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package org.usfirst.frc.team4272.robot2016;
import edu.wpi.first.wpilibj.networktables.NetworkTable;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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.PowerDistributionPanel;
import edu.wpi.first.wpilibj.Talon;
import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter;
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.
*/
// 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);
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 */
public HwRobot() {
armE.setPIDSourceType(PIDSourceType.kDisplacement);
lDriveE.setPIDSourceType(PIDSourceType.kRate);
rDriveE.setPIDSourceType(PIDSourceType.kRate);
PDP.initTable(NetworkTable.getTable("PDP"));
}
public void run(Control c) {
lDriveM1.pidWrite( c.lDrive1);
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);
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());
PDP.updateTable();
SmartDashboard.putData("PDP", PDP);
}
}
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