Java 类edu.wpi.first.wpilibj.Preferences 实例源码
项目:frc-2017
文件:CenterGearAutonomous.java
public CenterGearAutonomous() {
double centerGearAutoSpeed = Preferences.getInstance().getDouble(RobotMap.centerGearAutoSpeed, 0.0);
double centerGearAutoDistance = Preferences.getInstance().getDouble(RobotMap.centerGearAutoDistance, 0.0);
double autoWaitTime = Preferences.getInstance().getDouble(RobotMap.autoWaitTime, 0.0);
double wiggleForward = Preferences.getInstance().getDouble(RobotMap.wiggleForward, 0.0);
addSequential(new DriveStraightAuto(centerGearAutoDistance, centerGearAutoSpeed));
addSequential(new TurnAngle(3));
addSequential(new TurnAngle(-6));
addSequential(new TurnAngle(3));
addSequential(new DriveStraightAuto(wiggleForward, centerGearAutoSpeed));
addSequential(new WaitCommand(autoWaitTime));
addParallel(new DownManipulator());
addParallel(new ReverseManipulatorMotors());
// addSequential(new WaitCommand(autoWaitTime));
addSequential(new DriveStraightAuto(centerGearAutoDistance / 2, -centerGearAutoSpeed));
addSequential(new WaitCommand(autoWaitTime / 2));
addSequential(new DriveStraightAuto(centerGearAutoDistance / 3, centerGearAutoSpeed));
addSequential(new ManipulatorMotorOff());
addSequential(new UpManipulator());
}
项目:snobot-2017
文件:Snobot.java
/**
* This function is called periodically during operator control
*/
public void teleopPeriodic()
{
double speed = Preferences.getInstance().getDouble("Motor One Speed", .5);
if (mJoystick1.getRawButton(1))
{
mTestMotor1.set(1);
}
else
{
mTestMotor1.set(0);
}
SmartDashboard.putNumber("Motor 1", mTestMotor1.get());
SmartDashboard.putNumber("Analog Angle", mAnalogGryo.getAngle());
SmartDashboard.putNumber("SPI Angle", mSpiGryo.getAngle());
}
项目:Robot_2015
文件:Rotate.java
protected void initialize() {
pid = new PIDController(0.1, 0.1, 0, RobotMap.imu, new TurnController(), 0.01);
startingAngle = RobotMap.imu.getYaw();
double deltaAngle = angle + startingAngle;
// deltaAngle %= 360;
while (deltaAngle >= 180)
deltaAngle -= 360;
while (deltaAngle < -180)
deltaAngle += 360;
Preferences.getInstance().putDouble("YawSetpoint", deltaAngle);
pid.setAbsoluteTolerance(2);
pid.setInputRange(-180, 180);
pid.setContinuous(true);
pid.setOutputRange(-1 * rotateSpeed, 1 * rotateSpeed);
pid.setSetpoint(deltaAngle);
pid.enable();
//SmartDashboard.putData("PID", pid);
}
项目:Robot_2015
文件:DebugHardware.java
/**
*Contains a variety of debugging functions.
*Mostly affects the SmartDashboard.
*/
public DebugHardware() {
motorSelector = new SendableChooser();
motorSelector.addDefault("None", 0);
motorSelector.addObject("Left Front", 1);
motorSelector.addObject("Right Front", 2);
motorSelector.addObject("Right Rear", 3);
motorSelector.addObject("Left Rear", 4);
motorSelector.addObject("Winch", 5);
motorSelector.addObject("Left Roller", 6);
motorSelector.addObject("Right Roller", 7);
SmartDashboard.putData("Debug Motor", motorSelector);
Preferences.getInstance().putDouble("setWinch",RobotMap.forkliftMotor.getPosition());
Preferences.getInstance().putDouble("WheelSpeed", speed);
RobotMap.forkliftMotor.enableControl();
}
项目:Robot_2015
文件:DriveEncoders.java
/**
* This method gets encoder distance; it <b>does not work with strafe on mecanum!!!</b>
* @param initialVals The values of the encoders, as read from getInitialEncoderValues
* @return The encoder distance
* @see getInitialEncoderValues
*/
public static double getEncoderDistance(ArrayList<Double> initialVals) {
ArrayList<Double> vals = new ArrayList<>();
vals.add( (RobotMap.driveBaseLeftFrontMotor.getEncPosition() / RobotMap.ENCODER_PULSE_PER_METER) - initialVals.get(0));
vals.add( (RobotMap.driveBaseLeftRearMotor.getEncPosition() / RobotMap.ENCODER_PULSE_PER_METER) - initialVals.get(1));
vals.add(-((RobotMap.driveBaseRightFrontMotor.getEncPosition() / RobotMap.ENCODER_PULSE_PER_METER) - initialVals.get(2)));
vals.add(-((RobotMap.driveBaseRightRearMotor.getEncPosition() / RobotMap.ENCODER_PULSE_PER_METER) - initialVals.get(3)));
Preferences.getInstance().putDouble("LFencoder", vals.get(0));
Preferences.getInstance().putDouble("LRencoder", vals.get(1));
Preferences.getInstance().putDouble("RFencoder", vals.get(2));
Preferences.getInstance().putDouble("RRencoder", vals.get(3));
Collections.sort(vals);
return (vals.get(1) + vals.get(2))/2;
}
项目:ParadigmShift-2014
文件:Rafiki_Atlas.java
/**
* Called when the robot first starts, (only once at power-up).
