private void setEncodingFactor(EncodingType aFactor) { switch (aFactor) { case k1X: mEncodingFactor = 1.0; break; case k2X: mEncodingFactor = 0.5; break; case k4X: mEncodingFactor = 0.25; break; default: // This is never reached, EncodingType enum limits values mEncodingFactor = 0.0; break; } }
public DriveTrainSubsystem() { motors = new SpeedController[RobotMap.DRIVE_TRAIN.MOTORS.length]; for (int i = 0; i < RobotMap.DRIVE_TRAIN.MOTORS.length; i++) { motors[i] = new Victor(RobotMap.DRIVE_TRAIN.MOTORS[i]); } doubleSidedPid = new PIDController649(EncoderBasedDriving.AUTO_DRIVE_P, EncoderBasedDriving.AUTO_DRIVE_I, EncoderBasedDriving.AUTO_DRIVE_D, this, this); doubleSidedPid.setAbsoluteTolerance(EncoderBasedDriving.ABSOLUTE_TOLERANCE); doubleSidedPid.setOutputRange(-EncoderBasedDriving.MAX_MOTOR_POWER, EncoderBasedDriving.MAX_MOTOR_POWER); encoders = new Encoder[RobotMap.DRIVE_TRAIN.ENCODERS.length / 2]; for (int x = 0; x < RobotMap.DRIVE_TRAIN.ENCODERS.length; x += 2) { encoders[x / 2] = new Encoder(RobotMap.DRIVE_TRAIN.ENCODERS[x], RobotMap.DRIVE_TRAIN.ENCODERS[x + 1], x == 0, EncodingType.k2X); encoders[x / 2].setDistancePerPulse(EncoderBasedDriving.ENCODER_DISTANCE_PER_PULSE); } lastRates = new Vector(); shifterSolenoid = new DoubleSolenoid(RobotMap.DRIVE_TRAIN.FORWARD_SOLENOID_CHANNEL, RobotMap.DRIVE_TRAIN.REVERSE_SOLENOID_CHANNEL); }
public EncoderWrapper(int aIndexA, int aIndexB) { super("Encoder (" + aIndexA + ", " + aIndexB + ")"); setEncodingFactor(CounterBase.EncodingType.k4X); mDistancePerTick = 1; }
public void initialize() { rearLeftMotor = new Jaguar(0); frontLeftMotor = new Jaguar(1); liftMotor = new Jaguar(2); liftMotor2 = new Jaguar(3); liftEncoder = new Encoder(6, 7, false, EncodingType.k4X); drivetrain = new RobotDrive(rearLeftMotor, frontLeftMotor); drivetrain.setInvertedMotor(MotorType.kFrontLeft, true); drivetrain.setInvertedMotor(MotorType.kFrontRight, true); halsensor = new DigitalInput(0); horizontalCamera = new Servo(8); verticalCamera = new Servo(9); solenoid = new DoubleSolenoid(0,1); gyro = new Gyro(1); accelerometer = new BuiltInAccelerometer(); liftEncoder.reset(); RobotHardwareWoodbot hardware = (RobotHardwareWoodbot)Robot.bot; LiveWindow.addActuator("Drive Train", "Front Left Motor", (Jaguar)hardware.frontLeftMotor); LiveWindow.addActuator("Drive Train", "Back Left Motor", (Jaguar)hardware.rearLeftMotor); //LiveWindow.addActuator("Drive Train", "Front Right Motor", (Jaguar)hardware.frontRightMotor); //LiveWindow.addActuator("Drive Train", "Back Right Motor", (Jaguar)hardware.rearRightMotor); }
@Override public void initialize() { //PWM liftMotor = new Victor(0); //2); leftMotors = new Victor(1); rightMotors = new Victor(2); //0); armMotors = new Victor(3); transmission = new Servo(7); //CAN armSolenoid = new DoubleSolenoid(4,5); //DIO liftEncoder = new Encoder(0, 1, false, EncodingType.k4X); liftBottomLimit = new DigitalInput(2); liftTopLimit = new DigitalInput(3); backupLiftBottomLimit = new DigitalInput(5); switch1 = new DigitalInput(9); switch2 = new DigitalInput(8); //ANALOG gyro = new Gyro(0); //roboRio accelerometer = new BuiltInAccelerometer(); //Stuff drivetrain = new RobotDrive(leftMotors, rightMotors); liftSpeedRatio = 1; //Half power default liftGear = 1; driverSpeedRatio = 1; debounceComp = 0; drivetrain.setInvertedMotor(MotorType.kRearLeft, true); drivetrain.setInvertedMotor(MotorType.kRearRight, true); }
