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package org.usfirst.frc.team4272.robot2016;
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.PIDSourceType;
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.
*/
public Encoder lDriveE = new Encoder(/*DIO*/2,/*DIO*/3);
private PIDOutput lDriveM = new PIDOutputSplitter(new Talon(/*PWM*/0),
new Talon(/*PWM*/1));
public Encoder rDriveE = new Encoder(/*DIO*/0,/*DIO*/1, true);
private PIDOutput rDriveM = new PIDOutputSplitter(new Talon(/*PWM*/2),
new Talon(/*PWM*/3));
public Encoder winchE = new Encoder(/*DIO*/4,/*DIO*/5);//),
private static DigitalInput winchT = new DigitalInput(/*DIO*/6);
private static DigitalInput winchB = new DigitalInput(/*DIO*/7);
private PIDOutput winchM = new LimitSwitchedPIDOutput(
new PIDOutputSplitter(new Talon(/*PWM*/4),
new Talon(/*PWM*/5)),
winchT, false, winchB, false);
private DoubleSolenoid grab = new DoubleSolenoid(/*PCM*/2,/*PCM*/3);
private DoubleSolenoid push = new DoubleSolenoid(/*PCM*/0,/*PCM*/1);
private Relay lIntake = new Relay(/*Relay*/1, Relay.Direction.kBoth);
private Relay rIntake = new Relay(/*Relay*/0, Relay.Direction.kBoth);
public HwRobot() {
lDriveE.setPIDSourceType(PIDSourceType.kRate);
rDriveE.setPIDSourceType(PIDSourceType.kRate);
winchE.setPIDSourceType(PIDSourceType.kRate);
}
public void run(Control c) {
lDriveM.pidWrite( c.lDrive);
rDriveM.pidWrite(-c.rDrive);
winchM.pidWrite(-c.winch);
lIntake.set(c.lIntake);
rIntake.set(c.rIntake);
grab.setForward(c.grab);
push.setForward(!c.push);
}
}
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