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)", "Drivetrain", driveTrainCIMFrontLeft); LiveWindow.addActuator("RearRight (1)", "Drivetrain", driveTrainCIMRearRight); LiveWindow.addActuator("FrontRight (11)", "Drivetrain", driveTrainCIMFrontRight); LiveWindow.addActuator("Drive Train", "Gyro", gyro); // LiveWindow.addActuator("Shooter", "Shooter", shooter1); }
public Arm() { super("arm", kP, kI, kD); motor = new Talon(RobotMap.ArmMap.PWM_MOTOR); motor.setInverted(RobotMap.ArmMap.INV_MOTOR); encoder = new Encoder(RobotMap.ArmMap.DIO_ENCODER_A, RobotMap.ArmMap.DIO_ENCODER_B); encoder.setDistancePerPulse(RobotMap.ArmMap.DISTANCE_PER_PULSE); encoder.setReverseDirection(RobotMap.ArmMap.INV_ENCODER); upperLimit = new DigitalInput(RobotMap.ArmMap.DIO_LIMIT_TOP); bottomLimit = new DigitalInput(RobotMap.ArmMap.DIO_LIMIT_BOTTOM); setAbsoluteTolerance(0.05); getPIDController().setContinuous(false); }
public Shooter() { shooterLeftSide = new Talon(RobotMap.Pwm.LeftShooterMotor); shooterRightSide = new Talon(RobotMap.Pwm.RightShooterMotor); encoderLeft = new Encoder(RobotMap.Digital.ShooterLeftChannelA, RobotMap.Digital.ShooterLeftChannelB); encoderRight = new Encoder(RobotMap.Digital.ShooterRightChannelA, RobotMap.Digital.ShooterRightChannelB); encoderLeft.setPIDSourceType(PIDSourceType.kRate); encoderRight.setPIDSourceType(PIDSourceType.kRate); encoderLeft.setDistancePerPulse(distancePerPulse); encoderRight.setDistancePerPulse(distancePerPulse); // leftPID = new PIDSpeedController(encoderLeft, shooterLeftSide, "Shooter", "Left Wheel"); // rightPID = new PIDSpeedController(encoderRight, shooterRightSide, "Shooter", "Right Wheel"); }
/** * This function is run when the robot is first started up and should be * used for any initialization code. */ @Override public void robotInit() { driveLeftA = new CANTalon(2); driveLeftB = new CANTalon(1); driveRightA = new CANTalon(3); driveRightB = new CANTalon(4); climberMotorA = new Talon(1); climberMotorB = new Talon(2); drive = new RobotDrive(driveLeftA, driveLeftB, driveRightA, driveRightB); joystick = new Joystick(0); SmartDashboard.putNumber("SlowClimber", .5); SmartDashboard.putNumber("FastClimber", 1); }
public DriveSubsystem() { talonFrontLeft = new CANTalon(Ports.FRONT_LEFT_MOTOR); talonFrontRight = new CANTalon(Ports.FRONT_RIGHT_MOTOR); talonBackLeft = new Talon(Ports.BACK_LEFT_MOTOR); talonBackRight = new Talon(Ports.BACK_RIGHT_MOTOR); ultraSanic.setAutomaticMode(true); talonFrontLeft.setFeedbackDevice(FeedbackDevice.QuadEncoder); talonFrontRight.setFeedbackDevice(FeedbackDevice.QuadEncoder); talonFrontLeft.configEncoderCodesPerRev(PulsesPerRevolution); talonFrontRight.configEncoderCodesPerRev(PulsesPerRevolution); try { ahrs = new AHRS(Port.kMXP); } catch (Exception ex) { //System.out.println(ex); } // SPEED MODE CODE // setDriveControlMode(TalonControlMode.Speed); drivingStraight = false; driveLowerSpeed = false; reversed = true; enableForwardSoftLimit(false); enableReverseSoftLimit(false); }
