diff options
| author | Sam Carlberg <sam.carlberg@gmail.com> | 2015-07-27 17:10:16 -0400 |
|---|---|---|
| committer | Sam Carlberg <sam.carlberg@gmail.com> | 2015-10-14 19:04:38 -0400 |
| commit | 057adc6df4b04bfbb2ef651c379a48e551a6d17d (patch) | |
| tree | 2981bc5dc1f4bdbff2144e75355c952169915184 /FakeRobot/src/livewindowfakerobot/LiveWindowFakeRobot.java | |
| parent | c3851a4afe5dc3a0855a8a3fbeabdcb6e5eac723 (diff) | |
Added support to the LiveWindow for CAN speed controllers
Added PID velocity control and fixed PIDSubsystems
Change-Id: I81bb4109cd1ff75b99b049a7ec2abd248ad3f9a1
Diffstat (limited to 'FakeRobot/src/livewindowfakerobot/LiveWindowFakeRobot.java')
| -rw-r--r-- | FakeRobot/src/livewindowfakerobot/LiveWindowFakeRobot.java | 22 |
1 files changed, 18 insertions, 4 deletions
diff --git a/FakeRobot/src/livewindowfakerobot/LiveWindowFakeRobot.java b/FakeRobot/src/livewindowfakerobot/LiveWindowFakeRobot.java index bfb544d..32666bf 100644 --- a/FakeRobot/src/livewindowfakerobot/LiveWindowFakeRobot.java +++ b/FakeRobot/src/livewindowfakerobot/LiveWindowFakeRobot.java @@ -20,13 +20,13 @@ public class LiveWindowFakeRobot { wPotentiometer = createTable(wrist, "Potentiometer", "Analog Input"),
wVictor = createTable(wrist, "Victor", "Speed Controller"),
- elevator = createTable(liveWindow, "Elevator", "LW Subsystem"),
+ elevator = createTable(liveWindow, "Elevator", "PIDSubsystem"),
ePotentiometer = createTable(elevator, "Potentiometer", "Analog Input"),
eVictor = createTable(elevator, "Victor", "Speed Controller"),
testSys = createTable(liveWindow, "TestSystem", "LW Subsystem"),
tComp = createTable(testSys, "Compressor", "Compressor"),
- tGearTooth = createTable(testSys, "Gear Tooth Sensor", "Gear Tooth Sensor"),
+ tGearTooth = createTable(testSys, "Gear Tooth Sensor", "Gear Tooth"),
tVictor = createTable(testSys, "Victor", "Speed Controller"),
tPotentiometer = createTable(testSys, "Potentiometer", "Analog Input"),
tRelay = createTable(testSys, "Spike", "Relay"),
@@ -38,18 +38,32 @@ public class LiveWindowFakeRobot { tEncoder1 = createTable(testSys, "Encoder 1", "Encoder"),
tUltra = createTable(testSys, "Ultrasonic", "Ultrasonic"),
tCompass = createTable(testSys, "Compass", "Compass"),
- tSwitch = createTable(testSys, "Limit Switch", "Digital Input");
+ tSwitch = createTable(testSys, "Limit Switch", "Digital Input"),
+
+ canSystem = createTable(liveWindow, "CAN Subsystem", "LW Subsystem"),
+ canJag = createTable(canSystem, "CAN Jaguar", "CANSpeedController"),
+ canTalon = createTable(canSystem, "CAN Talon", "CANSpeedController");
public static void main(String[] args) {
System.out.println();
- STATUS.putBoolean("LW Enabled", false);
+ STATUS.putBoolean("LW Enabled", true);
STATUS.putString("Robot", "Testing");
wPotentiometer.putNumber("Value", 2.6);
ePotentiometer.putNumber("Value", -11.6872);
tSwitch.putString("Value", "Off");
+ elevator.putNumber("p", 0.5);
+ elevator.putNumber("i", 0.5);
+ elevator.putNumber("d", 0.5);
+ elevator.putNumber("f", 0.5);
+ elevator.putNumber("setpoint", 0.5);
+ elevator.putBoolean("enabled", false);
+
+ canJag.putString("Type", "CANJaguar");
+ canTalon.putString("Type", "CANTalon");
+
(new Timer()).schedule(
new TimerTask(){
|