public Drive(JoystickControl controller) { leftMotor = new Motor(JAGUAR_LEFT_ID, JAGUAR_LEFT_INVERTED); rightMotor = new Motor(JAGUAR_RIGHT_ID, JAGUAR_RIGHT_INVERTED); leftEncoderInput = new DigitalInput(ENCODER_DIGITAL_SIDECAR_CHANNEL, ENCODER_LEFT_CHANNEL); rightEncoderInput = new DigitalInput(ENCODER_DIGITAL_SIDECAR_CHANNEL, ENCODER_RIGHT_CHANNEL); leftEncoder = new Encoder(leftEncoderInput, leftEncoderInput, false, EncodingType.k1X); rightEncoder = new Encoder(rightEncoderInput, rightEncoderInput, false, EncodingType.k1X); raiseServo = new Servo(5); this.controller = controller; }
public DriveTrain() { super(); frontLeft = new CANTalon(RobotMap.DRIVE_TRAIN_FRONT_LEFT); frontRight = new CANTalon(RobotMap.DRIVE_TRAIN_FRONT_RIGHT); backLeft = new CANTalon(RobotMap.DRIVE_TRAIN_BACK_LEFT); backRight = new CANTalon(RobotMap.DRIVE_TRAIN_BACK_RIGHT); frontLeft.set(0); frontRight.set(0); backLeft.set(0); backRight.set(0); double voltageRampRate = 150;//20; frontLeft.setVoltageRampRate(voltageRampRate); frontRight.setVoltageRampRate(voltageRampRate); backLeft.setVoltageRampRate(voltageRampRate); backRight.setVoltageRampRate(voltageRampRate); //backRight.setCurrentLimit(0); setBrake(false); drive = new RobotDrive(frontLeft, backLeft, frontRight, backRight); // Scale encoder pulses to distance in inches double wheelDiameter = 4.0; // inches double encoderToShaftRatio = 3; // 3X gear reduction double pulsesPerRevolution = 256; double stage3Ratio = 50.0 / 34.0; double distancePerPulse = Math.PI * wheelDiameter / (encoderToShaftRatio * pulsesPerRevolution); distancePerPulse /= stage3Ratio; leftEncoder = new Encoder(RobotMap.DRIVE_TRAIN_ENCODER_LEFT_A, RobotMap.DRIVE_TRAIN_ENCODER_LEFT_B, true, EncodingType.k4X); leftEncoder.reset(); leftEncoder.setDistancePerPulse(distancePerPulse); rightEncoder = new Encoder(RobotMap.DRIVE_TRAIN_ENCODER_RIGHT_A, RobotMap.DRIVE_TRAIN_ENCODER_RIGHT_B, true, EncodingType.k4X); rightEncoder.reset(); rightEncoder.setDistancePerPulse(distancePerPulse); }
public DriveTrain() { Robot.logList.add(this); ahrs = new AHRS(RobotMap.Ports.AHRS); left = new VictorSP(RobotMap.Ports.leftDriveMotor); right = new VictorSP(RobotMap.Ports.rightDriveMotor); right.setInverted(true); final double gearRatio = 4/3; final double ticksPerRev = 2048; final double radius = 1.5; final double magic = 1/.737; final double calculated = (radius * 2 * Math.PI) * gearRatio * magic / ticksPerRev; ahrs.reset(); leftEncoder = new Encoder(RobotMap.Ports.leftEncoderOne, RobotMap.Ports.leftEncoderTwo, true, EncodingType.k4X); leftEncoder.setDistancePerPulse(calculated); leftEncoder.setPIDSourceType(PIDSourceType.kRate); rightEncoder = new Encoder(RobotMap.Ports.rightEncoderOne, RobotMap.Ports.rightEncoderTwo, false, EncodingType.k4X); rightEncoder.setDistancePerPulse(calculated); rightEncoder.setPIDSourceType(PIDSourceType.kRate); leftPID = new PIDController( RobotMap.Values.driveTrainP, RobotMap.Values.driveTrainI, RobotMap.Values.driveTrainD, RobotMap.Values.driveTrainF, new RateEncoder(leftEncoder), left); leftPID.setInputRange(-300, 300); leftPID.setOutputRange(-1, 1); rightPID = new PIDController( RobotMap.Values.driveTrainP, RobotMap.Values.driveTrainI, RobotMap.Values.driveTrainD, RobotMap.Values.driveTrainF, new RateEncoder(rightEncoder), right); rightPID.setInputRange(-300, 300); rightPID.setOutputRange(-1, 1); // Let's show everything on the LiveWindow LiveWindow.addActuator("Drive Train", "Left Motor", (VictorSP) left); LiveWindow.addActuator("Drive Train", "Right Motor", (VictorSP) right); LiveWindow.addSensor("Drive Train", "Left Encoder", leftEncoder); LiveWindow.addSensor("Drive Train", "Right Encoder", rightEncoder); LiveWindow.addSensor("Drive Train", "Gyro", ahrs); LiveWindow.addActuator("Drive Train", "PID", leftPID); }
