1. 包列表
  2. 类列表
  3. edu.wpi.first.wpilibj.DoubleSolenoid

Java 类edu.wpi.first.wpilibj.DoubleSolenoid 实例源码

项目：Steamworks2017Robot    文件：DriveTrain.java    
/**
 * Shifts the gearboxes up or down.
 * 
 * @param shiftType whether to shift up or down
 */
public void shift(ShiftType shiftType) {
  logger.info(String.format("Shifting, type=%s, shifter state=%s", shiftType.toString(),
      shiftingSolenoid.get().toString()));
  if (pcmPresent) {
    if (shiftType == ShiftType.TOGGLE) {
      if (shiftingSolenoid.get() == DoubleSolenoid.Value.kReverse) {
        shiftingSolenoid.set(DoubleSolenoid.Value.kForward);
        SmartDashboard.putBoolean("Drive_Shift", true);
      } else {
        shiftingSolenoid.set(DoubleSolenoid.Value.kReverse);
        SmartDashboard.putBoolean("Drive_Shift", false);
      }
    } else if (shiftType == ShiftType.UP) {
      shiftingSolenoid.set(DoubleSolenoid.Value.kForward);
      SmartDashboard.putBoolean("Drive_Shift", true);
    } else {
      shiftingSolenoid.set(DoubleSolenoid.Value.kReverse);
      SmartDashboard.putBoolean("Drive_Shift", false);
    }
  }
}
项目：Steamwork_2017    文件：Robot.java    
public Robot() {
    stick = new Joystick(0);
    driveLeftFront = new Victor(LEFT_FRONT_DRIVE);
    driveLeftRear = new Victor(LEFT_REAR_DRIVE);
    driveRightFront = new Victor(RIGHT_FRONT_DRIVE);
    driveRightRear = new Victor(RIGHT_REAR_DRIVE);
    enhancedDriveLeft = new Victor(ENHANCED_LEFT_DRIVE);
    enhancedDriveRight = new Victor(ENHANCED_RIGHT_DRIVE);
    gearBox = new DoubleSolenoid(GEAR_BOX_PART1, GEAR_BOX_PART2);
    climber1 = new Victor(CLIMBER_PART1);
    climber2 = new Victor(CLIMBER_PART2);
    vexSensorBackLeft = new Ultrasonic(0, 1);
    vexSensorBackRight = new Ultrasonic(2, 3);
    vexSensorFrontLeft = new Ultrasonic(4, 5);
    vexSensorFrontRight = new Ultrasonic(6, 7);

    Skylar = new RobotDrive(driveLeftFront, driveLeftRear, driveRightFront, driveRightRear);
    OptimusPrime = new RobotDrive(enhancedDriveLeft, enhancedDriveRight);
}
项目：MinuteMan    文件：HardwareAdaptor.java    
private HardwareAdaptor(){
    pdp = new PowerDistributionPanel();
    comp = new Compressor();
    shifter = new DoubleSolenoid(SolenoidMap.SHIFTER_FORWARD, SolenoidMap.SHIFTER_REVERSE);

    navx = new AHRS(CoprocessorMap.NAVX_PORT);

    dtLeftEncoder = new Encoder(EncoderMap.DT_LEFT_A, EncoderMap.DT_LEFT_B, EncoderMap.DT_LEFT_INVERTED);
    S_DTLeft.linkEncoder(dtLeftEncoder);
    dtRightEncoder = new Encoder(EncoderMap.DT_RIGHT_A, EncoderMap.DT_RIGHT_B, EncoderMap.DT_RIGHT_INVERTED);
    S_DTRight.linkEncoder(dtRightEncoder);

    dtLeft = S_DTLeft.getInstance();
    dtRight = S_DTRight.getInstance();
    S_DTWhole.linkDTSides(dtLeft, dtRight);
    dtWhole = S_DTWhole.getInstance();

