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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 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 */
/* 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
rDriveM = new Talon(/*PWM*/0), /* PDP 2, 3 */
lDriveM = new Talon(/*PWM*/1), /* PDP 12, 13 */
climber = new Talon(/*PWM*/3), /* PDP 4 */
camRotate = new PIDServo(8),
camTilt = new PIDServo(9);
public final Encoder lDriveE = new Encoder(/*DIO*/0,/*DIO*/2, /*DIO*/1, /*reverse*/false);
public final Encoder rDriveE = new Encoder(/*DIO*/3,/*DIO*/5, /*DIO*/4, /*reverse*/true);
public final PowerDistributionPanel PDP = new PowerDistributionPanel(); /* via CAN */
public Solenoid PCM1 = new Solenoid(/*PCM*/ 4);
public Solenoid PCM2 = new Solenoid(5);
public Solenoid PCM3 = new Solenoid(6);
public Solenoid PCM4 = new Solenoid(7);
public HwRobot() {
lDriveE.setDistancePerPulse(10.0/*feet*/ / 1865.75/*pulses*/);
rDriveE.setDistancePerPulse(10.0/*feet*/ / 1865.75/*pulses*/);
lDriveE.setPIDSourceType(PIDSourceType.kRate);
rDriveE.setPIDSourceType(PIDSourceType.kRate);
//PDP.initTable(NetworkTable.getTable("PDP"));
}
public void run(Control c) {
lDriveM.pidWrite(c.lDrive);
rDriveM.pidWrite(c.rDrive);
climber.pidWrite(c.climber);
camRotate.pidWrite(c.camRotate);
camTilt.pidWrite(c.camTilt);
PCM1.set(c.highGear);
PCM2.set(!c.highGear);
PCM3.set(c.PCM3);
PCM4.set(c.PCM4);
SmartDashboard.putNumber("lDriveE distance", lDriveE.getDistance());
SmartDashboard.putNumber("lDriveE rate", lDriveE.getRate());
SmartDashboard.putNumber("rDriveE distance", rDriveE.getDistance());
SmartDashboard.putNumber("rDriveE rate", rDriveE.getRate());
//PDP.updateTable();
//SmartDashboard.putData("PDP", PDP);
}
}
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