*/
public void robotInit() {
//NetworkTable.setTeam(1259); adding the setTeam() method will cause the robot to encounter a thread error
//NetworkTable.setIPAddress("10.12.59.2");
operatorInputs = new OperatorInputs();
drive = new DriveTrain(operatorInputs);
prefs = Preferences.getInstance();
pickerPID = new PickerPID();
shoot = new Shooter(operatorInputs);
pick = new Picker(operatorInputs, pickerPID, shoot);
compressor = new Compressor(PRESSURE_SWITCH_CHANNEL, COMPRESSOR_RELAY_CHANNEL);
colwellContraption1 = new Solenoid(1, 3);
colwellContraption2 = new Solenoid(1, 4);
colwellContraption2.set(true);
this.autoTimer = new Timer();
drive.leftEncoder.start();
drive.rightEncoder.start();
drive.timer.start();
autoTimer.start();
}
项目:Swerve
文件:Robot.java
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
public void robotInit() {
RobotMap.init();
autoChooser = new SendableChooser();
autoChooser.addDefault("Simple Autonomous", new SimpleAutonomous());
//autoChooser.addObject("name", );
//autoChooser.addObject("name", );
SmartDashboard.putData("Autonomous Chooser", autoChooser);
shooterFan = new ShooterFan();
eightBallGrabber = new EightBallGrabber();
prefs = Preferences.getInstance();
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
// This MUST be here. If the OI creates Commands (which it very likely
// will), constructing it during the construction of CommandBase (from
// which commands extend), subsystems are not guaranteed to be
// yet. Thus, their requires() statements may grab null pointers. Bad
// news. Don't move it.
oi = new OI();
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
// Setup compass to stream data
}
项目:2014-robot
文件:Autonomous.java
/**
* moves 3 ft during autonomous
* @author cathy
*/
public void driveForwardAuto (){
switch(step) {
case 0:
// drive.getChassis().drive(.5, 0);
// try{
// Thread.sleep(4000);
// } catch (InterruptedException e){
// e.printStackTrace();
// }
if(drive.drive(.5, Preferences.getInstance().getDouble("driveForwardDistance", 48)))
step++;
break;
default:
drive.drive(0, 0);
System.out.println("stopped");
break;
}
}
项目:ReboundRumbleJava
文件:Drive.java
public boolean straightDriveEnc(double power, double leftRate, double rightRate) {
double kp = Preferences.getInstance().getDouble("kp", 0.1);
if (power != 0) {
double lspeed, rspeed;
lspeed = rspeed = 0;
rspeed = lspeed = curveInput(power,2);
if (Math.abs(leftRate) > Math.abs(rightRate)) {
lspeed -= (leftRate-rightRate)*kp;
} else {
rspeed -= (rightRate-leftRate)*kp;
}
tankDrive(lspeed,rspeed);
return true;
} else {
return false;
}
}
项目:Swerve
文件:Robot.java
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
public void robotInit() {
RobotMap.init();
autoChooser = new SendableChooser();
autoChooser.addDefault("Simple Autonomous", new SimpleAutonomous());
//autoChooser.addObject("name", );
//autoChooser.addObject("name", );
SmartDashboard.putData("Autonomous Chooser", autoChooser);
shooterFan = new ShooterFan();
eightBallGrabber = new EightBallGrabber();
prefs = Preferences.getInstance();
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
// This MUST be here. If the OI creates Commands (which it very likely
// will), constructing it during the construction of CommandBase (from
// which commands extend), subsystems are not guaranteed to be
// yet. Thus, their requires() statements may grab null pointers. Bad
// news. Don't move it.