public static void init() { // Sparks! ////Change for competition Robot start DONE DONE DONE DOOOONNNEE dTSparkController1 = new Spark(2); dTSparkController2 = new Spark(3); dTSparkController3 = new Talon(4); dTSparkController4 = new Talon(5); //dTSparkController1 = new Spark(1); //dTSparkController2 = new Spark(3); //dTSparkController3 = new Spark(2); //dTSparkController4 = new Spark(4); ////Change for Competition Robot end driveTrainRobotDrive = new RobotDrive(dTSparkController1, dTSparkController2, dTSparkController3, dTSparkController4); winchMotor = new CANTalon(7); armMotor = new CANTalon(8); //remember CANTalons are named by the RIO Interface ID number //parallelBar = new CANTalon(9); ////Change for Competition Robot start DONE DONE DONE DOOOONNNEE intakeRoller = new Talon(1); //intakeRoller = new Talon(6); ////Change for Competition Robot end intake = new Talon(6); // Encoder Code CP&P - Fred EncoderLeft = new Encoder(2, 3, false, EncodingType.k4X); LiveWindow.addSensor("Encoders", "Quadrature Encoder Left", EncoderLeft); EncoderLeft.setSamplesToAverage(5); EncoderLeft.setDistancePerPulse(1.0/360); //EncoderLeft.setPIDSourceParameter(PIDSourceParameter.kDistance); EncoderRight = new Encoder(4, 5, false, EncodingType.k4X); LiveWindow.addSensor("Encoders", "Quadrature EncoderRight", EncoderRight); EncoderRight.setSamplesToAverage(5); EncoderRight.setDistancePerPulse(1.0/360); ParallelEncoder = new Encoder(0, 1, false, EncodingType.k4X); LiveWindow.addSensor("Encoders", "Quadrature Encoder Arm", ParallelEncoder); ParallelEncoder.setSamplesToAverage(5); ParallelEncoder.setDistancePerPulse(1.0/360); //Ultrasonic ultra = new Ultrasonic(6,7); //ultra.setAutomaticMode(true); PressureGauge = new AnalogInput(4); limitSwitch = new DigitalInput(9); // Change for Practice to Competition Robot DONE DONE DONE DOOOONNNEE wCylinder = new Solenoid(1); trigger = new Solenoid(2); //wCylinder = new DoubleSolenoid(3, 4); //trigger = new DoubleSolenoid(1, 2); // Change for Practice to Competition Robot End //light = new DoubleSolenoid(3, 0, 1); navXBoard = new SerialPort(57600,SerialPort.Port.kMXP); byte update_rate_hz = 50; imu = new AHRS(navXBoard,update_rate_hz); pneumaticsCompressor = new Compressor(0); }
public static void init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS driveTrainleftFrontTalon0 = new TalonSRX(0); LiveWindow.addActuator("DriveTrain", "leftFrontTalon0", (TalonSRX) driveTrainleftFrontTalon0); driveTrainleftBackTalon1 = new TalonSRX(1); LiveWindow.addActuator("DriveTrain", "leftBackTalon1", (TalonSRX) driveTrainleftBackTalon1); driveTrainrightFrontTalon2 = new TalonSRX(2); LiveWindow.addActuator("DriveTrain", "rightFrontTalon2", (TalonSRX) driveTrainrightFrontTalon2); driveTrainrightBackTalon3 = new TalonSRX(3); LiveWindow.addActuator("DriveTrain", "rightBackTalon3", (TalonSRX) driveTrainrightBackTalon3); driveTrainRobotDrive = new RobotDrive(driveTrainleftFrontTalon0, driveTrainleftBackTalon1, driveTrainrightFrontTalon2, driveTrainrightBackTalon3); driveTrainRobotDrive.setSafetyEnabled(true); driveTrainRobotDrive.setExpiration(0.1); driveTrainRobotDrive.setSensitivity(0.5); driveTrainRobotDrive.setMaxOutput(1.0); driveTraingyro = new Gyro(0); LiveWindow.addSensor("DriveTrain", "gyro", driveTraingyro); driveTraingyro.setSensitivity(0.007); driveTrainleftFrontEncoder = new Encoder(17, 18, false, EncodingType.k4X); LiveWindow.addSensor("DriveTrain", "leftFrontEncoder", driveTrainleftFrontEncoder); driveTrainleftFrontEncoder.setDistancePerPulse(1.0); driveTrainleftFrontEncoder.setPIDSourceParameter(PIDSourceParameter.kRate); driveTrainleftBackEncoder = new Encoder(19, 20, false, EncodingType.k4X); LiveWindow.addSensor("DriveTrain", "leftBackEncoder", driveTrainleftBackEncoder); driveTrainleftBackEncoder.setDistancePerPulse(1.0); driveTrainleftBackEncoder.setPIDSourceParameter(PIDSourceParameter.kRate); driveTrainrightFrontEncoder = new Encoder(21, 22, false, EncodingType.k4X); LiveWindow.addSensor("DriveTrain", "rightFrontEncoder", driveTrainrightFrontEncoder); driveTrainrightFrontEncoder.setDistancePerPulse(1.0); driveTrainrightFrontEncoder.setPIDSourceParameter(PIDSourceParameter.kRate); driveTrainrightBackEncoder = new Encoder(23, 24, false, EncodingType.k4X); LiveWindow.addSensor("DriveTrain", "rightBackEncoder", driveTrainrightBackEncoder); driveTrainrightBackEncoder.setDistancePerPulse(1.0); driveTrainrightBackEncoder.setPIDSourceParameter(PIDSourceParameter.kRate); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
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); driveTrainMotors = new RobotDrive(driveTrainleftMotor, driveTrainrightMotor); driveTrainMotors.setSafetyEnabled(true); driveTrainMotors.setExpiration(0.1); driveTrainMotors.setSensitivity(0.5); driveTrainMotors.setMaxOutput(1.0); driveTrainwheelRotations = new Encoder(2, 3, false, EncodingType.k4X); LiveWindow.addSensor("DriveTrain", "wheelRotations", driveTrainwheelRotations); driveTrainwheelRotations.setDistancePerPulse(0.102); driveTrainwheelRotations.setPIDSourceParameter(PIDSourceParameter.kRate); driveTraingyro = new Gyro(0); LiveWindow.addSensor("DriveTrain", "gyro", driveTraingyro); driveTraingyro.setSensitivity(0.0015); driveTrainrangeFinder = new AnalogInput(1); LiveWindow.addSensor("DriveTrain", "rangeFinder", driveTrainrangeFinder); armSolenoid = new DoubleSolenoid(0, 0, 1); LiveWindow.addActuator("Arms", "armSolenoid", armSolenoid); armWidthLimit = new DigitalInput(1); LiveWindow.addSensor("Arms", "armWidthLimit", armWidthLimit); elevatorlimitSwitch = new DigitalInput(0); LiveWindow.addSensor("Elevator", "limitSwitch", elevatorlimitSwitch); elevatorSolenoid = new DoubleSolenoid(0, 6, 7); LiveWindow.addActuator("Elevator", "elevatorSolenoid", elevatorSolenoid); rcSolenoid = new DoubleSolenoid(0, 4, 5); LiveWindow.addActuator("RC Picker Upper Sole", "rcSolenoid", rcSolenoid); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
public static void init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS driveTrainLeftFront = new Talon(0); LiveWindow.addActuator("DriveTrain", "Left Front", (Talon) driveTrainLeftFront); driveTrainLeftRear = new Talon(1); LiveWindow.addActuator("DriveTrain", "Left Rear", (Talon) driveTrainLeftRear); driveTrainRightFront = new Talon(2); LiveWindow.addActuator("DriveTrain", "Right Front", (Talon) driveTrainRightFront); driveTrainRightRear = new Talon(3); LiveWindow.addActuator("DriveTrain", "Right Rear", (Talon) driveTrainRightRear); driveTrainHolonomicDrive = new RobotDrive(driveTrainLeftFront, driveTrainLeftRear, driveTrainRightFront, driveTrainRightRear); driveTrainHolonomicDrive.setSafetyEnabled(false); driveTrainHolonomicDrive.setExpiration(0.1); driveTrainHolonomicDrive.setSensitivity(0.5); driveTrainHolonomicDrive.setMaxOutput(1.0); driveTrainHolonomicDrive.setInvertedMotor(RobotDrive.MotorType.kFrontRight, true); driveTrainHolonomicDrive.setInvertedMotor(RobotDrive.MotorType.kRearRight, true); forkliftMotor = new Talon(4); LiveWindow.addActuator("Forklift", "Motor", (Talon) forkliftMotor); forkliftEncoder = new Encoder(0, 1, false, EncodingType.k4X); LiveWindow.addSensor("Forklift", "Encoder", forkliftEncoder); forkliftEncoder.setDistancePerPulse(0.012); forkliftEncoder.setPIDSourceParameter(PIDSourceParameter.kDistance); rollerMotor = new Talon(5); LiveWindow.addActuator("Roller", "Motor", (Talon) rollerMotor); stabilizerBackLeft = new Servo(6); LiveWindow.addActuator("Stabilizer", "Back Left", stabilizerBackLeft); stabilizerBackRight = new Servo(8); LiveWindow.addActuator("Stabilizer", "Back Right", stabilizerBackRight); stabilizerFrontLeft = new Servo(7); LiveWindow.addActuator("Stabilizer", "Front Left", stabilizerFrontLeft); stabilizerFrontRight = new Servo(9); LiveWindow.addActuator("Stabilizer", "Front Right", stabilizerFrontRight); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS driveTrainGyro = new HVAGyro(0); LiveWindow.addSensor("DriveTrain", "Gyro", driveTrainGyro); driveTrainGyro.setSensitivity(0.007); powerDistributionPanel = new PowerDistributionPanel(); }
