public static void log(String[] text) { for (int i = 0; i < text.length; i++) { if (text[i] == null || text[i].trim().equals("")) { continue; } Line line = lines[i % 6]; int pos = 1; String out = text[i].trim(); /*if (text.length > 6) { pos = i < 6 ? 1 : DriverStationLCD.kLineLength / 2; out = out.substring(0, (DriverStationLCD.kLineLength / 2) - 1); // Constrain }*/ ds.println(line, pos, out); } update(); }
/** * This function is called periodically during operator control */ public void teleopPeriodic() { display.println(Line.kUser1, 1, "Lauch: " + launchercontroller.launcherswitch() + " "); display.updateLCD(); Scheduler.getInstance().run(); if (alliance == 0) { arduino.setPattern("1"); pattern = 1; } else if (alliance == 1){ arduino.setPattern("2"); pattern = 2; } else { arduino.setPattern("0"); pattern = 0; } }
public void disabledPeriodic() { display.println(Line.kUser1, 1, "Lauch: " + launchercontroller.launcherswitch() + " "); display.updateLCD(); digital1 = driverStation.getDigitalIn(1); digital2 = driverStation.getDigitalIn(2); digital3 = driverStation.getDigitalIn(3); alliance = driverStation.getAlliance().value; if (digital1 == true && digital2 == false && digital3 == false) { arduino.setPattern("4"); pattern = 1; } else if (digital2 == true && digital1 == false && digital3 == false) { arduino.setPattern("5"); pattern = 5; } else if (digital3 == true && digital1 == false && digital2 == false) { arduino.setPattern("6"); pattern = 6; } else { arduino.setPattern("0"); pattern = 0; } }
/** * This method is called periodically during operator control. * <p/> * This method is called approximately 200 times a second. */ public void teleopPeriodic() { System.out.println("DIO 6: " + !RobotMap.armsExtendedFore.get() + ", DIO 7: " + !RobotMap.armsExtendedAft.get() + ", DIO 9: " + !RobotMap.armsHome.get()); display.updateLCD(); RobotMap.debug = DriverStation.getInstance().getDigitalIn(1); RobotMap.debugTable = DriverStation.getInstance().getDigitalIn(2); Scheduler.getInstance().run(); display.println(Line.kUser1, 1, "Aspect Ratio: " + RobotMap.Top.aspect); display.println(Line.kUser2, 1, "CenX: " + RobotMap.Top.cenX); display.println(Line.kUser3, 1, "CenY: " + RobotMap.Top.cenY); display.println(Line.kUser4, 1, "Distance (in): " + RobotMap.Top.getRange()); //display.println(Line.kUser5, 1, "Distance (ft): " + RobotMap.Top.getRange()/12); display.println(Line.kUser5, 1, "shoot RPM: " + RobotMap.shootEncoder.getRate()*60); display.println(Line.kUser6, 1, "shoot encoder: " + (((double)RobotMap.shootEncoder.get())/360)); this.debugToTable("Encoder getrate", RobotMap.shootEncoder.getRate()); this.debugToTable("Encoder get", RobotMap.shootEncoder.get()); display.updateLCD(); }
/** * This function is called once each time the robot enters autonomous mode. */ public void autonomous() { reset(); getWatchdog().setEnabled(false); m_LCD.println(Line.kUser6, LCDCol, "Driving"); autoLoop(-.5, -.6, 1.75f); m_LCD.println(Line.kUser6, LCDCol, "Firing 1"); m_Shooter.Fire(); autoLoop(0, 0, 3.0f); m_LCD.println(Line.kUser6, LCDCol, "Firing 2"); m_Shooter.Fire(); autoLoop(0, 0, 3.0f); m_LCD.println(Line.kUser6, LCDCol, "Firing 3"); m_Shooter.Fire(); autoLoop(0, 0, 3.0f); m_LCD.println(Line.kUser6, LCDCol, "Turning Off"); m_Shooter.TurnOff(); autoLoop(0, 0, 0.25f); m_LCD.println(Line.kUser6, LCDCol, " "); }
/** * Log to Driver Station LCD. * * @param ln The line number from 1 to 6. * @param col The column - either 1 or 2. * @param text The line to send. */ public static void log(int ln, int col, String text) { Line line = lines[ln - 1]; int pos = col == 1 ? 1 : (DriverStationLCD.kLineLength / 2); text = text.trim();//.substring(0, (DriverStationLCD.kLineLength / 2) - 1); // Constrain clearLine(ln); ds.println(line, pos, text); update(); }
