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

项目：2017-emmet 文件：RobotMap.java

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);
}

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：2017-newcomen 文件：Drivetrain.java

public void initTalonConfig() {

        talons = new CANTalon[] {
                new CANTalon(TALONS_FRONT_LEFT), new CANTalon(TALONS_FRONT_RIGHT),
                new CANTalon(TALONS_REAR_LEFT), new CANTalon(TALONS_REAR_RIGHT)};

        talons[MotorType.kFrontLeft.value].setInverted(true);
        talons[MotorType.kFrontRight.value].setInverted(false);
        talons[MotorType.kRearLeft.value].setInverted(true);
        talons[MotorType.kRearRight.value].setInverted(false);

        for (CANTalon t: talons) {
            t.changeControlMode(CANTalon.TalonControlMode.PercentVbus);
            t.enableBrakeMode(false);
            t.setFeedbackDevice(FeedbackDevice.QuadEncoder);
            t.configEncoderCodesPerRev(ENC_CODES_PER_REV);
            t.setEncPosition(0);
            t.set(0);
        }
        robotDrive = new RobotDrive(talons[MotorType.kFrontLeft.value], talons[MotorType.kRearLeft.value], 
                                    talons[MotorType.kFrontRight.value], talons[MotorType.kRearRight.value]);
        robotDrive.setSafetyEnabled(false);
    }

项目：snobot-2017 文件：Robot.java

/**
 * 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);
}

项目：frc2017 文件：DriveSubsystem.java

public DriveSubsystem() {
  super("DriveSubsystem");

  leftFrontTalon = new CANTalon(RobotMap.TALON_DRIVEBASE_LEFT_FRONT);
  leftRearTalon = new CANTalon(RobotMap.TALON_DRIVEBASE_LEFT_REAR);
  rightFrontTalon = new CANTalon(RobotMap.TALON_DRIVEBASE_RIGHT_FRONT);
  rightRearTalon = new CANTalon(RobotMap.TALON_DRIVEBASE_RIGHT_REAR);

  leftFrontTalon.setVoltageRampRate(RAMP_RATE);
  rightFrontTalon.setVoltageRampRate(RAMP_RATE);
  leftRearTalon.setVoltageRampRate(RAMP_RATE);
  rightRearTalon.setVoltageRampRate(RAMP_RATE);

  leftFrontTalon.setFeedbackDevice(CANTalon.FeedbackDevice.CtreMagEncoder_Relative);
  rightRearTalon.setFeedbackDevice(CANTalon.FeedbackDevice.CtreMagEncoder_Relative);
  rightRearTalon.reverseSensor(true);

  robotDrive = new RobotDrive(leftFrontTalon, leftRearTalon, rightFrontTalon, rightRearTalon);
  robotDrive.setSafetyEnabled(false);
}

项目：FRC-2017 文件：CANDriveAssembly.java

public static void initialize()
{
    if (!initialized) {
        mFrontLeft = new CANTalon(LEFT_FRONT_TALON_ID);
        mBackLeft = new CANTalon(LEFT_REAR_TALON_ID);
        mFrontRight = new CANTalon(RIGHT_FRONT_TALON_ID);
        mBackRight = new CANTalon(RIGHT_REAR_TALON_ID);

        drive = new RobotDrive(mFrontLeft, mBackLeft, mFrontRight, mBackRight);

        drive.setInvertedMotor(RobotDrive.MotorType.kFrontLeft, false);
        drive.setInvertedMotor(RobotDrive.MotorType.kFrontRight, false);
        drive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, false);
        drive.setInvertedMotor(RobotDrive.MotorType.kRearRight, false);   

        leftStick = new Joystick(LEFT_JOYSTICK_ID);
        rightStick = new Joystick(RIGHT_JOYSTICK_ID);

        initialized = true;
    }
}

项目：RobotCode2017 文件：DriveTrainSubsystem.java

public DriveTrainSubsystem()
{
    lastLeft = 0.0D;
    lastRight = 0.0D;

    leftTalon0 = new CANTalon(RobotMap.Motor.LEFT_TALON_0);
    leftTalon1 = new CANTalon(RobotMap.Motor.LEFT_TALON_1);
    rightTalon0 = new CANTalon(RobotMap.Motor.RIGHT_TALON_0);
    rightTalon1 = new CANTalon(RobotMap.Motor.RIGHT_TALON_1);

    drive = new RobotDrive(leftTalon0, leftTalon1, rightTalon0, rightTalon1);
    drive.setExpiration(0.1D);

    setTalonSettings(leftTalon0);
    setTalonSettings(leftTalon1);
    setTalonSettings(rightTalon0);
    setTalonSettings(rightTalon1);
}

项目：FRC2549-2016 文件：DrivetrainSubsystem.java

public DrivetrainSubsystem(){
    leftMotor = RobotMap.leftDriveMotor.getController();
    rightMotor = RobotMap.rightDriveMotor.getController();
    drive = new RobotDrive(leftMotor, rightMotor);

    accelerometer = new IntegratedBuiltinAccelerometer(Range.k2G);

    leftEncoder = new Encoder(RobotMap.leftEncoder[0], RobotMap.leftEncoder[1]);
    rightEncoder = new Encoder(RobotMap.rightEncoder[0], RobotMap.rightEncoder[1]);
    leftEncoder.setReverseDirection(true);
    rightEncoder.setReverseDirection(true);

    driveGyro = new AnalogGyro(RobotMap.driveGyroPort);
    driveGyro.reset();
    driveGyro.setSensitivity(0.007);


}

项目：Stronghold-2016 文件：DrivetrainPID.java

public DrivetrainPID() {
    super(RobotMap.DRIVE_TURN_P, RobotMap.DRIVE_TURN_I, RobotMap.DRIVE_TURN_D);
    frontLeft = new CANTalon(RobotMap.FRONT_LEFT_MOTOR);
frontRight = new CANTalon(RobotMap.FRONT_RIGHT_MOTOR);
rearLeft = new CANTalon(RobotMap.REAR_LEFT_MOTOR);
rearRight = new CANTalon(RobotMap.REAR_RIGHT_MOTOR);

frontLeft.enableControl();
frontRight.enableControl();
rearLeft.enableControl();
rearRight.enableControl();

oneDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
SmartDashboard.putNumber("Front right", 0);
SmartDashboard.putNumber("Front left", 0);
  }