    arduino = S_Arduino.getInstance();
}
项目：FRC-2017-Public    文件：Spatula.java    
@Override
public void update(Commands commands, RobotState robotState) {
    switch (commands.wantedSpatulaState) {
    case UP:
        mOutput = DoubleSolenoid.Value.kReverse;
        mState = SpatulaState.UP;
        break;
    case DOWN:
        mOutput = DoubleSolenoid.Value.kForward;
        mState = SpatulaState.DOWN;
        break;
    }

    mDv.updateValue(mOutput.toString() == "kReverse" ? "UP" : "DOWN");
    DashboardManager.getInstance().publishKVPair(mDv);
}
项目：FRC-2017-Public    文件：FlippersTest.java    
@Test
public void testOutput() {
    Commands commands = Robot.getCommands();
    Flippers flippers = Flippers.getInstance();

    Flippers.FlipperSignal desired = new Flippers.FlipperSignal(DoubleSolenoid.Value.kForward, DoubleSolenoid.Value.kForward);
    commands.wantedFlipperSignal = desired;
    flippers.update(commands, Robot.getRobotState());
    assertThat("Spatula not up", flippers.getFlipperSignal(), equalTo(desired));

    desired = new Flippers.FlipperSignal(DoubleSolenoid.Value.kForward, DoubleSolenoid.Value.kReverse);
    commands.wantedFlipperSignal = desired;
    flippers.update(commands, Robot.getRobotState());
    assertThat("Spatula not up", flippers.getFlipperSignal(), equalTo(desired));

    desired = new Flippers.FlipperSignal(DoubleSolenoid.Value.kReverse, DoubleSolenoid.Value.kForward);
    commands.wantedFlipperSignal = desired;
    flippers.update(commands, Robot.getRobotState());
    assertThat("Spatula not up", flippers.getFlipperSignal(), equalTo(desired));

    desired = new Flippers.FlipperSignal(DoubleSolenoid.Value.kReverse, DoubleSolenoid.Value.kReverse);
    commands.wantedFlipperSignal = desired;
    flippers.update(commands, Robot.getRobotState());
    assertThat("Spatula not up", flippers.getFlipperSignal(), equalTo(desired));
}
项目：449-central-repo    文件：ShiftComponent.java    
/**
 * Default constructor.
 *
 * @param otherShiftables All objects that should be shifted when this component's piston is.
 * @param piston          The piston that shifts.
 * @param startingGear    The gear to start in. Can be null, and if it is, the starting gear is gotten from the
 *                        piston's position.
 */
@JsonCreator
public ShiftComponent(@NotNull @JsonProperty(required = true) List<Shiftable> otherShiftables,
                      @NotNull @JsonProperty(required = true) MappedDoubleSolenoid piston,
                      @Nullable Shiftable.gear startingGear) {
    this.otherShiftables = otherShiftables;
    this.piston = piston;

    if (startingGear != null) {
        this.currentGear = startingGear.getNumVal();
    } else {
        //Get the starting gear from the piston's position if it's not provided
        this.currentGear = piston.get() == DoubleSolenoid.Value.kForward ? Shiftable.gear.LOW.getNumVal() : Shiftable.gear.HIGH.getNumVal();
    }

    //Set all the shiftables to the starting gear.
    for (Shiftable shiftable : otherShiftables) {
        shiftable.setGear(currentGear);
    }
}
项目：GRITS16    文件：Load.java    
public static void changeIntakePosition(){

     if(CMap.auxJoystick.getTrigger()){
        if(!intakeBeenPressed){
            if(intakePosition == "up"){
                intakePosition = "down";
                System.out.println("Intake Position set to " + intakePosition + " at " + CMap.teleopTimer.get() + " seconds.");
            } else if(intakePosition == "down"){
                intakePosition = "up";
            }
        }

        intakeBeenPressed = true;
     } else {
        intakeBeenPressed = false;
     }


