diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robot2016/HwRobot.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/HwRobot.java | 67 |
1 files changed, 42 insertions, 25 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java index e61d87f..d0108b7 100644 --- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java +++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java @@ -9,8 +9,11 @@ import edu.wpi.first.wpilibj.PIDOutput; import edu.wpi.first.wpilibj.PIDSourceType; import edu.wpi.first.wpilibj.PowerDistributionPanel; import edu.wpi.first.wpilibj.Talon; +import edu.wpi.first.wpilibj.Jaguar; +import edu.wpi.first.wpilibj.Solenoid; import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter; +import org.usfirst.frc.team4272.robotlib.PIDServo; public class HwRobot { /* Relay == a Spike */ @@ -33,27 +36,34 @@ public class HwRobot { // naming convention: {side_letter}{Thing}{E|M (encoder/motor)} private final PIDOutput - rDriveM1 = new Talon(/*PWM*/2), /* PDP 2, 3 */ - rDriveM2 = new Talon(/*PWM*/4), /* PDP 4 */ - lDriveM1 = new Talon(/*PWM*/1), /* PDP 12, 13 */ - lDriveM2 = new Talon(/*PWM*/0), /* PDP 11 */ - armM = new Talon(/*PWM*/8), /* PDP 15 */ - rfBallM = new Talon(/*PWM*/3), /* PDP 0 */ - lfBallM = new Talon(/*PWM*/9), /* PDP 14 */ - fBallM = new PIDOutputSplitter(rfBallM, lfBallM), - bBallM = new Talon(/*PWM*/6); /* PDP 10, 5 */ - - public final Encoder armE = new Encoder(/*DIO*/0, /*DIO*/1, /*DIO*/2, true); + rDriveM1 = new Jaguar(/*PWM*/0), /* PDP 2, 3 */ + rDriveM2 = new Jaguar(/*PWM*/1), /* PDP 4 */ + lDriveM1 = new Jaguar(/*PWM*/2), /* PDP 12, 13 */ + lDriveM2 = new Jaguar(3),/*PWM*/ /* PDP 11 */ + //armM = new Talon(/*PWM*/8), /* PDP 15 */ + //rfBallM = new Talon(/*PWM*/4), /* PDP 0 */ + //lfBallM = new Talon(/*PWM*/9), /* PDP 14 */ + //fBallM = new PIDOutputSplitter(rfBallM, lfBallM), + //bBallM = new Talon(/*PWM*/6),/* PDP 10, 5 */ + camRotate = new PIDServo(8), + camTilt = new PIDServo(9); + + + + //public final Encoder driveE = new Encoder(/*DIO*/0, /*DIO*/1, true); + public final Encoder driveE = new Encoder(2,3,true); public final DigitalInput armL = new DigitalInput(/*DIO*/3); public final DigitalInput ballL = new DigitalInput(/*DIO*/4); public final Encoder rDriveE = new Encoder(/*DIO*/5,/*DIO*/6); public final Encoder lDriveE = new Encoder(/*DIO*/7,/*DIO*/8, true); public final PowerDistributionPanel PDP = new PowerDistributionPanel(); /* via CAN */ + private final Solenoid PCM = new Solenoid(/*PCM*/ 0); + public HwRobot() { - armE.setPIDSourceType(PIDSourceType.kDisplacement); - lDriveE.setPIDSourceType(PIDSourceType.kRate); - rDriveE.setPIDSourceType(PIDSourceType.kRate); + driveE.setPIDSourceType(PIDSourceType.kDisplacement); +// lDriveE.setPIDSourceType(PIDSourceType.kRate); +// rDriveE.setPIDSourceType(PIDSourceType.kRate); PDP.initTable(NetworkTable.getTable("PDP")); } @@ -62,23 +72,30 @@ public class HwRobot { lDriveM2.pidWrite( c.lDrive2); rDriveM1.pidWrite(-c.rDrive1); rDriveM2.pidWrite(-c.rDrive2); - armM.pidWrite(c.arm * 0.5); - fBallM.pidWrite(-c.fBall); - bBallM.pidWrite(-c.bBall); - + //armM.pidWrite(c.arm * 0.5); + //fBallM.pidWrite(-c.fBall); + //bBallM.pidWrite(-c.bBall); + camRotate.pidWrite(c.camRotate); + camTilt.pidWrite(c.camTilt); + PCM.set(c.PCM); SmartDashboard.putNumber("fBall", c.fBall); SmartDashboard.putNumber("bBall", c.bBall); SmartDashboard.putNumber("armM", c.arm); - SmartDashboard.putNumber("armE", armE.pidGet()); - SmartDashboard.putNumber("lDriveE distance", lDriveE.getDistance()); - SmartDashboard.putNumber("lDriveE rate", lDriveE.getRate()); - SmartDashboard.putNumber("rDriveE distance", rDriveE.getDistance()); - SmartDashboard.putNumber("rDriveE rate", rDriveE.getRate()); - SmartDashboard.putBoolean("ballL", ballL.get()); - SmartDashboard.putBoolean("armL", armL.get()); + System.out.println("driveEncoder: " + driveE.getRaw()); + System.out.println("driveEncoder: " + driveE.getRate()); + System.out.println("driveEncoder: " + driveE.pidGet()); + + SmartDashboard.putNumber("armE", driveE.getRaw()); +// SmartDashboard.putNumber("lDriveE distance", lDriveE.getDistance()); +// SmartDashboard.putNumber("lDriveE rate", lDriveE.getRate()); +// SmartDashboard.putNumber("rDriveE distance", rDriveE.getDistance()); +// SmartDashboard.putNumber("rDriveE rate", rDriveE.getRate()); +// SmartDashboard.putBoolean("ballL", ballL.get()); +// SmartDashboard.putBoolean("armL", armL.get()); PDP.updateTable(); SmartDashboard.putData("PDP", PDP); } + } |