public DrivetrainSubsystem(){ leftMotor = RobotMap.leftDriveMotor.getController(); rightMotor = RobotMap.rightDriveMotor.getController(); drive = new RobotDrive(leftMotor, rightMotor); accelerometer = new IntegratedBuiltinAccelerometer(Range.k2G); leftEncoder = new Encoder(RobotMap.leftEncoder[0], RobotMap.leftEncoder[1]); rightEncoder = new Encoder(RobotMap.rightEncoder[0], RobotMap.rightEncoder[1]); leftEncoder.setReverseDirection(true); rightEncoder.setReverseDirection(true); driveGyro = new AnalogGyro(RobotMap.driveGyroPort); driveGyro.reset(); driveGyro.setSensitivity(0.007); }
/** * This function is run when the robot is first started up and should be * used for any initialization code. */ public void robotInit() { // PWM's mTestMotor1 = new Talon(0); mTestMotor2 = new Jaguar(1); mServo = new Servo(2); // Digital IO mDigitalOutput = new DigitalOutput(0); mRightEncoder = new Encoder(4, 5); mLeftEncoder = new Encoder(1, 2); mUltrasonic = new Ultrasonic(7, 6); // Analog IO mAnalogGryo = new AnalogGyro(0); mPotentiometer = new AnalogPotentiometer(1); // Solenoid mSolenoid = new Solenoid(0); // Relay mRelay = new Relay(0); // Joysticks mJoystick1 = new Joystick(0); mJoystick2 = new XboxController(1); // SPI mSpiGryo = new ADXRS450_Gyro(); // Utilities mTimer = new Timer(); mPDP = new PowerDistributionPanel(); Preferences.getInstance().putDouble("Motor One Speed", .5); }
/** * Code for driving robot */ public Drive() { leftDrive = new Talon(RobotMap.LEFT_DRIVE_TALON); rightDrive = new Talon(RobotMap.RIGHT_DRIVE_TALON); PTOMotor = new Servo(RobotMap.DRIVE_PTO); gyro = new AnalogGyro(0); }
public Robot() { //make objects for drive train, joystick, and gyro myRobot = new RobotDrive(new CANTalon(leftMotorChannel), new CANTalon(leftRearMotorChannel), new CANTalon(rightMotorChannel), new CANTalon(rightRearMotorChannel)); myRobot.setInvertedMotor(MotorType.kFrontLeft, true); // invert the left side motors myRobot.setInvertedMotor(MotorType.kRearLeft, true); // you may need to change or remove this to match your robot joystick = new Joystick(0); gyro = new AnalogGyro(gyroChannel); }
public Robot() { //make objects for the drive train, gyro, and joystick myRobot = new RobotDrive(new CANTalon(leftMotorChannel), new CANTalon( leftRearMotorChannel), new CANTalon(rightMotorChannel), new CANTalon(rightRearMotorChannel)); gyro = new AnalogGyro(gyroChannel); joystick = new Joystick(joystickChannel); }
public static void initialize() { if (!initialized) { myGyro = new AnalogGyro(GYRO_CHANNEL); myGyro.setSensitivity(GYRO_SENSITIVITY); myGyro.calibrate(); initialized = true; } }
public ShooterSubsystem(){ liftController=RobotMap.liftMotor.getController(); wheelController=RobotMap.wheelMotor.getController(); liftGyro = new AnalogGyro(RobotMap.liftGyroPort); liftGyro.reset(); liftGyro.setSensitivity(0.007); limitSwitch = new DigitalInput(RobotMap.limitSwitch); }
public DriveTrain() { super(); front_left_motor = new Talon(1); back_left_motor = new Talon(2); front_right_motor = new Talon(3); back_right_motor = new Talon(4); drive = new RobotDrive(front_left_motor, back_left_motor, front_right_motor, back_right_motor); left_encoder = new Encoder(1, 2); right_encoder = new Encoder(3, 4); // Encoders may measure differently in the real world and in // simulation. In this example the robot moves 0.042 barleycorns // per tick in the real world, but the simulated encoders // simulate 360 tick encoders. This if statement allows for the // real robot to handle this difference in devices. if (Robot.isReal()) { left_encoder.setDistancePerPulse(0.042); right_encoder.setDistancePerPulse(0.042); } else { // Circumference in ft = 4in/12(in/ft)*PI left_encoder.setDistancePerPulse((4.0/12.0*Math.PI) / 360.0); right_encoder.setDistancePerPulse((4.0/12.0*Math.PI) / 360.0); } rangefinder = new AnalogInput(6); gyro = new AnalogGyro(1); // Let's show everything on the LiveWindow LiveWindow.addActuator("Drive Train", "Front_Left Motor", (Talon) front_left_motor); LiveWindow.addActuator("Drive Train", "Back Left Motor", (Talon) back_left_motor); LiveWindow.addActuator("Drive Train", "Front Right Motor", (Talon) front_right_motor); LiveWindow.addActuator("Drive Train", "Back Right Motor", (Talon) back_right_motor); LiveWindow.addSensor("Drive Train", "Left Encoder", left_encoder); LiveWindow.addSensor("Drive Train", "Right Encoder", right_encoder); LiveWindow.addSensor("Drive Train", "Rangefinder", rangefinder); LiveWindow.addSensor("Drive Train", "Gyro", gyro); }
