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authorLuke Shumaker <lukeshu@sbcglobal.net>2015-02-16 17:40:02 -0500
committerLuke Shumaker <lukeshu@sbcglobal.net>2015-02-16 17:40:02 -0500
commit74b7077270fdd9d4d7a6eca0bb7011283ae999a8 (patch)
tree1776cc38d7e64bb980df5436655aeaa37dd27b30 /src/org/usfirst/frc/team4272/robot2015/HwRobot.java
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+package org.usfirst.frc.team4272.robot2015;
+
+import org.mckenzierobotics.lib.robot.PIDController;
+import org.mckenzierobotics.lib.robot.PIDOutputSplitter;
+import org.usfirst.frc.team4272.robotlib.DoubleSolenoid;
+import org.usfirst.frc.team4272.robotlib.LimitSwitchedPIDOutput;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.PIDOutput;
+import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.PIDSource.PIDSourceParameter;
+import edu.wpi.first.wpilibj.Relay;
+import edu.wpi.first.wpilibj.Talon;
+
+public class HwRobot {
+ /* Relay == a Spike */
+ /* PCM = Pneumatics Control Module */
+
+ /* All of the numbered inputs are in the classes:
+ * - DIO: 0-9
+ * - Relay: 0-3
+ * - Analog In: 0-3
+ * - PWM: 0-9
+ * - PCM: 0-7 (the PCM is connected via CAN).
+ * - CAN
+ *
+ * For completeness, the roboRIO also has: i2c, RS-232, SPI,
+ * RSL, 2xUSB-A, an accelerometer, and an expansion port.
+ *
+ * And, for communication: USB-B and Ethernet.
+ */
+
+ static class OutDumper implements PIDOutput {
+ private String p;
+ public OutDumper(String prefix) { p = prefix; }
+ public void pidWrite(double v) {
+ System.out.println(p+": "+v);
+ }
+ }
+ static class InDumper implements PIDSource {
+ private String p;
+ public final PIDSource r;
+ public InDumper(String prefix, PIDSource real) { p = prefix; r = real; }
+ public double pidGet() {
+ double v = r.pidGet();
+ System.out.println(p+": "+v);
+ return v;
+ }
+ }
+ public Encoder lDriveE = new Encoder(/*DIO*/2,/*DIO*/3);
+ public PIDOutput lDriveM = new PIDOutputSplitter(new Talon(/*PWM*/0),
+ new Talon(/*PWM*/1));
+ public Encoder rDriveE = new Encoder(/*DIO*/0,/*DIO*/1, true);
+ public PIDOutput rDriveM = new PIDOutputSplitter(new Talon(/*PWM*/2),
+ new Talon(/*PWM*/3));
+ public Encoder winchE = new Encoder(/*DIO*/4,/*DIO*/5);//),
+ public PIDOutput winchM = new LimitSwitchedPIDOutput(
+ new PIDOutputSplitter(new Talon(/*PWM*/4),
+ new Talon(/*PWM*/5)),
+ /*bottom*/new DigitalInput(/*DIO*/6),
+ /*top*/ new DigitalInput(/*DIO*/7),
+ true);
+ public DoubleSolenoid grab = new DoubleSolenoid(/*PCM*/2,/*PCM*/3);
+ public DoubleSolenoid push = new DoubleSolenoid(/*PCM*/0,/*PCM*/1);
+ public Relay lIntake = new Relay(/*Relay*/1, Relay.Direction.kBoth);
+ public Relay rIntake = new Relay(/*Relay*/0, Relay.Direction.kBoth);
+ public Relay lights = new Relay(/*Relay*/2, Relay.Direction.kForward);
+
+ public HwRobot() {
+ lDriveE.setPIDSourceParameter(PIDSourceParameter.kRate);
+ rDriveE.setPIDSourceParameter(PIDSourceParameter.kRate);
+ winchE.setPIDSourceParameter(PIDSourceParameter.kRate);
+ }
+}