    if(intakePosition == "up"){
        CMap.intakeSolenoid.set(DoubleSolenoid.Value.kReverse);
    } else if(intakePosition == "down"){
        CMap.intakeSolenoid.set(DoubleSolenoid.Value.kForward);
    }
}
项目：FRC-2014-robot-project    文件：ShooterControl.java    
ShooterControl(Encoder encoder, SpeedController pullBackSpeedController, double speedControllerMaxRpm,
               DigitalInput limitSwitch, DoubleSolenoid gearControl, Servo latchServo,
               Relay angleControl)
{
    m_latchReleaseServo = latchServo;
    m_currentState = SHOOTER_CONTROL_STATE_WAIT;
    m_encoder = encoder;
    m_pullBackSpeedController = pullBackSpeedController;
    m_angleControl = angleControl;
    m_speedControllerMaxRpm = speedControllerMaxRpm;
    m_limitSwitch = limitSwitch;
    m_pullBackEncoderRpm = new EncoderRPM();
    m_pullBackEncoderRpm.Init(m_pullBackSpeedController, m_encoder, (-1)*m_speedControllerMaxRpm, m_speedControllerMaxRpm, 0.05, 100, m_limitSwitch);
    m_releaseFromMidptEncoderRpm = new EncoderRPM();
    m_releaseFromMidptEncoderRpm.Init(m_pullBackSpeedController, m_encoder,(-1)*m_speedControllerMaxRpm/4,m_speedControllerMaxRpm,0.05, 3);
    m_gearControl = gearControl;
    m_latchReleased = false;
    m_gearReleased = false;
    m_isPulledBack = false;
}
项目：FRC-2014-robot-project    文件：ShooterControl.java    
private void HandleStateRelease()
{
    if (!m_gearReleased)
    {
        // set the gear in neutral
        m_gearControl.set(DoubleSolenoid.Value.kForward);
        m_gearReleased = true;
    }

    if(!m_latchReleased)
    {
        //release the latch
        m_latchReleaseServo.set(1);
        Timer.delay(0.5);
        m_latchReleased = true;
    }

    m_isPulledBack = false;
    m_currentState = SHOOTER_CONTROL_STATE_WAIT;
}
项目：Spartonics-Code    文件：Winch.java    
public Winch() {
    winchMotor = new CANTalon(RobotMap.WINCH_MOTOR);
    winchBrake = new DoubleSolenoid(RobotMap.WINCH_STOPPER_CHANNEL_A, RobotMap.WINCH_STOPPER_CHANNEL_B);

    this.winchMotor.enableBrakeMode(false);
    this.winchMotor.changeControlMode(TalonControlMode.Voltage);
    this.putBrakeOff();
}
项目：frc-2017    文件：GearManipulator.java    
public void toggleManipulator() {
    Value solenoidVal = manipulatorSolenoid.get();
    if (solenoidVal == Value.kForward) {
        manipulatorSolenoid.set(DoubleSolenoid.Value.kReverse);
    } else {
        manipulatorSolenoid.set(DoubleSolenoid.Value.kForward);
        manipulatorMotor.set(0.5);
    }

}
项目：FRC-2017-Command    文件：WinchPush.java    
/**
 *
 * @param value sets the solenoid state
 */
public void setLock(boolean value){
    if(value){
        sol.set(DoubleSolenoid.Value.kForward);
    }else{
        sol.set(DoubleSolenoid.Value.kReverse);
    }
    SmartDashboard.putBoolean("Winch Cylinder", value);
}
项目：2017    文件：CANObject.java    
/**
 * Creates CAN Pnuematics Control Module object
 * 
 * @param newdoubleSolenoid
 *            the CAN Pnuematics Control Module associated with this object
 * @param newCanId
 *            the ID of the CAN object
 */
public CANObject (final DoubleSolenoid newdoubleSolenoid, int newCanId)
{
    doubleSolenoid = newdoubleSolenoid;
    canId = newCanId;
    typeId = 3;

    // if(useDebug == true)
    // {
    // System.out.println("The Double Solenoid is " + doubleSolenoid);
    // System.out.println("The canId of the DoubleSolenoid is " + canId);
    // System.out.println("The type Id of the DoubleSolenoid is " + typeId);
    // }