oi = new OI();
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
// Setup compass to stream data
}
项目:frc-2017
文件:DropManipulatorReverseMotor.java
public DropManipulatorReverseMotor() {
double reverseFromPegDistance = Preferences.getInstance().getDouble(RobotMap.reverseFromPegDistance, 0.0);
double reverseFromPegSpeed = Preferences.getInstance().getDouble(RobotMap.reverseFromPegSpeed, 0.0);
addSequential(new ReverseManipulatorMotors());
addSequential(new DownManipulator());
addSequential(new DriveDistance(-Math.abs(reverseFromPegDistance), -Math.abs(reverseFromPegSpeed)));
addSequential(new ManipulatorMotorOff());
addSequential(new UpManipulator());
}
项目:frc-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() {
drive = new Drive();
gearManipulator = new GearManipulator();
intake = new Intake();
shooter = new Shooter();
storage = new Storage();
climber = new Climber();
elevator = new Elevator();
vision = new Vision();
visionProcessing = new LiveUsbCamera();
oi = new OI();
Robot.gearManipulator.gearManipulatorUp();
chooser.addDefault("Center Gear Auto", new CenterGearAutonomous());
chooser.addObject("Base Line Autonomous", new BaseLineAutonomous());
chooser.addObject("Boiler side Blue auto", new BoilerSideBlueAuto());
chooser.addObject("Boiler side Red auto", new BoilerSideRedAuto());
chooser.addObject("Do Nothing Autonomous", null);
double speed = Preferences.getInstance().getDouble(RobotMap.centerGearAutoSpeed, 0);
double distance = Preferences.getInstance().getDouble(RobotMap.centerGearAutoDistance, 0);
SmartDashboard.putData("Auto Mode", chooser);
// xboxLeftTrigger.whileActive(new ClimberTriggerOn());
xboxRightTrigger.whileActive(new RunShooter());
visionProcessing.runUsbCamera();
}
项目:thirdcoast
文件:SwerveDrive.java
/**
* Set wheels' azimuth relative offset from zero based on the current absolute position. This uses
* the physical zero position as read by the absolute encoder and saved during the wheel alignment
* process.
*
* @see #saveAzimuthPositions()
*/
public void zeroAzimuthEncoders() {
Preferences prefs = Preferences.getInstance();
for (int i = 0; i < WHEEL_COUNT; i++) {
int position = prefs.getInt(getPreferenceKeyForWheel(i), 0);
wheels[i].setAzimuthZero(position);
logger.info("azimuth {}: loaded zero = {}", i, position);
}
}
项目:Robot_2016
文件:Expel.java
protected void initialize() {
SPEED = Preferences.getInstance().getDouble("Expel Speed", 0.3);
BallMotors.expel(SPEED);
Kicker.launch();
//record time of command start
timeStart = System.currentTimeMillis();
Robot.isExpelling = true;
}
项目:Robot_2016
文件:Aimer.java
public static void loadPreferences() {
UP_PID_P = Preferences.getInstance().getDouble("Aimer Up kP", 1.0);
UP_PID_I = Preferences.getInstance().getDouble("Aimer Up kI", 0.001);
UP_PID_D = Preferences.getInstance().getDouble("Aimer Up kD", 0.0);
DOWN_PID_P = Preferences.getInstance().getDouble("Aimer Down kP", 0.5);
DOWN_PID_I = Preferences.getInstance().getDouble("Aimer Down kI", 0.02);
DOWN_PID_D = Preferences.getInstance().getDouble("Aimer Down kD", 0.0);
MOVE_SPEED_UP = Preferences.getInstance().getInt("Aimer Up Speed", 300);
MOVE_SPEED_DOWN = Preferences.getInstance().getInt("Aimer Down Speed",-175);
}
项目:Cybercavs2016Code
文件:Robot.java
public static int holdElbowPosition() {
Preferences prefs = Preferences.getInstance();
if (!prefs.containsKey("holdElbowPosition")) {
prefs.putInt("holdElbowPosition", 3589);
}
return prefs.getInt("holdElbowPosition", 3589);
}
项目:Cybercavs2016Code
文件:Robot.java
public static int holdWristPosition() {
