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package org.usfirst.frc.team4272.robot2016;
import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PIDOutput;
import edu.wpi.first.wpilibj.PIDSourceType;
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.
*/
// naming convention: {side_letter}{Thing}{E|M (encoder/motor)}
//public Encoder lDriveE = new Encoder(/*DIO*/2,/*DIO*/3);
//public Encoder rDriveE = new Encoder(/*DIO*/0,/*DIO*/1, true);
private PIDOutput lDriveM = new PIDOutputSplitter(new Talon(/*PWM*/0), new Talon(/*PWM*/1));
private PIDOutput rDriveM = new PIDOutputSplitter(new Talon(/*PWM*/2), new Talon(/*PWM*/3));
private PIDOutput armM = new PIDOutputSplitter(new Talon(/*PWM*/4), new Talon(/*PWM*/5));
private PIDOutput fBallM = new PIDOutputSplitter(new Talon(/*PWM*/6), new Talon(/*PWM*/7));
private PIDOutput bBallM = new PIDOutputSplitter(new Talon(/*PWM*/8), new Talon(/*PWM*/9));
public HwRobot() {
//lDriveE.setPIDSourceType(PIDSourceType.kRate);
//rDriveE.setPIDSourceType(PIDSourceType.kRate);
}
public void run(Control c) {
lDriveM.pidWrite( c.lDrive);
rDriveM.pidWrite(-c.rDrive);
armM.pidWrite(-c.arm);
fBallM.pidWrite(-c.fBall);
bBallM.pidWrite(-c.bBall);
}
}
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