}
项目：2017    文件：CANObject.java    
/**
 * Checks if the CAN Device is a Pnuematic Control Module
 * 
 * @return Returns Pnuematic Control Module if type ID is 3, if not returns null
 */
public DoubleSolenoid getdoubleSolenoid ()
{
    if (typeId == 3)
        {
        return doubleSolenoid;
        }
    return null;
}
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：Robot.java    
public void teleopInit() {

    DriveEncoders.intializeEncoders();
    GearScore.gearScoreDoor.set(DoubleSolenoid.Value.kForward);
    setBrakeMode(true);
    InterfaceFlip.isFlipped = false;
    // This makes sure that the autonomous stops running when
    // teleop starts running. If you want the autonomous to
    // continue until interrupted by another command, remove
    // this line or comment it out.
    if (autonomousCommand != null) autonomousCommand.cancel();
}
项目：Robot_2017    文件：GearScore.java    
public GearScore() {
    super();

    gearScorePusher = new DoubleSolenoid(3, 4);
    LiveWindow.addActuator("GearScore", "Pusher", gearScorePusher);

    gearScoreDoor = new DoubleSolenoid(6, 5);
    LiveWindow.addActuator("GearScore", "Door", gearScoreDoor);
}
项目：StormRobotics2017    文件：GearSystem.java    
public void setHighGear(boolean enabled) {
    _isGearOn = enabled;
    _gearShifter1.set(enabled ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse);
    _gearShifter2.set(enabled ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse);
    // _gearShifter3.set(enabled ? DoubleSolenoid.Value.kForward
    // : DoubleSolenoid.Value.kReverse);
}
项目：Steamworks2017Robot    文件：DriveTrain.java    
/**
 * Locks the climber ratchet so we don't fall off after the match ends.
 */
public void engageClimberRatchet() {
  SmartDashboard.putBoolean("Climber_Engaged", true);
  climberSolenoid.set(DoubleSolenoid.Value.kForward);
  isClimberLocked = true;
  // just in case
  setHoldPositionEnabled(false);
}
项目：MinuteMan    文件：S_DTWhole.java    
/**
 * Toggle current drive gear
 *
 * @param gear Gear to shift to
 */
public static void shift(SubsystemStates.DriveGear gear) {
    switch (gear) {
        case LOW:
            Robot.adaptor.shifter.set(DoubleSolenoid.Value.kForward);
            SubsystemStates.driveGear = SubsystemStates.DriveGear.LOW;
            break;
        case HIGH:
            Robot.adaptor.shifter.set(DoubleSolenoid.Value.kReverse);
            SubsystemStates.driveGear = SubsystemStates.DriveGear.HIGH;
            break;
    }
}
项目：BBLIB    文件：bbDoubleSolenoid.java    
public void toggle()
{
    if (get() == DoubleSolenoid.Value.kOff)
    {
        defaultPosition(isTrigger);
    }
    else if (get() == DoubleSolenoid.Value.kReverse)
    {
        forward();
    }
    else if (get() == DoubleSolenoid.Value.kForward)
    {
        reverse();
    }
}
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：Shooter.java    
public void setSol(int direction) {
if (direction == 1) {
    solenoid.set(DoubleSolenoid.Value.kForward);
} else if (direction == 0) {
    solenoid.set(DoubleSolenoid.Value.kOff);
} else if (direction == -1) {
    solenoid.set(DoubleSolenoid.Value.kReverse);
}
   }
项目：2016-Robot-Final    文件：Drive.java    
/**
    * Set the solenoid forward or reverse.
    * 
    * @param direction
    *            the direction to set the solenoid, in 1 or -1. 1 will set to
    *            high gear, -1 to low gear.
    */
   public void setSol(int direction) {
if (direction == -1) {
    // Set drive in low gear
    solenoid.set(DoubleSolenoid.Value.kReverse);
    setGear(0);
} else if (direction == 1) {
    // Set drive in high gear
    solenoid.set(DoubleSolenoid.Value.kForward);
    setGear(1);
} else {
    return;
}
   }
项目：449-central-repo    文件：ToggleSolenoid.java    
/**
 * Toggle the state of the piston.
 */
@Override
protected void execute() {
    if (subsystem.getSolenoidPosition().equals(DoubleSolenoid.Value.kForward)) {
        subsystem.setSolenoid(DoubleSolenoid.Value.kReverse);
    } else {
        subsystem.setSolenoid(DoubleSolenoid.Value.kForward);
    }
}
项目：449-central-repo    文件：ShiftComponent.java    
/**
 * Shifts the piston to the given gear.
 *
 * @param gear The gear to shift to
 */
protected void shiftPiston(int gear) {
    if (gear == Shiftable.gear.LOW.getNumVal()) {
        //Switch to the low gear pos
        piston.set(DoubleSolenoid.Value.kForward);
    } else {
        //If we want to switch to high gear and the low gear pos is reverse, switch to forward
        piston.set(DoubleSolenoid.Value.kReverse);
    }
}
项目：frc-2016    文件：AManipulators.java    
public void toggleAManipulators() {
    Value solenoidVal = aManipulatorSolenoid.get();
    if (solenoidVal == Value.kReverse) {
        aManipulatorSolenoid.set(DoubleSolenoid.Value.kForward);
    } else {
        aManipulatorSolenoid.set(DoubleSolenoid.Value.kReverse);
    }
}
项目：frc-2016    文件：Intake.java    
public Intake() {
    Actuator = new DoubleSolenoid(RobotMap.Solenoid.IntakeSolenoidForwards,
            RobotMap.Solenoid.IntakeSolenoidBackwards);
    IntakeCIM = new Victor(RobotMap.Pwm.MainIntakeVictor);
    IntakeCIM2 = new Victor(RobotMap.Pwm.CrossIntakeVictor);