Preferences prefs = Preferences.getInstance();
if (!prefs.containsKey("holdWristPosition")) {
prefs.putInt("holdWristPosition", 2027);
}
return prefs.getInt("holdWristPosition", 2027);
}
项目:Cybercavs2016Code
文件:Robot.java
public static double latchReadyPosition() {
Preferences prefs = Preferences.getInstance();
if (!prefs.containsKey("latchReadyPostion")) {
prefs.putDouble("latchReadyPostion", 0.32);
}
return prefs.getDouble("latchReadyPostion", 0.32);
}
项目:Cybercavs2016Code
文件:Robot.java
public static double latchShootPosition() {
Preferences prefs = Preferences.getInstance();
if (!prefs.containsKey("latchShootPosition")) {
prefs.putDouble("latchShootPosition", 1.0);
}
return prefs.getDouble("latchShootPosition", 1.0);
}
项目:Cybercavs2016Code
文件:Robot.java
public static double latchLockPosition() { //position to lower server after latch to ensure it doesn't launch prematurely
Preferences prefs = Preferences.getInstance();
if (!prefs.containsKey("latchLockPosition")) {
prefs.putDouble("latchLockPosition", 0.01);
}
return prefs.getDouble("latchLockPosition", 0.01);
}
项目:Cybercavs2016Code
文件:Robot.java
public static double winchPower() {
Preferences prefs = Preferences.getInstance();
if (!prefs.containsKey("winchPower")) {
prefs.putDouble("winchPower", 1.0);
}
return prefs.getDouble("winchPower", 1.0);
}
项目:Cybercavs2016Code
文件:Robot.java
public static double winchWoundDistance() {
Preferences prefs = Preferences.getInstance();
if (!prefs.containsKey("winchWoundDistance")) {
prefs.putDouble("winchWoundDistance", 1);
}
return prefs.getDouble("winchWoundDistance", 1);
}
项目:Cybercavs2016Code
文件:Robot.java
public static double winchUnwoundDistance() {
Preferences prefs = Preferences.getInstance();
if (!prefs.containsKey("winchUnwoundDistance")) {
prefs.putDouble("winchUnwoundDistance", 4.6);
}
return prefs.getDouble("winchUnwoundDistance", 4.6);
}
项目:Cybercavs2016Code
文件:Robot.java
public static double pickupWheelsPower() {
Preferences prefs = Preferences.getInstance();
if (!prefs.containsKey("pickupWheelsPower")) {
prefs.putDouble("pickupWheelsPower", -12);
}
return prefs.getDouble("pickupWheelsPower", -12);
}
项目:Cybercavs2016Code
文件:Robot.java
public static double pixelsPerEncoderChange() {
Preferences prefs = Preferences.getInstance();
if (!prefs.containsKey("pixelsPerEncoderChange")) {
prefs.putDouble("pixelsPerEncoderChange", 0.735);
}
return prefs.getDouble("pixelsPerEncoderChange", 0.735);
}
项目:Cybercavs2016Code
文件:Robot.java
public static int manipulatorWristRestPosition() {
Preferences prefs = Preferences.getInstance();
if (!prefs.containsKey("manipulatorWristRestPosition")) {
prefs.putInt("manipulatorWristRestPosition", 2100);
}
return prefs.getInt("manipulatorWristRestPosition", 2100);
}
项目:Cybercavs2016Code
文件:Robot.java
public static int manipulatorElbowRestPosition() {
Preferences prefs = Preferences.getInstance();
if (!prefs.containsKey("manipulatorElbowRestPosition")) {
prefs.putInt("manipulatorElbowRestPosition", 1900);
}
return prefs.getInt("manipulatorElbowRestPosition", 1900);
}
项目:Cybercavs2016Code
文件:Robot.java
public static double pixToTurnMax() {
Preferences prefs = Preferences.getInstance();
if (!prefs.containsKey("pixToTurnMax")) {
prefs.putDouble("pixToTurnMax", 1.0);
}
return prefs.getDouble("pixToTurnMax", 1.0);
}
项目:frc-2016
文件:BatterShot.java
public BatterShot() {
addSequential(new DriveDistance(-.4, 26));
addSequential(new UnlockShooter());
addSequential(new LowerRake());
addSequential(new SetShooterSpeed(Preferences.getInstance().getDouble("ShooterSpeed", 0.0)));