/** * */ public void autonomousInit() { // schedule the autonomous command (example) // autonomousCommand.start(); //System.out.println("Entering Autonomous...."); display.println(Line.kUser1, 1, "Autonomous"); display.updateLCD(); }
/** * */ public void shiftLowGear() { GShiftSolUp.set(!RobotMap.DriveTrainLowGearSolenoidValue); GShiftSolDown.set(RobotMap.DriveTrainLowGearSolenoidValue); GShiftSolUp.set(false); GShiftSolDown.set(true); display.println(Line.kUser1, 1, "Into Low Gear "); display.updateLCD(); }
/** * */ public void shiftHighGear() { GShiftSolUp.set(!RobotMap.DriveTrainLowGearSolenoidValue); GShiftSolDown.set(RobotMap.DriveTrainLowGearSolenoidValue); GShiftSolUp.set(true); GShiftSolDown.set(false); display.println(Line.kUser1, 1, "Into High Gear "); display.updateLCD(); }
/** * This function is run when the robot is first started up and should be * used for any initialization code. */ public void robotInit() { // instantiate the command used for the autonomous period //status = new String(); nt = NetworkTable.getTable("ST"); debugTable = NetworkTable.getTable("Debug"); nt.putString("Status", "Initializing"); nt.putBoolean("AutoAlign", false); pusher = new Pusher(); DriveTrain = new DriveTrain(); // must be before Arms constructor arms = new Arms(); VerticalAxis = new VerticalTurretAxis(); shooterController = new Shooter(); display = DriverStationLCD.getInstance(); OI.initialize(); display.updateLCD(); display.println(Line.kUser1, 1, "Initializing... "); display.println(Line.kUser2, 1, " "); display.println(Line.kUser3, 1, " "); display.println(Line.kUser4, 1, " "); display.println(Line.kUser5, 1, " "); display.println(Line.kUser6, 1, " "); display.updateLCD(); compressor = new Compressor(RobotMap.pressureSwitch, RobotMap.compressorRelay); compressor.start(); RobotMap.shootEncoder.start(); nt.putString("Status", "Initialized"); tp = new TargetParser(); updateSolenoids = new UpdateSolenoidModule(); updateSolenoids.start(); //shooterElevationPID = new ShooterElevationPID(RobotMap.shooterElevationKp, RobotMap.shooterElevationKi, RobotMap.shooterElevationKd); //shooterElevationPID.start(); RobotMap.shootEncoder.setDistancePerPulse((1.0/360.0)); }
/** * Call this to reset the robot. */ public void reset() { //Pistons //if (m_ArmPistonOut) //If Arm is out.. //{ // m_ArmSolIn.set(true); //pull it back in // m_ArmSolOut.set(false); //} //Variables m_TrigRightWasDown = false; //m_ArmPistonOut = false; //m_XButWasDown = false; //m_ArmPistonBringIn = false; //m_BackButWasDown = false; //m_XBackButWasDown = false; m_YButWasDown = false; m_FrisbeeMotorSpin = false; //m_SetSpin = 0; m_BButWasDown = false; m_FrisbeeFired = false; m_ShotsFired = 0; //Strings //m_LCD.println(Line.kUser1, LCDCol, ArmPosBegin); //m_LCD.println(Line.kUser2, LCDCol, ArmDirBegin); m_LCD.println(Line.kUser4, LCDCol, FrisbeeBegin); m_LCD.println(Line.kUser5, LCDCol, ShotsBegin); m_LCD.println(Line.kUser6, LCDCol, " "); m_LCD.updateLCD(); }
/** * Call this to use the Frisbee shooter. */ public void frisbee() { if (m_BButPressed) { if (m_FrisbeeMotorSpin) { m_FrisbeeMotorSpin = false; m_Shooter.TurnOff(); //m_SetSpin = 0; //Stopping spin } else { m_FrisbeeMotorSpin = true; //m_Shooter.TurnOn(); //m_SetSpin = 1; //Spinning full power } //m_FrisbeeMotor.set(m_SetSpin*-1); //Seting spin } if (m_Shooter.GetState() < Shooter.SHOOTER_ON) { m_LCD.println(Line.kUser4, LCDCol, NoSpinString); } else { m_LCD.println(Line.kUser4, LCDCol, SpunUpString); } if (m_TrigRightPressed) { m_Shooter.Fire(); m_ShotsFired++; m_LCD.println(Line.kUser5, LCDCol, m_ShotsFired + ShotsString); // if (!m_FrisbeeFired) // { // m_FrisbeeFired = true; // m_FrisbeeSolIn.set(true); // m_FrisbeeSolOut.set(false); //Pushing frisbee into firing motor // m_ShotsFired++; // m_LCD.println(Line.kUser5, LCDCol, m_ShotsFired + ShotsString); // } // else // { // m_FrisbeeFired = false; // m_FrisbeeSolIn.set(false); // m_FrisbeeSolOut.set(true); //Grabbing another frisbee // } } }