public WsDriveBase(String name) { super(name); WHEEL_DIAMETER_config = new DoubleConfigFileParameter(this.getClass().getName(), "wheel_diameter", 6); TICKS_PER_ROTATION_config = new DoubleConfigFileParameter(this.getClass().getName(), "ticks_per_rotation", 360.0); THROTTLE_LOW_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "throttle_low_gear_accel_factor", 0.250); HEADING_LOW_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "heading_low_gear_accel_factor", 0.500); THROTTLE_HIGH_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "throttle_high_gear_accel_factor", 0.125); HEADING_HIGH_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "heading_high_gear_accel_factor", 0.250); MAX_HIGH_GEAR_PERCENT_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_high_gear_percent", 0.80); ENCODER_GEAR_RATIO_config = new DoubleConfigFileParameter(this.getClass().getName(), "encoder_gear_ratio", 7.5); DEADBAND_config = new DoubleConfigFileParameter(this.getClass().getName(), "deadband", 0.05); SLOW_TURN_FORWARD_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "slow_turn_forward_speed", 0.16); SLOW_TURN_BACKWARD_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "slow_turn_backward_speed", -0.19); FEED_FORWARD_VELOCITY_CONSTANT_config = new DoubleConfigFileParameter(this.getClass().getName(), "feed_forward_velocity_constant", 1.00); FEED_FORWARD_ACCELERATION_CONSTANT_config = new DoubleConfigFileParameter(this.getClass().getName(), "feed_forward_acceleration_constant", 0.00018); MAX_ACCELERATION_DRIVE_PROFILE_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_acceleration_drive_profile", 600.0); MAX_SPEED_INCHES_LOWGEAR_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_speed_inches_lowgear", 90.0); DECELERATION_VELOCITY_THRESHOLD_config = new DoubleConfigFileParameter(this.getClass().getName(), "deceleration_velocity_threshold", 48.0); DECELERATION_MOTOR_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "deceleration_motor_speed", 0.3); STOPPING_DISTANCE_AT_MAX_SPEED_LOWGEAR_config = new DoubleConfigFileParameter(this.getClass().getName(), "stopping_distance_at_max_speed_lowgear", 10.0); DRIVE_OFFSET_config = new AutonomousDoubleConfigFileParameter("DriveOffset", 1.00); USE_LEFT_SIDE_FOR_OFFSET_config = new AutonomousBooleanConfigFileParameter("UseLeftDriveForOffset", true); QUICK_TURN_CAP_config = new DoubleConfigFileParameter(this.getClass().getName(), "quick_turn_cap", 10.0); QUICK_TURN_ANTITURBO_config = new DoubleConfigFileParameter(this.getClass().getName(), "quick_turn_antiturbo", 10.0); //Anti-Turbo button registerForJoystickButtonNotification(WsJoystickButtonEnum.DRIVER_BUTTON_8); //Turbo button registerForJoystickButtonNotification(WsJoystickButtonEnum.DRIVER_BUTTON_7); //Shifter Button registerForJoystickButtonNotification(WsJoystickButtonEnum.DRIVER_BUTTON_6); //Left/right slow turn buttons registerForJoystickButtonNotification(WsJoystickButtonEnum.DRIVER_BUTTON_1); registerForJoystickButtonNotification(WsJoystickButtonEnum.DRIVER_BUTTON_3); //Initialize the drive base encoders leftDriveEncoder = new Encoder(2, 3, true, EncodingType.k4X); leftDriveEncoder.reset(); leftDriveEncoder.start(); rightDriveEncoder = new Encoder(4, 5, false, EncodingType.k4X); rightDriveEncoder.reset(); rightDriveEncoder.start(); //Initialize the gyro //@TODO: Get the correct port driveHeadingGyro = new Gyro(1); //Initialize the PIDs driveDistancePidInput = new WsDriveBaseDistancePidInput(); driveDistancePidOutput = new WsDriveBaseDistancePidOutput(); driveDistancePid = new WsPidController(driveDistancePidInput, driveDistancePidOutput, "WsDriveBaseDistancePid"); driveHeadingPidInput = new WsDriveBaseHeadingPidInput(); driveHeadingPidOutput = new WsDriveBaseHeadingPidOutput(); driveHeadingPid = new WsPidController(driveHeadingPidInput, driveHeadingPidOutput, "WsDriveBaseHeadingPid"); driveSpeedPidInput = new WsDriveBaseSpeedPidInput(); driveSpeedPidOutput = new WsDriveBaseSpeedPidOutput(); driveSpeedPid = new WsSpeedPidController(driveSpeedPidInput, driveSpeedPidOutput, "WsDriveBaseSpeedPid"); continuousAccelerationFilter = new ContinuousAccelFilter(0, 0, 0); init(); }
public Encoder(int i, int j, boolean t, EncodingType e) { //Do nothing }
public static void init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS driveSubsystemFrontLeftJaguar = new Jaguar(1, 1); LiveWindow.addActuator("Drive Subsystem", "Front Left Jaguar", (Jaguar) driveSubsystemFrontLeftJaguar); driveSubsystemFrontRightJaguar = new Jaguar(1, 2); LiveWindow.addActuator("Drive Subsystem", "Front Right Jaguar", (Jaguar) driveSubsystemFrontRightJaguar); driveSubsystemRearLeftJaguar = new Jaguar(1, 3); LiveWindow.addActuator("Drive Subsystem", "Rear Left Jaguar", (Jaguar) driveSubsystemRearLeftJaguar); driveSubsystemRearRightJaguar = new Jaguar(1, 4); LiveWindow.addActuator("Drive Subsystem", "Rear Right Jaguar", (Jaguar) driveSubsystemRearRightJaguar); driveSubsystemRearRightEncoder = new Encoder(1, 2, 1, 3, false, EncodingType.k2X); LiveWindow.addSensor("Drive Subsystem", "Rear Right Encoder", driveSubsystemRearRightEncoder); driveSubsystemRearRightEncoder.setDistancePerPulse(0.002908882); driveSubsystemRearRightEncoder.setPIDSourceParameter(PIDSourceParameter.kDistance); driveSubsystemRearRightEncoder.start(); compressorSubsystemCompressor = new Compressor(1, 1, 1, 1); sweeperSubsystemSolenoid = new Solenoid(1, 2); LiveWindow.addActuator("Sweeper Subsystem", "Solenoid", sweeperSubsystemSolenoid); sweeperSubsystemJaguar = new Jaguar(1, 5); LiveWindow.addActuator("Sweeper Subsystem", "Jaguar", (Jaguar) sweeperSubsystemJaguar); catcherSubsytemSolenoid = new Solenoid(1, 1); LiveWindow.addActuator("Catcher Subsytem", "Solenoid", catcherSubsytemSolenoid); ledSubsystemPin0 = new DigitalOutput(1, 4); ledSubsystemPin1 = new DigitalOutput(1, 5); ledSubsystemPin2 = new DigitalOutput(1, 6); ledSubsystemPin3 = new DigitalOutput(1, 7); ledSubsystemPin4 = new DigitalOutput(1, 8); ledSubsystemPin5 = new DigitalOutput(1, 9); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS driveSubsystemSteeringGyro = new BetterGyro(1, 1); driveSubsystemSteeringGyroTemp = new TempSensor(2); driveSubsystemAccelerometer = new ADXL345_I2C(1, ADXL345_I2C.DataFormat_Range.k4G); }
public DriveBase(String name) { super(name); WHEEL_DIAMETER_config = new DoubleConfigFileParameter(this.getClass().getName(), "wheel_diameter", 6); TICKS_PER_ROTATION_config = new DoubleConfigFileParameter(this.getClass().getName(), "ticks_per_rotation", 360.0); THROTTLE_LOW_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "throttle_low_gear_accel_factor", 0.250); HEADING_LOW_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "heading_low_gear_accel_factor", 0.500); THROTTLE_HIGH_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "throttle_high_gear_accel_factor", 