addSequential(new AimToAngle(61));
addSequential(new WaitCommand(1.0));
addSequential(new MoveBallIntoShooter());
addSequential(new WaitCommand(1.0));
addSequential(new SetShooterSpeed(0.0));
addSequential(new RaiseRake());
}
项目:frc-2016
文件:AimShooter.java
private void updatePIDConstants() {
double AngleP = Preferences.getInstance().getDouble(RobotMap.Prefs.ShooterAngleP, 0);
double AngleI = Preferences.getInstance().getDouble(RobotMap.Prefs.ShooterAngleI, 0);
double AngleD = Preferences.getInstance().getDouble(RobotMap.Prefs.ShooterAngleD, 0);
double AngleF = Preferences.getInstance().getDouble(RobotMap.Prefs.ShooterAngleF, 0);
anglePID.setConstants(AngleP, AngleI, AngleD, AngleF);
}
项目:snobot-2017
文件:Snobot.java
/**
* 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);
}
项目:snobot-2017
文件:PropertyManager.java
@Override
public Double getValue()
{
if (Preferences.getInstance().containsKey(mKey))
{
return Preferences.getInstance().getDouble(mKey, mDefault);
}
sPropertyAdded = true;
Preferences.getInstance().putDouble(mKey, mDefault);
return mDefault;
}
项目:snobot-2017
文件:PropertyManager.java
@Override
public Integer getValue()
{
if (Preferences.getInstance().containsKey(mKey))
{
return Preferences.getInstance().getInt(mKey, mDefault);
}
sPropertyAdded = true;
Preferences.getInstance().putInt(mKey, mDefault);
return mDefault;
}
项目:snobot-2017
文件:PropertyManager.java
@Override
public String getValue()
{
if (Preferences.getInstance().containsKey(mKey))
{
return Preferences.getInstance().getString(mKey, mDefault);
}
sPropertyAdded = true;
Preferences.getInstance().putString(mKey, mDefault);
return mDefault;
}
项目:snobot-2017
文件:PropertyManager.java
@Override
public Boolean getValue()
{
if (Preferences.getInstance().containsKey(mKey))
{
return Preferences.getInstance().getBoolean(mKey, mDefault);
}
sPropertyAdded = true;
Preferences.getInstance().putBoolean(mKey, mDefault);
return mDefault;
}
项目:snobot-2017
文件:PropertyManager.java
@Override
public Double getValue()
{
if (Preferences.getInstance().containsKey(mKey))
{
return Preferences.getInstance().getDouble(mKey, mDefault);
}
sPropertyAdded = true;
Preferences.getInstance().putDouble(mKey, mDefault);
return mDefault;
}
项目:snobot-2017
文件:PropertyManager.java
@Override
public Integer getValue()
{
if (Preferences.getInstance().containsKey(mKey))
{
return Preferences.getInstance().getInt(mKey, mDefault);
}
sPropertyAdded = true;
Preferences.getInstance().putInt(mKey, mDefault);
return mDefault;
}
项目:snobot-2017
文件:PropertyManager.java
@Override
public String getValue()
{
if (Preferences.getInstance().containsKey(mKey))
{
return Preferences.getInstance().getString(mKey, mDefault);
}
sPropertyAdded = true;
Preferences.getInstance().putString(mKey, mDefault);
return mDefault;
}
项目:snobot-2017
文件:PropertyManager.java
@Override
public Boolean getValue()
{
if (Preferences.getInstance().containsKey(mKey))
{
return Preferences.getInstance().getBoolean(mKey, mDefault);
}
sPropertyAdded = true;
Preferences.getInstance().putBoolean(mKey, mDefault);
return mDefault;
}
项目:FB2016
文件:RobotMap.java
/**
* Retrieve numbers from the preferences table. If the specified key is in
* the preferences table, then the preference value is returned. Otherwise,
* return the backup value, and also start a new entry in the preferences
* table.
*/
public static double getPreferencesDouble(String key, double backup) {
Preferences preferences = Preferences.getInstance();
if (!preferences.containsKey(key)) {
preferences.putDouble(key, backup);
}
return preferences.getDouble(key, backup);
}