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); }
public void initDefaultCommand() { setDefaultCommand(new TankDrive()); robotDrive.setInvertedMotor(MotorType.kFrontLeft, true); robotDrive.setInvertedMotor(MotorType.kRearLeft, true); LiveWindow.addActuator("Drive Motors", "fRight", fRight); LiveWindow.addActuator("Drive Motors", "fLeft", fLeft); LiveWindow.addActuator("Drive Motors", "bRight", bRight); LiveWindow.addActuator("Drive Motors", "bLeft", bLeft); }
public Robot() { //make objects for drive train, joystick, and gyro myRobot = new RobotDrive(new CANTalon(leftMotorChannel), new CANTalon(leftRearMotorChannel), new CANTalon(rightMotorChannel), new CANTalon(rightRearMotorChannel)); myRobot.setInvertedMotor(MotorType.kFrontLeft, true); // invert the left side motors myRobot.setInvertedMotor(MotorType.kRearLeft, true); // you may need to change or remove this to match your robot joystick = new Joystick(0); gyro = new AnalogGyro(gyroChannel); }
@Override public void initialize() { m_robot = new RobotDrive(RobotMap.FRONT_LEFT_MOTOR, RobotMap.REAR_LEFT_MOTOR, RobotMap.FRONT_RIGHT_MOTOR, RobotMap.REAR_RIGHT_MOTOR); m_robot.setExpiration(RobotDrive.kDefaultExpirationTime); // set expiration time for motor movement if error occurs m_robot.setSafetyEnabled(true); // enable safety so motors don't burn out m_robot.setInvertedMotor(MotorType.kFrontRight, true); //m_robot.setInvertedMotor(MotorType.kFrontLeft, true); m_robot.setInvertedMotor(MotorType.kRearRight, true); //m_robot.setInvertedMotor(MotorType.kRearLeft, true); }
@Override public void initialize() { rightFront = new Talon(0); rightBack = new Talon(1); leftFront = new Talon(3); leftBack = new Talon(2); drivetrain = new RobotDrive(leftBack, leftFront, rightBack, rightFront); gyro = new Gyro(0); drivetrain.setInvertedMotor(MotorType.kFrontRight, true); drivetrain.setInvertedMotor(MotorType.kRearRight, true); }
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); }
@Override public void initialize() { //PWM liftMotor = new Talon(0); //2); leftMotors = new Talon(1); rightMotors = new Talon(2); //0); armMotors = new Talon(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(4); 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); }
/** The control mode needs to be set in the constructor for the speed mode to work: * http://www.chiefdelphi.com/forums/showthread.php?t=89721 * * Setting the "changeControlMode" after the constructor does not seem to work. * */ public Chassis() { try { System.out.println("Chassis Construtor started"); rightFront = new CANJaguar(RobotMap.JAG_RIGHT_FRONT_MOTOR, CANJaguar.ControlMode.kSpeed); configSpeedControl(rightFront); System.out.println("JAG Right Front works, " + RobotMap.JAG_RIGHT_FRONT_MOTOR); rightRear = new CANJaguar(RobotMap.JAG_RIGHT_REAR_MOTOR, CANJaguar.ControlMode.kSpeed); configSpeedControl(rightRear); System.out.println("JAG Right Back works, " + RobotMap.JAG_RIGHT_REAR_MOTOR); leftFront = new CANJaguar(RobotMap.JAG_LEFT_FRONT_MOTOR, CANJaguar.ControlMode.kSpeed); configSpeedControl(leftFront); System.out.println("JAG Left Front works, " + RobotMap.JAG_LEFT_FRONT_MOTOR); leftRear = new CANJaguar(RobotMap.JAG_LEFT_REAR_MOTOR, CANJaguar.ControlMode.kSpeed); configSpeedControl(leftRear); System.out.println("JAG Left Back works, " + RobotMap.JAG_LEFT_REAR_MOTOR); } catch (CANTimeoutException ex) { System.out.println("Chassis constructor CANTimeoutException: "); ex.printStackTrace(); //System.exit(-1); } drive = new RobotDrive(leftFront, leftRear, rightFront, rightRear); drive.setInvertedMotor(MotorType.kFrontLeft, true);//Left front motor normally opposite drive.setMaxOutput(2);//TODO: Fix the magic numbers // drive = new RobotDrive(leftRear, leftRear, leftRear, leftRear); drive.setSafetyEnabled(false); }
public CANTalon getTalon(MotorType mtype) { return talons[mtype.value]; }
public double[] mecanumSpeeds_Cartesian(double x, double y, double rotation) { double[] wheelSpeeds = new double[4]; double k1, k2, k3, k4, pr, // primary rotation // wheel positions relative to center of mass: x1 = -11.25, y1 = 6.75, x2 = 11.25, y2 = y1, x3 = x1, y3 = -7.25, x4 = x2, y4 = y3, rotationRatio, maxRotVel, rr, multiplier = 1; // split motion into other axes, k1 = (x + y); k2 = (-x + y); k3 = (-x + y); k4 = (x + y); rotationRatio = -y1 / y4; maxRotVel = (x1 - y1 - x2 - y2 + x3 + y3 + x4 - y4); // scaled primary rotation (pr) (pos. is counter clock) pr = (k1 * (x1 - y1) + (k2 * (x2 + y2)) + (k3 * (x3 + y3)) + (k4 * (x4 - y4))) / maxRotVel; // scaled additional required rotation rr = pr + rotation; if (Math.abs((x + y + (rotationRatio * rr))) > 1) { multiplier /= (x + y + (rotationRatio * rr)); } if (Math.abs((-x + y - rr) * multiplier) > 1) { multiplier /= (-x + y - rr); } if (Math.abs((-x + y + rr) * multiplier) > 1) { multiplier /= (-x + y + rr); } if (Math.abs((x + y - (rotationRatio * rr)) * multiplier) > 1) { multiplier /= (x + y - (rotationRatio * rr)); } multiplier = Math.abs(multiplier); wheelSpeeds[MotorType.kFrontLeft.value] = (k1 + rr) * multiplier; wheelSpeeds[MotorType.kFrontRight.value] = (k2 - rr) * multiplier; wheelSpeeds[MotorType.kRearLeft.value] = (k3 + (rotationRatio * rr)) * multiplier; wheelSpeeds[MotorType.kRearRight.value] = (k4 - (rotationRatio * rr)) * multiplier; return wheelSpeeds; }
public void setTalons(double[] values) { talons[MotorType.kFrontLeft.value].set(values[MotorType.kFrontLeft.value]); talons[MotorType.kFrontRight.value].set(values[MotorType.kFrontRight.value]); talons[MotorType.kRearLeft.value].set(values[MotorType.kRearLeft.value]); talons[MotorType.kRearRight.value].set(values[MotorType.kRearRight.value]); }
public void ReverseDrive(){ robotDrive.setInvertedMotor(MotorType.kFrontLeft, true); robotDrive.setInvertedMotor(MotorType.kFrontRight, true); robotDrive.setInvertedMotor(MotorType.kRearLeft, true); robotDrive.setInvertedMotor(MotorType.kRearRight, true); }
public void ForwardDrive(){ robotDrive.setInvertedMotor(MotorType.kFrontLeft, false); robotDrive.setInvertedMotor(MotorType.kFrontRight, false); robotDrive.setInvertedMotor(MotorType.kRearRight, false); robotDrive.setInvertedMotor(MotorType.kRearLeft, false); }
public Drive() { // SPEED CONTROLLER PORTS frontLeftTalon = new Talon(RobotMap.Pwm.FrontLeftDrive); rearLeftTalon = new Talon(RobotMap.Pwm.RearLeftDrive); frontRightTalon = new Talon(RobotMap.Pwm.FrontRightDrive); rearRightTalon = new Talon(RobotMap.Pwm.RearRightDrive); // ULTRASONIC SENSORS leftAngleIR = new AnalogInput(RobotMap.Analog.LeftAngleIR); rightAngleIR = new AnalogInput(RobotMap.Analog.RightAngleIR); leftCenterIR = new AnalogInput(RobotMap.Analog.LeftCenterIR); rightCenterIR = new AnalogInput(RobotMap.Analog.RightCenterIR); // YAWRATE SENSOR gyro = new AnalogGyro(RobotMap.Analog.Gryo); // ENCODER PORTS frontLeftEncoder = new Encoder(RobotMap.Encoders.FrontLeftDriveA, RobotMap.Encoders.FrontLeftDriveB); rearLeftEncoder = new Encoder(RobotMap.Encoders.RearLeftDriveA, RobotMap.Encoders.RearLeftDriveB); frontRightEncoder = new Encoder(RobotMap.Encoders.FrontRightDriveA, RobotMap.Encoders.FrontRightDriveB); rearRightEncoder = new Encoder(RobotMap.Encoders.RearRightDriveA, RobotMap.Encoders.RearRightDriveB); // ENCODER MATH frontLeftEncoder.setDistancePerPulse(DistancePerPulse); frontLeftEncoder.setPIDSourceType(PIDSourceType.kRate); frontRightEncoder.setDistancePerPulse(DistancePerPulse); frontRightEncoder.setPIDSourceType(PIDSourceType.kRate); rearLeftEncoder.setDistancePerPulse(DistancePerPulse); rearLeftEncoder.setPIDSourceType(PIDSourceType.kRate); rearRightEncoder.setDistancePerPulse(DistancePerPulse); rearRightEncoder.setPIDSourceType(PIDSourceType.kRate); // PID SPEED CONTROLLERS frontLeftPID = new PIDSpeedController(frontLeftEncoder, frontLeftTalon, "Drive", "Front Left"); frontRightPID = new PIDSpeedController(frontRightEncoder, frontRightTalon, "Drive", "Front Right"); rearLeftPID = new PIDSpeedController(rearLeftEncoder, rearLeftTalon, "Drive", "Rear Left"); rearRightPID = new PIDSpeedController(rearRightEncoder, rearRightTalon, "Drive", "Rear Right"); // DRIVE DECLARATION robotDrive = new RobotDrive(frontLeftPID, rearLeftPID, frontRightPID, rearRightPID); robotDrive.setExpiration(0.1); // MOTOR INVERSIONS robotDrive.setInvertedMotor(MotorType.kFrontRight, true); robotDrive.setInvertedMotor(MotorType.kRearRight, true); LiveWindow.addActuator("Drive", "Front Left Talon", frontLeftTalon); LiveWindow.addActuator("Drive", "Front Right Talon", frontRightTalon); LiveWindow.addActuator("Drive", "Rear Left Talon", rearLeftTalon); LiveWindow.addActuator("Drive", "Rear Right Talon", rearRightTalon); LiveWindow.addSensor("Drive Encoders", "Front Left Encoder", frontLeftEncoder); LiveWindow.addSensor("Drive Encoders", "Front Right Encoder", frontRightEncoder); LiveWindow.addSensor("Drive Encoders", "Rear Left Encoder", rearLeftEncoder); LiveWindow.addSensor("Drive Encoders", "Rear Right Encoder", rearRightEncoder); }
public Chassis() { rightMotor = new Spark(4); leftMotor = new Spark(RobotMap.LEFT_MOTOR); drive = new RobotDrive(rightMotor, leftMotor); this.drive.setInvertedMotor(MotorType.kFrontLeft, true); this.drive.setInvertedMotor(MotorType.kFrontRight, true); }