public Lift(int motorChannel, int brakeChannelForward, int brakeChannelReverse, int encoderChannelA, int encoderChannelB, int boundaryLimitChannel, String subsystem) { motor = new Talon(motorChannel); brake = new DoubleSolenoid(RobotMap.solenoid.Pcm24, brakeChannelForward, brakeChannelReverse); encoder = new Encoder(encoderChannelA, encoderChannelB); boundaryLimit = new DigitalInput(boundaryLimitChannel); LiveWindow.addActuator(subsystem, "Motor", motor); LiveWindow.addActuator(subsystem, "Brake", brake); LiveWindow.addSensor(subsystem, "Encoder", encoder); LiveWindow.addSensor(subsystem, "Boundary Limit Switch", boundaryLimit); encoder.setPIDSourceType(PIDSourceType.kRate); pid = new PIDSpeedController(encoder, motor, subsystem, "Speed Control"); subsystemName = subsystem; }
public DriveTrain(OperatorInputs _operatorInputs) { this.operatorInputs = _operatorInputs; this.leftTalons = new Talon(LEFT_PORT); this.rightTalons = new Talon(RIGHT_PORT); this.gearShiftLow = new Solenoid(SHIFT_MODULE, SHIFT_PORT_LOW); this.gearShiftHigh = new Solenoid(SHIFT_MODULE, SHIFT_PORT_HIGH); this.leftEncoder = new Encoder(3, 4); this.rightEncoder = new Encoder(5, 6); this.timer = new Timer(); //Start all wheels off leftTalons.set(0); rightTalons.set(0); //Starts in low gear gearShiftLow.set(isHighGear); gearShiftHigh.set(!isHighGear); leftEncoder.setDistancePerPulse(-DISTANCE_PER_PULSE); rightEncoder.setDistancePerPulse(DISTANCE_PER_PULSE); }
/** * Constructs a new Launcher, with two Talons for winding, a release relay, * and a limit switch for winding regulation based on input from a * MaxbotixUltrasonic rangefinder. */ public Launcher() { super("Launcher"); winderL = new Talon(RobotMap.WIND_LEFT_PORT); winderR = new Talon(RobotMap.WIND_RIGHT_PORT); releaseMotor = new Relay(RobotMap.RELAY_PORT); camera = new AxisCameraM1101(); rangefinder = new MaxbotixUltrasonic(RobotMap.ULTRASONIC_RANGEFINDER); limitSwitch = new DigitalInput(RobotMap.LIMIT_SWITCH); counter = new Counter(limitSwitch); counterInit(counter); }
public Talon getTalon(int which) { switch(which) { case HardwareDefines.FRONT_LEFT_TALON: return leftTalon1; case HardwareDefines.FRONT_RIGHT_TALON: return rightTalon1; case HardwareDefines.BACK_LEFT_TALON: return leftTalon2; case HardwareDefines.BACK_RIGHT_TALON: return rightTalon2; } throw new RuntimeException("Error: " + "trying to get a Talon that doesn't exist"); }
/** * Instantiates a new robot output. */ private RobotOutput() { this.forces = ChiliFunctions.fillArrayWithZeros(this.forces); front_left = new Talon(ChiliConstants.front_left_motor); rear_left = new Talon(ChiliConstants.rear_left_motor); front_right = new Talon(ChiliConstants.front_right_motor); rear_right = new Talon(ChiliConstants.rear_right_motor); left_lifter = new Jaguar(ChiliConstants.left_lifter_motor); right_lifter = new Jaguar(ChiliConstants.right_lifter_motor); //Sensor object for some cheating. //Objecto de sensor. "Trampa" para obtener ciertos valores. sensor = SensorInput.getInstance(); /*front_left.setSafetyEnabled(true); rear_left.setSafetyEnabled(true); front_right.setSafetyEnabled(true); rear_right.setSafetyEnabled(true); left_lifter.setSafetyEnabled(true); right_lifter.setSafetyEnabled(true);*/ }
