Motors","fRight",fRight);
LiveWindow.addActuator("Drive Motors","fLeft",fLeft);
LiveWindow.addActuator("Drive Motors","bRight",bRight);
LiveWindow.addActuator("Drive Motors","bLeft",bLeft);
}
项目：snobot-2017
文件：ADXL362.java
/**
* Constructor.
*
* @param port The SPI port that the accelerometer is connected to
* @param range The range (+ or -) that the accelerometer will measure.
*/
public ADXL362(SPI.Port port,Range range) {
m_spi = new SPI(port);
m_spi.setClockRate(3000000);
m_spi.setMSBFirst();
m_spi.setSampleDataOnFalling();
m_spi.setClockActiveLow();
m_spi.setChipSelectActiveLow();
// Validate the part ID
ByteBuffer transferBuffer = ByteBuffer.allocateDirect(3);
transferBuffer.put(0,kRegRead);
transferBuffer.put(1,kPartIdRegister);
m_spi.transaction(transferBuffer,transferBuffer,3);
if (transferBuffer.get(2) != (byte) 0xF2) {
m_spi.free();
m_spi = null;
DriverStation.reportError("Could not find ADXL362 on SPI port " + port.value,false);
return;
}
setRange(range);
// Turn on the measurements
transferBuffer.put(0,kRegWrite);
transferBuffer.put(1,kPowerCtlRegister);
transferBuffer.put(2,(byte) (kPowerCtl_Measure | kPowerCtl_UltraLowNoise));
m_spi.write(transferBuffer,3);
HAL.report(tResourceType.kResourceType_ADXL362,port.value);
LiveWindow.addSensor("ADXL362",this);
}
/**
* Construct an analog output on a specified MXP channel.
*
* @param channel The channel number to represent.
*/
public Analogoutput(final int channel) {
m_channel = channel;
SensorBase.checkAnalogoutputChannel(channel);
final int portHandle = AnalogJNI.getPort((byte) channel);
m_port = AnalogJNI.initializeAnalogoutputPort(portHandle);
LiveWindow.addSensor("Analogoutput",this);
HAL.report(tResourceType.kResourceType_Analogoutput,channel);
}
项目：snobot-2017
文件：GearTooth.java
/**
* Construct a GearTooth sensor given a channel.
*
* @param channel The dio channel that the sensor is connected to. 0-9 are on-board,* 10-25 are on the MXP port
* @param directionSensitive True to enable the pulse length decoding in hardware to specify count
* direction.
*/
public GearTooth(final int channel,boolean directionSensitive) {
super(channel);
enableDirectionSensing(directionSensitive);
if (directionSensitive) {
HAL.report(tResourceType.kResourceType_GearTooth,"D");
} else {
HAL.report(tResourceType.kResourceType_GearTooth,0);
}
LiveWindow.addSensor("GearTooth",this);
}
项目：snobot-2017
文件：Encoder.java
/**
* Common initialization code for Encoders. This code allocates resources for Encoders and is
* common to all constructors.
*
* <p>The encoder will start counting immediately.
*
* @param reverseDirection If true,counts down instead of up (this is all relative)
*/
private void initEncoder(boolean reverseDirection,final EncodingType type) {
m_encoder = EncoderJNI.initializeEncoder(m_aSource.getPortHandleForRouting(),m_aSource.getAnalogTriggerTypeForRouting(),m_bSource.getPortHandleForRouting(),m_bSource.getAnalogTriggerTypeForRouting(),reverseDirection,type.value);
m_pidSource = PIDSourceType.kdisplacement;
HAL.report(tResourceType.kResourceType_Encoder,getFPGAIndex(),type.value);
LiveWindow.addSensor("Encoder",m_aSource.getChannel(),this);
}
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