public static void init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS motorsVictor0 = new VictorSP(0); LiveWindow.addActuator("Motors", "Victor0", (VictorSP) motorsVictor0); motorsVictor1 = new VictorSP(1); LiveWindow.addActuator("Motors", "Victor1", (VictorSP) motorsVictor1); LiveWindow.addActuator("Motors", "TalonSRX", (CANTalon) motorsCANTalon); electricalPowerDistributionPanel1 = new PowerDistributionPanel(0); LiveWindow.addSensor("Electrical", "PowerDistributionPanel 1", electricalPowerDistributionPanel1); sensorsAnalogGyro1 = new AnalogGyro(0); LiveWindow.addSensor("Sensors", "AnalogGyro 1", sensorsAnalogGyro1); sensorsAnalogGyro1.setSensitivity(0.007); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
public Drive() { leftDrive = new TalonSRX(RobotMap.DriveLeftMotor); rightDrive = new TalonSRX(RobotMap.DriveRightMotor); gyro = new AnalogGyro(RobotMap.DriveGyro); }
public Drive() { // SPEED CONTROLLER PORTS frontLeftTalon = new Talon(RobotMap.Pwm.FrontLeftDrive); rearLeftTalon = new Talon(RobotMap.Pwm.RearLeftDrive); frontRightTalon = new Talon(RobotMap.Pwm.FrontRightDrive); rearRightTalon = new Talon(RobotMap.Pwm.RearRightDrive); // ULTRASONIC SENSORS leftAngleIR = new AnalogInput(RobotMap.Analog.LeftAngleIR); rightAngleIR = new AnalogInput(RobotMap.Analog.RightAngleIR); leftCenterIR = new AnalogInput(RobotMap.Analog.LeftCenterIR); rightCenterIR = new AnalogInput(RobotMap.Analog.RightCenterIR); // YAWRATE SENSOR gyro = new AnalogGyro(RobotMap.Analog.Gryo); // ENCODER PORTS frontLeftEncoder = new Encoder(RobotMap.Encoders.FrontLeftDriveA, RobotMap.Encoders.FrontLeftDriveB); rearLeftEncoder = new Encoder(RobotMap.Encoders.RearLeftDriveA, RobotMap.Encoders.RearLeftDriveB); frontRightEncoder = new Encoder(RobotMap.Encoders.FrontRightDriveA, RobotMap.Encoders.FrontRightDriveB); rearRightEncoder = new Encoder(RobotMap.Encoders.RearRightDriveA, RobotMap.Encoders.RearRightDriveB); // ENCODER MATH frontLeftEncoder.setDistancePerPulse(DistancePerPulse); frontLeftEncoder.setPIDSourceType(PIDSourceType.kRate); frontRightEncoder.setDistancePerPulse(DistancePerPulse); frontRightEncoder.setPIDSourceType(PIDSourceType.kRate); rearLeftEncoder.setDistancePerPulse(DistancePerPulse); rearLeftEncoder.setPIDSourceType(PIDSourceType.kRate); rearRightEncoder.setDistancePerPulse(DistancePerPulse); rearRightEncoder.setPIDSourceType(PIDSourceType.kRate); // PID SPEED CONTROLLERS frontLeftPID = new PIDSpeedController(frontLeftEncoder, frontLeftTalon, "Drive", "Front Left"); frontRightPID = new PIDSpeedController(frontRightEncoder, frontRightTalon, "Drive", "Front Right"); rearLeftPID = new PIDSpeedController(rearLeftEncoder, rearLeftTalon, "Drive", "Rear Left"); rearRightPID = new PIDSpeedController(rearRightEncoder, rearRightTalon, "Drive", "Rear Right"); // DRIVE DECLARATION robotDrive = new RobotDrive(frontLeftPID, rearLeftPID, frontRightPID, rearRightPID); robotDrive.setExpiration(0.1); // MOTOR INVERSIONS robotDrive.setInvertedMotor(MotorType.kFrontRight, true); robotDrive.setInvertedMotor(MotorType.kRearRight, true); LiveWindow.addActuator("Drive", "Front Left Talon", frontLeftTalon); LiveWindow.addActuator("Drive", "Front Right Talon", frontRightTalon); LiveWindow.addActuator("Drive", "Rear Left Talon", rearLeftTalon); LiveWindow.addActuator("Drive", "Rear Right Talon", rearRightTalon); LiveWindow.addSensor("Drive Encoders", "Front Left Encoder", frontLeftEncoder); LiveWindow.addSensor("Drive Encoders", "Front Right Encoder", frontRightEncoder); LiveWindow.addSensor("Drive Encoders", "Rear Left Encoder", rearLeftEncoder); LiveWindow.addSensor("Drive Encoders", "Rear Right Encoder", rearRightEncoder); }
@Override public void init(Environment environment) { gyro = new AnalogGyro(RobotMap.GYRO); gyro.initGyro(); }
public TurtleAnalogGyro(int port) { g = new AnalogGyro(port); }
public TurtleAnalogGyro(int port) { gyro = new AnalogGyro(port); }
/** * Constructs the module with the gyro object underneath this class to call * methods from. * * @throws NullPointerException when gyro is null * @param gyro the composing instance which will return values */ protected GyroscopeModule(AnalogGyro gyro) { if (gyro == null) { throw new NullPointerException("Null gyro given"); } this.gyro = gyro; }
/** * Create a {@link Gyroscope} that uses a WPILib {@link AnalogGyro} on the specified channel. * * @param channel the channel the gyroscope is plugged into * @return the gyroscope; never null */ public static Gyroscope gyroscope(int channel) { return gyroscope(new AnalogGyro(channel)); }
/** * Constructs the module with the port on the analog sidecar. * * @param channel port on sidecar */ public GyroscopeModule(int channel) { this(new AnalogGyro(channel)); }
/** * Constructs the module with the channel of the gyroscope. * * @param channel analog channel to find gyro on */ public GyroscopeModule(AnalogInput channel) { this(new AnalogGyro(channel)); }