/** * A private constructor to prevent multiple instances from being created. */ private Winch(){ winchMotor = new Talon(RobotMap.winchMotor.getInt()); winchInputSwitch = new DigitalInput(RobotMap.winchLimitSwitch.getInt()); winchSolenoid = new MomentaryDoubleSolenoid( RobotMap.winchExtPort.getInt(),RobotMap.winchRetPort.getInt()); winchBallSensor = new AnalogChannel(RobotMap.winchBallSensorPort.getInt()); intakeBallSensor = new AnalogChannel(RobotMap.intakeBallSensorPort.getInt()); ballPresent = new Debouncer(RobotMap.ballPresentTime.getDouble()); ballNotPresent = new Debouncer(RobotMap.ballPresentTime.getDouble()); ballSettled = new Debouncer(RobotMap.ballSettleTime.getDouble()); ballPresentOnWinch = new Debouncer(RobotMap.ballPresentOnWinchTime.getDouble()); winchPotentiometer = new AnalogChannel(RobotMap.potentiometerPort.getInt()); winchEncoder = new AverageEncoder( RobotMap.winchEncoderA.getInt(), RobotMap.winchEncoderB.getInt(), RobotMap.winchEncoderPulsePerRot, RobotMap.winchEncoderDistPerTick, RobotMap.winchEncoderReverse, RobotMap.winchEncodingType, RobotMap.winchSpeedReturnType, RobotMap.winchPosReturnType, RobotMap.winchAvgEncoderVal); winchEncoder.start(); }
private Drive() { drive = new RobotDrive(new Talon(1),new Talon(2),new Talon(3),new Talon(4)); drive.setSafetyEnabled(false); e1 = new Encoder(RobotMap.ENCODER_1_A, RobotMap.ENCODER_1_B, false, CounterBase.EncodingType.k4X); e2 = new Encoder(RobotMap.ENCODER_2_A, RobotMap.ENCODER_2_B, false, CounterBase.EncodingType.k4X); //A calculated constant to convert from encoder ticks to feet on 4 inch diameter wheels e1.setDistancePerPulse(0.0349065850388889/12); e2.setDistancePerPulse(0.0349065850388889/12); startEncoders(); drive.setInvertedMotor(RobotDrive.MotorType.kFrontLeft, true); drive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, true); sonic = new Ultrasonic(RobotMap.ULTRASONIC_A, RobotMap.ULTRASONIC_B); sonic.setAutomaticMode(true); sonic.setEnabled(true); shifter = new DoubleSolenoid(RobotMap.SHIFTER_ENGAGE, RobotMap.SHIFTER_DISENGAGE); }
public SystemDrive() { super(); leftTalon = new Talon(2); // Both bots: 2 rightTalon = new Talon(1); //Both bots: 1 leftDesiredEncoderDistance = 0; rightDesiredEncoderDistance = 0; driveDeadband = WiredCats2415.textReader.getValue("driveDeadband"); driveGain = WiredCats2415.textReader.getValue("driveGain"); lastLeftError = 0; lastRightError = 0; kp = WiredCats2415.textReader.getValue("propConstantDrive"); ki = WiredCats2415.textReader.getValue("integralConstantDrive"); kd = WiredCats2415.textReader.getValue("derivativeConstantDrive"); System.out.println("[WiredCats] Initialized System Drive"); }
public ExampleSubsystem() { /* * Here we should prepare our system for use. We will create * our speed controller. */ //create our speed controller. we will use port 0. speedController = new Talon(0); }
public Shooter() { motor = new CANTalon(LEAD_SHOOTER_PORT); motor.setInverted(true); CANTalon follower = new CANTalon(FOLLOWER_SHOOTER_PORT); agitatorMotor = new Talon(AGITATOR_PORT); motor.setFeedbackDevice(CANTalon.FeedbackDevice.QuadEncoder); motor.changeControlMode(CANTalon.TalonControlMode.Speed); follower.changeControlMode(CANTalon.TalonControlMode.Follower); follower.set(LEAD_SHOOTER_PORT); motor.setF(0); motor.setP(.88); motor.setI(0); motor.setD(0); }