}
项目：RobotBuilderTest    文件：RobotMap.java    
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
}
项目：Stronghold2016    文件：Gearbox.java    
public Gearbox(SpeedController motor1, SpeedController motor2, SpeedController motor3, Encoder encoder, DoubleSolenoid shifter) {
    m_motor1 = motor1;
    m_motor2 = motor2;
    m_motor3 = motor3;

    m_encoder = encoder;
    m_shifter = shifter;
}
项目：Stronghold2016    文件：Shooter.java    
public void compress(boolean in)    {
    if(in)  {
        m_compress.set(DoubleSolenoid.Value.kForward);
        m_compression = m_compressLeft.getVoltage() + m_compressRight.getVoltage();
    }   else    {
        m_compress.set(DoubleSolenoid.Value.kReverse);
    }
}
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：Shooter.java    
public void setSol(int direction) {
if (direction == 1) {
    solenoid.set(DoubleSolenoid.Value.kForward);
} else if (direction == 0) {
    solenoid.set(DoubleSolenoid.Value.kOff);
} else if (direction == -1) {
    solenoid.set(DoubleSolenoid.Value.kReverse);
}
   }
项目：2016-Robot    文件：Drive.java    
/**
    * Set the solenoid forward or reverse.
    * 
    * @param direction
    *            the direction to set the solenoid, in 1 or -1. 1 will set to
    *            high gear, -1 to low gear.
    */
   public void setSol(int direction) {
if (direction == -1) {
    // Set drive in low gear
    solenoid.set(DoubleSolenoid.Value.kReverse);
    setGear(0);
} else if (direction == 1) {
    // Set drive in high gear
    solenoid.set(DoubleSolenoid.Value.kForward);
    setGear(1);
} else {
    return;
}
   }
项目：liastem    文件：Pneumatics.java    
public void initDefaultCommand() {
    // Set the default command for a subsystem here.
    //setDefaultCommand(new MySpecialCommand());
    testDS=new DoubleSolenoid(1,2);
    testDS.set(DoubleSolenoid.Value.kOff);
    LiveWindow.addActuator("Pneumatics", "testDS", testDS);