0.125); HEADING_HIGH_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "heading_high_gear_accel_factor", 0.250); MAX_HIGH_GEAR_PERCENT_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_high_gear_percent", 0.80); ENCODER_GEAR_RATIO_config = new DoubleConfigFileParameter(this.getClass().getName(), "encoder_gear_ratio", 7.5); DEADBAND_config = new DoubleConfigFileParameter(this.getClass().getName(), "deadband", 0.05); SLOW_TURN_FORWARD_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "slow_turn_forward_speed", 0.16); SLOW_TURN_BACKWARD_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "slow_turn_backward_speed", -0.19); FEED_FORWARD_VELOCITY_CONSTANT_config = new DoubleConfigFileParameter(this.getClass().getName(), "feed_forward_velocity_constant", 1.00); FEED_FORWARD_ACCELERATION_CONSTANT_config = new DoubleConfigFileParameter(this.getClass().getName(), "feed_forward_acceleration_constant", 0.00018); MAX_ACCELERATION_DRIVE_PROFILE_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_acceleration_drive_profile", 600.0); MAX_SPEED_INCHES_LOWGEAR_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_speed_inches_lowgear", 90.0); DECELERATION_VELOCITY_THRESHOLD_config = new DoubleConfigFileParameter(this.getClass().getName(), "deceleration_velocity_threshold", 48.0); DECELERATION_MOTOR_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "deceleration_motor_speed", 0.3); STOPPING_DISTANCE_AT_MAX_SPEED_LOWGEAR_config = new DoubleConfigFileParameter(this.getClass().getName(), "stopping_distance_at_max_speed_lowgear", 10.0); DRIVE_OFFSET_config = new AutonomousDoubleConfigFileParameter("DriveOffset", 1.00); USE_LEFT_SIDE_FOR_OFFSET_config = new AutonomousBooleanConfigFileParameter("UseLeftDriveForOffset", true); QUICK_TURN_CAP_config = new DoubleConfigFileParameter(this.getClass().getName(), "quick_turn_cap", 10.0); QUICK_TURN_ANTITURBO_config = new DoubleConfigFileParameter(this.getClass().getName(), "quick_turn_antiturbo", 10.0); //Anti-Turbo button registerForJoystickButtonNotification(JoystickButtonEnum.DRIVER_BUTTON_8); //Turbo button registerForJoystickButtonNotification(JoystickButtonEnum.DRIVER_BUTTON_7); //Shifter Button registerForJoystickButtonNotification(JoystickButtonEnum.DRIVER_BUTTON_6); //Initialize the drive base encoders leftDriveEncoder = new Encoder(2, 3, true, EncodingType.k4X); leftDriveEncoder.reset(); leftDriveEncoder.start(); rightDriveEncoder = new Encoder(4, 5, false, EncodingType.k4X); rightDriveEncoder.reset(); rightDriveEncoder.start(); //Initialize the gyro //@TODO: Get the correct port driveHeadingGyro = new Gyro(1); continuousAccelerationFilter = new ContinuousAccelFilter(0, 0, 0); driveSpeedPidInput = new DriveBaseSpeedPidInput(); driveSpeedPidOutput = new DriveBaseSpeedPidOutput(); driveSpeedPid = new SpeedPidController(driveSpeedPidInput, driveSpeedPidOutput, "DriveBaseSpeedPid"); init(); }
public WsDriveBase(String name) { super(name); WHEEL_DIAMETER_config = new DoubleConfigFileParameter(this.getClass().getName(), "wheel_diameter", 6); TICKS_PER_ROTATION_config = new DoubleConfigFileParameter(this.getClass().getName(), "ticks_per_rotation", 360.0); THROTTLE_LOW_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "throttle_low_gear_accel_factor", 0.250); HEADING_LOW_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "heading_low_gear_accel_factor", 0.500); THROTTLE_HIGH_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "throttle_high_gear_accel_factor", 0.125); HEADING_HIGH_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "heading_high_gear_accel_factor", 0.250); MAX_HIGH_GEAR_PERCENT_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_high_gear_percent", 0.80); ENCODER_GEAR_RATIO_config = new