public Motor(SpeedController motor) { if(motor == null) { throw new IllegalArgumentException("SpeedController argument was null when instantiating Motor object"); } this.motor = motor; if(motor instanceof CANTalon) { motorType = MotorType.CANTALON; } else if(motor instanceof Talon) { motorType = MotorType.TALON; } else { motorType = MotorType.UNKNOWN; } switch(motorType) { case CANTALON: CANTalon cMotor = (CANTalon) motor; cMotor.changeControlMode(CANTalon.TalonControlMode.PercentVbus); cMotor.enableBrakeMode(true); break; default: break; } }
public TapeMeasure(int frictionWheelChannel, int frontClimberChannel, int rearClimberChannel) { frictionWheel = new Talon(frictionWheelChannel); frontClimber = new Talon(frontClimberChannel); rearClimber = new Talon(rearClimberChannel); frictionWheel.setInverted(true); frontClimber.setInverted(true); rearClimber.setInverted(true); }
public Arm(int elbowChannel, int armRollerChannel, int topChannel) { elbow = new Talon(elbowChannel); roller = new Talon(armRollerChannel); limitSwitchTop = new DigitalInput(topChannel); //limitSwitchBottom = new DigitalInput(bottomChannel); }
public static void init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS driveTrainLeftMotor = new Talon(0); LiveWindow.addActuator("DriveTrain", "LeftMotor", (Talon) driveTrainLeftMotor); driveTrainRightMotor = new Talon(1); LiveWindow.addActuator("DriveTrain", "RightMotor", (Talon) driveTrainRightMotor); driveTrainRobotDrive = new RobotDrive(driveTrainLeftMotor, driveTrainRightMotor); driveTrainRobotDrive.setSafetyEnabled(true); driveTrainRobotDrive.setExpiration(0.1); driveTrainRobotDrive.setSensitivity(0.5); driveTrainRobotDrive.setMaxOutput(1.0); intakeintakeMotor = new Talon(2); LiveWindow.addActuator("Intake", "intakeMotor", (Talon) intakeintakeMotor); pneumaticSystemCompressor = new Compressor(0); pneumaticSystemDoubleSolenoidPusher = new DoubleSolenoid(0, 0, 1); LiveWindow.addActuator("Pneumatic System", "DoubleSolenoidPusher", pneumaticSystemDoubleSolenoidPusher); sensorBaseUltraSonicMaxbotix = new AnalogInput(0); LiveWindow.addSensor("SensorBase", "UltraSonicMaxbotix", sensorBaseUltraSonicMaxbotix); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
/** * This function is run when the robot is first started up and should be * used for any initialization code. */ public void robotInit() { // PWM's mTestMotor1 = new Talon(0); mTestMotor2 = new Jaguar(1); mServo = new Servo(2); // Digital IO mDigitalOutput = new DigitalOutput(0); mRightEncoder = new Encoder(4, 5); mLeftEncoder = new Encoder(1, 2); mUltrasonic = new Ultrasonic(7, 6); // Analog IO mAnalogGryo = new AnalogGyro(0); mPotentiometer = new AnalogPotentiometer(1); // Solenoid mSolenoid = new Solenoid(0); // Relay mRelay = new Relay(0); // Joysticks mJoystick1 = new Joystick(0); mJoystick2 = new XboxController(1); // SPI mSpiGryo = new ADXRS450_Gyro(); // Utilities mTimer = new Timer(); mPDP = new PowerDistributionPanel(); Preferences.getInstance().putDouble("Motor One Speed", .5); }
