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package org.usfirst.frc.team4272.robot2015;
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 static DigitalInput winchT = new DigitalInput(/*DIO*/6);
public static DigitalInput winchB = new DigitalInput(/*DIO*/7);
public PIDOutput winchM = new LimitSwitchedPIDOutput(
new PIDOutputSplitter(new Talon(/*PWM*/4),
new Talon(/*PWM*/5)),
winchT, false, winchB, false);
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 HwRobot() {
lDriveE.setPIDSourceParameter(PIDSourceParameter.kRate);
rDriveE.setPIDSourceParameter(PIDSourceParameter.kRate);
winchE.setPIDSourceParameter(PIDSourceParameter.kRate);
}
}
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