DoubleConfigFileParameter(this.getClass().getName(), "encoder_gear_ratio", 7.5); DEADBAND_config = new DoubleConfigFileParameter(this.getClass().getName(), "deadband", 0.05); SLOW_TURN_FORWARD_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "slow_turn_forward_speed", 0.16); SLOW_TURN_BACKWARD_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "slow_turn_backward_speed", -0.19); FEED_FORWARD_VELOCITY_CONSTANT_config = new DoubleConfigFileParameter(this.getClass().getName(), "feed_forward_velocity_constant", 1.00); FEED_FORWARD_ACCELERATION_CONSTANT_config = new DoubleConfigFileParameter(this.getClass().getName(), "feed_forward_acceleration_constant", 0.00018); MAX_ACCELERATION_DRIVE_PROFILE_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_acceleration_drive_profile", 600.0); MAX_SPEED_INCHES_LOWGEAR_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_speed_inches_lowgear", 90.0); DECELERATION_VELOCITY_THRESHOLD_config = new DoubleConfigFileParameter(this.getClass().getName(), "deceleration_velocity_threshold", 48.0); DECELERATION_MOTOR_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "deceleration_motor_speed", 0.3); STOPPING_DISTANCE_AT_MAX_SPEED_LOWGEAR_config = new DoubleConfigFileParameter(this.getClass().getName(), "stopping_distance_at_max_speed_lowgear", 10.0); DRIVE_OFFSET_config = new AutonomousDoubleConfigFileParameter("DriveOffset", 1.00); USE_LEFT_SIDE_FOR_OFFSET_config = new AutonomousBooleanConfigFileParameter("UseLeftDriveForOffset", true); QUICK_TURN_CAP_config = new DoubleConfigFileParameter(this.getClass().getName(), "quick_turn_cap", 10.0); QUICK_TURN_ANTITURBO_config = new DoubleConfigFileParameter(this.getClass().getName(), "quick_turn_antiturbo", 10.0); //Anti-Turbo button Subject subject = WsInputManager.getInstance().getOiInput(WsInputManager.DRIVER_JOYSTICK).getSubject(WsDriverJoystickButtonEnum.BUTTON8); subject.attach(this); //Turbo button subject = WsInputManager.getInstance().getOiInput(WsInputManager.DRIVER_JOYSTICK).getSubject(WsDriverJoystickButtonEnum.BUTTON7); subject.attach(this); //Shifter Button subject = WsInputManager.getInstance().getOiInput(WsInputManager.DRIVER_JOYSTICK).getSubject(WsDriverJoystickButtonEnum.BUTTON6); subject.attach(this); //Left/right slow turn buttons subject = WsInputManager.getInstance().getOiInput(WsInputManager.DRIVER_JOYSTICK).getSubject(WsDriverJoystickButtonEnum.BUTTON1); subject.attach(this); subject = WsInputManager.getInstance().getOiInput(WsInputManager.DRIVER_JOYSTICK).getSubject(WsDriverJoystickButtonEnum.BUTTON3); subject.attach(this); //Initialize the drive base encoders leftDriveEncoder = new Encoder(2, 3, true, EncodingType.k4X); leftDriveEncoder.reset(); leftDriveEncoder.start(); rightDriveEncoder = new Encoder(4, 5, false, EncodingType.k4X); rightDriveEncoder.reset(); rightDriveEncoder.start(); //Initialize the gyro //@TODO: Get the correct port driveHeadingGyro = new Gyro(1); //Initialize the PIDs driveDistancePidInput = new WsDriveBaseDistancePidInput(); driveDistancePidOutput = new WsDriveBaseDistancePidOutput(); driveDistancePid = new WsPidController(driveDistancePidInput, driveDistancePidOutput, "WsDriveBaseDistancePid"); driveHeadingPidInput = new WsDriveBaseHeadingPidInput(); driveHeadingPidOutput = new WsDriveBaseHeadingPidOutput(); driveHeadingPid = new WsPidController(driveHeadingPidInput, driveHeadingPidOutput, "WsDriveBaseHeadingPid"); driveSpeedPidInput = new WsDriveBaseSpeedPidInput(); driveSpeedPidOutput = new WsDriveBaseSpeedPidOutput(); driveSpeedPid = new WsSpeedPidController(driveSpeedPidInput, driveSpeedPidOutput, "WsDriveBaseSpeedPid"); continuousAccelerationFilter = new ContinuousAccelFilter(0, 0, 0); init(); }