/** * This function is run when the robot is first started up and should be used for any initialization code. */ @Override public void robotInit() { // UI mShooterJoystick = new Joystick(PortMap.sOPERATOR_JOYSTICK_PORT); mDriveJoystick = new Joystick(PortMap.sDRIVER_JOYSTICK_PORT); mDriverController = new DriverJoystick(mDriveJoystick); mOperatorController = new OperatorJoystick(mShooterJoystick); //Shooter mShooterMotor = new Talon(PortMap.sSHOOTER_MOTOR); mShooterSolenoid = new Solenoid(PortMap.sSHOOTER_PISTON); mShooter = new SnobotShooter(mShooterMotor, mShooterSolenoid, mOperatorController); //Drive Train mLeftMotor = new Talon(PortMap.sLEFT_DRIVE_MOTOR); mRightMotor = new Talon(PortMap.sRIGHT_DRIVE_MOTOR); mDriveTrain = new SnobotDriveTrain(mLeftMotor, mRightMotor, mDriverController); // Intake mUpperIntakeMotor = new Talon(PortMap.sUPPER_INTAKE_MOTOR); mLowerIntakeMotor = new Talon(PortMap.sLOWER_INTAKE_MOTOR); mIntake = new SnobotIntake(mLowerIntakeMotor, mUpperIntakeMotor, mOperatorController); addModule(mDriveTrain); addModule(mShooter); addModule(mIntake); initializeLogHeaders(); // Now all the preferences should be loaded, make sure they are all // saved PropertyManager.saveIfUpdated(); }
/** * Instantiate latch and sensor */ public Climber() { armLatch = new Servo(RobotMap.CLIMBER_LATCH); dart = new Talon(4); // atBottom = new DigitalInput(RobotMap.ClimberBottomSensor); dartLimit = new DigitalInput(RobotMap.CLIMBER_DART_LIMIT); winchBanner = new DigitalInput(RobotMap.CLIMBER_BANNER); }
/** * Code for driving robot */ public Drive() { leftDrive = new Talon(RobotMap.LEFT_DRIVE_TALON); rightDrive = new Talon(RobotMap.RIGHT_DRIVE_TALON); PTOMotor = new Servo(RobotMap.DRIVE_PTO); gyro = new AnalogGyro(0); }
public SpeedController getController(){ if (allocated) return null; this.allocated = true; switch (this.speedControllerType){ case kJaguar: return new Jaguar(this.PWMChannel); case kTalon: return new Talon(this.PWMChannel); default: return null; } }
public Robot() { super("Sailors", 0x612); this.sdTable = NetworkTable.getTable("SmartDashboard"); Talon winchMotor = new Talon(Channels.WINCH_MOTOR); Console.debug("Creating and Initializing Controls/Motor Scheme/Senses..."); this.control = new DualJoystickControl(JOYSTICK_LEFT, JOYSTICK_RIGHT); this.control.setMagnitudeThreshold(MAG_STICK_DEADBAND); this.control.setTwistThreshold(TWIST_STICK_DEADBAND); this.motors = MotorScheme.Builder.newFourMotorDrive(FL_DMOTOR, RL_DMOTOR, FR_DMOTOR, RR_DMOTOR).setInverted(false, true).setDriveManager(DriveManager.MECANUM_POLAR).addMotor(winchMotor).build(); this.motors.getRobotDrive().setMaxOutput(DRIVE_SCALE_FACTOR); this.senses = BasicSense.makeBuiltInSense(Range.k4G); this.pneumatics = new PneumaticControl(); this.winch = new WinchControl(winchMotor, this.upWinchValue, this.downWinchValue); Console.debug("Initializing Button Actions..."); this.control.putButtonAction(ID_SWAP_JOYSTICKS, "Swap Joysticks", this.control::swapJoysticks, Hand.BOTH); this.control.putButtonAction(ID_DISABLE_TWIST, "Toggle Left Twist", () -> this.control.toggleDisableTwistAxis(Hand.LEFT), Hand.LEFT); this.control.putButtonAction(ID_DISABLE_TWIST, "Toggle Right Twist", () -> this.control.toggleDisableTwistAxis(Hand.RIGHT), Hand.RIGHT); Console.debug("Starting Camera Capture..."); this.camera = new USBCamera(); this.camera.setSize(CameraSize.MEDIUM); CameraStream.INSTANCE.startAutomaticCapture(this.camera); Console.debug(String.format("Resolution: %dx%d | Quality: %s | FPS: %s", this.camera.getSize().WIDTH, this.camera.getSize().HEIGHT, this.camera.getQuality().name(), this.camera.getFPS().kFPS)); }
