From 057adc6df4b04bfbb2ef651c379a48e551a6d17d Mon Sep 17 00:00:00 2001 From: Sam Carlberg Date: Mon, 27 Jul 2015 17:10:16 -0400 Subject: Added support to the LiveWindow for CAN speed controllers Added PID velocity control and fixed PIDSubsystems Change-Id: I81bb4109cd1ff75b99b049a7ec2abd248ad3f9a1 --- .../livewindowfakerobot/LiveWindowFakeRobot.java | 22 ++++++++++++++++++---- 1 file changed, 18 insertions(+), 4 deletions(-) (limited to 'FakeRobot/src/livewindowfakerobot/LiveWindowFakeRobot.java') 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(){ -- cgit v1.2.3-54-g00ecf