}
项目：liastem    文件：Pneumatics.java    
public void setDS(boolean on) {
    if(on) {
        testDS.set(DoubleSolenoid.Value.kForward);
    }
    else{
        testDS.set(DoubleSolenoid.Value.kReverse);
    }

}
项目：FRC-2014-robot-project    文件：ShooterControl.java    
private void HandleStatePullback()
{
    double currentTime = Timer.getFPGATimestamp();

    // assume pullback should finish within 5 seconds
    if (m_pullBackEncoderRpm.isEnabled() && (currentTime - m_pullBackStartTime <= 5))
    {
        Logger.PrintLine("ShooterEncoder: calling m_pullBackEncoderRpm.PeriodicFunc", Logger.LOGGER_MESSAGE_LEVEL_DEBUG);

        m_pullBackEncoderRpm.PeriodicFunc();
    }
    else 
    {
        m_pullBackEncoderRpm.Stop();
        if (m_pullBackEncoderRpm.isEnabled())
        {
            Logger.PrintLine("ShooterEncoder: HandleStatePullback Timed out, moving to slow release state", Logger.LOGGER_MESSAGE_LEVEL_ERROR);

            // the pullback ncoder rpm object is still enabled (i.e. the
            // limit switch did not fire and we timed out. As a safty measure
            // do a slow release
            m_currentState = SHOOTER_CONTROL_STATE_SLOW_RELEASE;
            // engage the gear
            m_gearControl.set(DoubleSolenoid.Value.kReverse);
            Timer.delay(0.3);
            m_latchReleased = false;
            m_pullBackStartTime = Timer.getFPGATimestamp();
        }
        else
        {
            // lock the latch
            m_latchReleaseServo.set(0);
            Timer.delay(0.3);
            m_isPulledBack = true;

            m_currentState = SHOOTER_CONTROL_STATE_WAIT;
        }
    }
}
项目：FRC-2014-robot-project    文件：ShooterControl.java    
private void HandleStateReleaseFromMidPoint()
{
    if(!m_latchReleased)
    {
        // release the latch
        m_latchReleaseServo.set(1);
        m_latchReleased = true;
    }

    Timer.delay(0.4);

    //engage the gear
    m_gearControl.set(DoubleSolenoid.Value.kReverse);

    m_isPulledBack = false;
    m_currentState = SHOOTER_CONTROL_STATE_WAIT;

    /*if(m_releaseFromMidptEncoderRpm.isEnabled())
    {   
        m_releaseFromMidptEncoderRpm.PeriodicFunc();
    }
    else
    {
        if (!m_gearReleased)
        {
            // set the gear in neutral
            m_gearControl.set(DoubleSolenoid.Value.kForward);
            m_gearReleased = true;
        }
        m_isPulledBack = false;
        m_currentState = SHOOTER_CONTROL_STATE_WAIT;
    }*/
}
项目：FRC-2014-robot-project    文件：IntakeControl.java    
IntakeControl(SpeedController speedController, boolean speedControllerReversed,
                DoubleSolenoid angleControl)
{
    m_speedController = speedController;
    m_angleControl = angleControl;
    if (speedControllerReversed)
    {
        m_speedControllerDirectionMult = -1;
    }
    else
    {
        m_speedControllerDirectionMult = 1;
    }
}
项目：FRC-2014-robot-project    文件：IntakeControl.java    
public void ChangeAngle()
{
    if(m_angleControl.get() == DoubleSolenoid.Value.kReverse)
    {
        Logger.PrintLine("IntrakeControl.ChangeAngle kForward", Logger.LOGGER_MESSAGE_LEVEL_DEBUG);
        m_angleControl.set(DoubleSolenoid.Value.kForward);
    }
    else
    {
        Logger.PrintLine("IntrakeControl.ChangeAngle kReverse", Logger.LOGGER_MESSAGE_LEVEL_DEBUG);
        m_angleControl.set(DoubleSolenoid.Value.kReverse);
    }
}