/** * Private constructor. Singleton pattern, so it can only be * initialized once! */ private Drivetrain() { left = new Talon(RobotMap.leftMotor); right = new Talon(RobotMap.rightMotor); imu = BNO055.getInstance(BNO055.opmode_t.OPERATION_MODE_IMUPLUS, BNO055.vector_type_t.VECTOR_EULER); }
public DriveTrain() { super(); front_left_motor = new Talon(1); back_left_motor = new Talon(2); front_right_motor = new Talon(3); back_right_motor = new Talon(4); drive = new RobotDrive(front_left_motor, back_left_motor, front_right_motor, back_right_motor); left_encoder = new Encoder(1, 2); right_encoder = new Encoder(3, 4); // Encoders may measure differently in the real world and in // simulation. In this example the robot moves 0.042 barleycorns // per tick in the real world, but the simulated encoders // simulate 360 tick encoders. This if statement allows for the // real robot to handle this difference in devices. if (Robot.isReal()) { left_encoder.setDistancePerPulse(0.042); right_encoder.setDistancePerPulse(0.042); } else { // Circumference in ft = 4in/12(in/ft)*PI left_encoder.setDistancePerPulse((4.0/12.0*Math.PI) / 360.0); right_encoder.setDistancePerPulse((4.0/12.0*Math.PI) / 360.0); } rangefinder = new AnalogInput(6); gyro = new AnalogGyro(1); // Let's show everything on the LiveWindow LiveWindow.addActuator("Drive Train", "Front_Left Motor", (Talon) front_left_motor); LiveWindow.addActuator("Drive Train", "Back Left Motor", (Talon) back_left_motor); LiveWindow.addActuator("Drive Train", "Front Right Motor", (Talon) front_right_motor); LiveWindow.addActuator("Drive Train", "Back Right Motor", (Talon) back_right_motor); LiveWindow.addSensor("Drive Train", "Left Encoder", left_encoder); LiveWindow.addSensor("Drive Train", "Right Encoder", right_encoder); LiveWindow.addSensor("Drive Train", "Rangefinder", rangefinder); LiveWindow.addSensor("Drive Train", "Gyro", gyro); }
public static void init() { leftDriveMotor = new Talon(leftDriveMotorPin); LiveWindow.addActuator("driveTrain", "Left Motor", (Talon) leftDriveMotor); rightDriveMotor = new Talon(rightDriveMotorPin); LiveWindow.addActuator("driveTrain", "Right Motor", (Talon) rightDriveMotor); shifterSolenoid = new DoubleSolenoid(shifterSolenoidUpPin, shifterSolenoidDownPin); LiveWindow.addActuator("driveTrain", "Gearbox Shifter", (DoubleSolenoid) shifterSolenoid); winchMotor = new Talon(winchMotorPin); LiveWindow.addActuator("chainLifter", "Elevator Motor", (Talon) winchMotor); robotDrive = new RobotDrive(leftDriveMotor, rightDriveMotor); robotDrive.setSafetyEnabled(true); robotDrive.setExpiration(0.1); robotDrive.setSensitivity(0.5); robotDrive.setMaxOutput(1.0); robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, false); robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearRight, false); grabberSolenoid = new DoubleSolenoid(grabberSolenoidOpenPin, grabberSolenoidClosePin); LiveWindow.addActuator("grabberArm", "Grabber Solenoid", (DoubleSolenoid) grabberSolenoid); compressor = new Compressor(); LiveWindow.addActuator("grabberArm", "compressor", (Compressor) compressor); }
public void autonomousInit() { compressor.start(); colwellContraption1.set(true); colwellContraption2.set(false); //shoot.shootTimer.start(); PickerPID.VOLTAGE_CORRECTION = prefs.getDouble("Pick_VC", PickerPID.VOLTAGE_CORRECTION); shoot.getPID().VOLTAGE_CORRECTION = prefs.getDouble("Shoot_VC", shoot.getPID().VOLTAGE_CORRECTION); drive.resetEncoders(); Talon wheelSpin = pick.returnSpinner(); wheelSpin.set(1.0); timer.start(); autoShoot = true; }
/** * This function is called periodically (every 20-25 ms) during autonomous */ public void autonomousPeriodic() { Talon wheelSpin = pick.returnSpinner(); double batteryVoltage = DriverStation.getInstance().getBatteryVoltage(); wheelSpin.set(0); boolean autoShoot1 = drive.driveStraight(9.40, 6.5, 11.0 / DriverStation.getInstance().getBatteryVoltage()/*, shoot*/); //7.2 boolean hotZone = NetworkTable.getTable("camera").getBoolean("hotZone", false); System.out.println(hotZone); if (timer.get() < 10.0 && !autoShoot1) {//do ///i need to change this? //drive.driveStraight(9.40, 6.5, 11.0 / DriverStation.getInstance().getBatteryVoltage()/*, shoot*/); //7.2 if (hotZone) { //hotZoneActive = NetworkTable.getTable("camera").getBoolean("hotZone"); //visionDistance = NetworkTable.getTable("camera").getNumber("distance"); //drive.driveStraight(9.40, 6.5, 11.0 / DriverStation.getInstance().getBatteryVoltage(), shoot); //7.2 SmartDashboard.putNumber("Some Voltage", pickerPID.getVoltage()); SmartDashboard.putNumber("Kp", PickerPID.Kp); SmartDashboard.putNumber("Ki", PickerPID.Ki); SmartDashboard.putNumber("Kd", PickerPID.Kd); shoot.quickShoot(1.0, (11.0 / batteryVoltage) > 0.95 ? 0.95 : (11.0 / batteryVoltage), 0.01, autoShoot); System.out.println("Hot Zone"); autoShoot = false; } else { if (timer.get() > 2.0) { //drive.driveStraight(9.40, 6.5, 11.0 / DriverStation.getInstance().getBatteryVoltage()/*,shoot*/);//7.2 shoot.quickShoot(1.0, (11.0 / batteryVoltage) > 0.95 ? 0.95 : (11.0 / batteryVoltage), 0.01, autoShoot); autoShoot = false; //System.out.println("Case 2"); } //System.out.println("Case 3"); } } else if (timer.get() >= 10) { timer.stop(); System.out.println("Auto Done"); } }
public void robotInit(){ driveStick= new JoyStickCustom(1, DEADZONE); secondStick=new JoyStickCustom(2, DEADZONE); frontLeft= new Talon(1); rearLeft= new Talon(2); frontRight= new Talon(3); rearRight= new Talon(4); timer=new Timer(); timer.start(); armM = new Victor(7); rollers =new Victor(6); mainDrive=new RobotDrive(frontLeft,rearLeft,frontRight,rearRight); mainDrive.setInvertedMotor(RobotDrive.MotorType.kFrontRight,true); mainDrive.setInvertedMotor(RobotDrive.MotorType.kRearRight, true); armP = new AnalogPotentiometer(1); distance= new AnalogChannel(2); ultra=new Ultrasonic(6,7); ultra.setAutomaticMode(true); compress=new Compressor(5,1); handJoint=new Pneumatics(3,4); //ultra = new Ultrasonic(6,5); //ultra.setAutomaticMode(true); winch = new Winch(secondStick); }
protected void execute() { if (((Talon) Robot.launcher.getWindingMotor()).isSafetyEnabled()) { // System.out.println("Winding SetSafetyEnabled is true"); } else { // System.out.println("Winding SetSafetyEnabled is false"); } if (!shouldQuit) { Robot.launcher.startWindingMotor(1.0); } Robot.harvester.stopWheels(); }
public Drivetrain(){ leftFront = new Talon(Constants.leftFront); leftMiddle = new Talon(Constants.leftMiddle); leftBack = new Talon(Constants.leftBack); rightFront = new Talon(Constants.rightFront); rightMiddle = new Talon(Constants.rightMiddle); rightBack = new Talon(Constants.rightBack); relay = new Relay(Constants.shifter); compressor = new Compressor(Constants.pressureGauge, Constants.compressor); compressor.start(); }
public DriveSubsystem() { frontLeft = new Talon(RobotMap.DRIVE_FRONT_LEFT); frontRight = new Talon(RobotMap.DRIVE_FRONT_RIGHT); backLeft = new Talon(RobotMap.DRIVE_BACK_LEFT); backRight = new Talon(RobotMap.DRIVE_BACK_RIGHT); // driveTrain = new RobotDrive(frontLeft, backLeft, frontRight, backRight); trainSwitcher = new Solenoid(RobotMap.DRIVE_TRAIN_SWITCHER); // driveTrain.setInvertedMotor(RobotDrive.MotorType.kFrontLeft, REVERSE_FRONT_LEFT); // driveTrain.setInvertedMotor(RobotDrive.MotorType.kFrontRight, REVERSE_FRONT_RIGHT); // driveTrain.setInvertedMotor(RobotDrive.MotorType.kRearLeft, REVERSE_BACK_LEFT); // driveTrain.setInvertedMotor(RobotDrive.MotorType.kRearRight, REVERSE_BACK_RIGHT); // driveTrain.setSafetyEnabled(false); // driveTrain.setExpiration(2000); switchToMecanum(); }
/** * Constructor takes references two talons and pot used by intake * system. * @param rollerMotors * @param armMotors * @param pot */ public IntakeArm(Talon rollerMotors, Talon armMotors, AnalogPotentiometer pot) { this.armMotors = armMotors; this.rollerMotors = rollerMotors; this.pot = pot; currentSetpoint = UP_POSITION; armPID = new PIDController(kP, kI, kD, pot, armMotors); armPID.setAbsoluteTolerance(ABSOLUTE_TOLERANCE); armPID.setOutputRange(-1.0, 1.0); }
public ShootArm() { arm = new Talon(Ports.SHOOTER_LAUNCHER); arm.set(0); launcherEncoder = new Encoder(Ports.SHOOTER_ENCODER_1, Ports.SHOOTER_ENCODER_2, false, Encoder.EncodingType.k4X); launcherEncoder.start(); launcherEncoder.setDistancePerPulse(0.96); launcherEncoder.setMinRate(1); armHome = new DigitalInput(Ports.SHOOTER_HOME); armCounter = new Counter(armHome); armCounter.start(); state = 0; }
public Dumper() { dumperMotor = new Talon(MOTOR); topLimitSwitch = new DigitalInput(LIMIT_SWITCH_TOP); bottomLimitSwitch = new DigitalInput (LIMIT_SWITCH_BOTTOM); }
public ForkLift() { forkMotor = new Talon(MOTOR); upperLimitSwitch = new DigitalInput(UPPER_LIMIT_SWITCH); lowerLimitSwitch = new DigitalInput(LOWER_LIMIT_SWITCH); ballLimitSwitchOne = new DigitalInput(BALL_HIT_LIMIT_SWITCH_1); ballLimitSwitchTwo = new DigitalInput(BALL_HIT_LIMIT_SWITCH_2); mode = MANUAL; }
FRC2014Java(){ //Motor Controllers leftDrive = new Talon(TALON_PORT_L); rightDrive = new Talon(TALON_PORT_R); //Joystick xbox = new Joystick(1); //Winch winch = new Talon(2); //Intake intake = new Talon(8); //Cam cam = new Talon(3); //Catapult Limit Switch catapultLimit = new DigitalInput(1); //Cam Limit Switch camLimit = new DigitalInput(2); //Intake Limit Switch intakeLimit = new DigitalInput(3); //Cameras cameraFront = AxisCamera.getInstance("10.10.2.11"); cameraBack = AxisCamera.getInstance("10.10.2.12"); //Watchdog dog = Watchdog.getInstance(); }
