BuiltinDefaultCode() {
m_robotDrive = new RobotDrive (m_lDrive, m_rDrive);
m_driver = new Joystick (1);
m_operator = new Joystick (2);
m_rDrive = new Victor (1);
m_lDrive = new Victor (2);
m_climber = new Victor (3);
m_plate1 = new Victor (8);
m_plate2 = new Victor (10);
m_launcher1 = new Victor (4);
m_launcher2 = new Victor (5);
m_launcher3 = new Victor (6);
m_feeder = new Victor (7);
m_ratchet = new Relay (1);
m_left = new Encoder (1,2,true);
m_left->SetDistancePerPulse(1);
m_left->SetMaxPeriod(1.0);
m_left->Start();
m_right = new Encoder (3,4,false);
m_right->SetDistancePerPulse(1);
m_right->SetMaxPeriod(1.0);
m_right->Start();
m_plateh = new AnalogChannel (1);
m_climberp = new AnalogChannel (2);
m_dsLCD = DriverStationLCD::GetInstance();
}
void RobotInit ()
{
lw = LiveWindow::GetInstance();
CameraServer::GetInstance()->SetQuality(50);
//the camera name (ex "cam0") can be found through the roborio web interface
CameraServer::GetInstance()->StartAutomaticCapture("cam1");
AutonState = 0;
ballarm.Reset();
ballarm.SetMaxPeriod(.01);
ballarm.SetMinRate(.02);
ballarm.SetDistancePerPulse(.9);
gyroOne.Calibrate();
UpdateActuatorCmnds(0,0,false,false,false,false,false,false,false,0,0,0,0,0);
UpdateSmartDashboad(false,
false,
false,
false,
false,
0,
0,
0,
0,
0,
0,
0,
0,
0);
}
BuiltinDefaultCode() {
//Initialze drive controllers
m_rDrive1 = new Talon (1);
m_rDrive2 = new Talon (2);
m_lDrive1 = new Talon (3);
m_lDrive2 = new Talon (4);
//Initialize ramrod motor
m_ramMotor = new Talon (5);
//Initialize Arm
m_arm = new ArmWrapper (7, 6, 5, 6, 10);
m_arm->StartPID(0.0, 0.0, 0.0);
//initialize bGrabber motor
m_roller = new Talon (8);
//Initialize ramrod servo
m_ramServo = new Servo (9);
//Initialize drive wrappers
m_rDrive = new DriveWrapper (m_rDrive1, m_rDrive2);
m_lDrive = new DriveWrapper (m_lDrive1, m_lDrive2);
//Initialize robot drive
m_robotDrive = new RobotDrive (m_lDrive, m_rDrive);
//Initialize ramrod encoder
m_ramEncoder = new Encoder (7,8,false);
m_ramEncoder->SetDistancePerPulse(1);
m_ramEncoder->SetMaxPeriod(1.0);
m_ramEncoder->Start();
//Initialize Compressor
m_compressor = new Compressor(9, 1);
//shifters
m_shifters = new Solenoid(1);
//Initialize bGrabber Solenoids
m_bArm = new Solenoid (2);
m_catch = new Solenoid (3);
//Initialize joysticks
m_driver = new JoystickWrapper (1);
m_operator = new JoystickWrapper (2);
//Grab driver station object
m_dsLCD = DriverStationLCD::GetInstance();
}
RobotDemo(void):
leftDriveMotor(LEFT_DRIVE_PWM),
rightDriveMotor(RIGHT_DRIVE_PWM),
myRobot(&leftDriveMotor, &rightDriveMotor), // these must be initialized in the same order
stick(1), // as they are declared above.
stick2(2),
gamepad(3),
collectorMotor(PICKUP_PWM),
indexerMotor(INDEX_PWM),
shooterMotor(SHOOTER_PWM),
armMotor (ARM_PWM),
leftDriveEncoder(LEFT_DRIVE_ENC_A, LEFT_DRIVE_ENC_B),
shifter(SHIFTER_A,SHIFTER_B),
greenClaw(CLAW_1_LOCKED, CLAW_1_UNLOCKED),
yellowClaw(CLAW_2_LOCKED, CLAW_2_UNLOCKED),
potentiometer(ARM_ROTATION_POT),
indexSwitch(INDEXER_SW),
greenClawLockSwitch(CLAW_1_LOCK_SENSOR),
yellowClawLockSwitch(CLAW_2_LOCK_SENSOR),
compressor(COMPRESSOR_PRESSURE_SW, COMPRESSOR_SPIKE),
jogTimer(),
shooterTimer()
{
m_collectorMotorRunning = false;
m_shooterMotorRunning = false;
m_jogTimerRunning = false;
m_shiftCount = MAX_SHIFTS;
dsLCD = DriverStationLCD::GetInstance();
dsLCD->Clear();
dsLCD->PrintfLine(DriverStationLCD::kUser_Line1, "2013 " NAME);
dsLCD->PrintfLine(DriverStationLCD::kUser_Line2, __DATE__ " "__TIME__);
dsLCD->UpdateLCD();
myRobot.SetExpiration(0.1);
shifter.Set(DoubleSolenoid::kReverse);
leftDriveEncoder.SetDistancePerPulse(DRIVE_ENCODER_DISTANCE_PER_PULSE);
leftDriveEncoder.SetMaxPeriod(1.0);
leftDriveEncoder.SetReverseDirection(true); // change to true if necessary
leftDriveEncoder.Start();
}
void TeleopInit()
{
// Initialize the encoder
sampleEncoder = new Encoder(0, 1, false, Encoder::EncodingType::k4X);
sampleEncoder->SetMaxPeriod(.1);
sampleEncoder->SetMinRate(10);
sampleEncoder->SetDistancePerPulse(5);
sampleEncoder->SetReverseDirection(true);
sampleEncoder->SetSamplesToAverage(7);
// Initialize the joystick
joystick = new Joystick(0);
// Initialize the motor
motor = new Victor(9);
// Initialize the gear tooth counter
toothTrigger = new AnalogTrigger(3);
toothTrigger->SetLimitsRaw(250, 3600);
gearToothCounter = new Counter(toothTrigger);
// gearToothCounter->SetUpDownCounterMode();
}
/**
* Sets the maximum period for stopped detection.
* Sets the value that represents the maximum period of the Encoder before it will assume
* that the attached device is stopped. This timeout allows users to determine if the wheels or
* other shaft has stopped rotating.
* This method compensates for the decoding type.
*
* @deprecated Use SetEncoderMinRate() in favor of this method. This takes unscaled periods and SetMinEncoderRate() scales using value from SetEncoderDistancePerPulse().
*
* @param maxPeriod The maximum time between rising and falling edges before the FPGA will
* report the device stopped. This is expressed in seconds.
*
* @param aSlot The digital module slot for the A Channel on the encoder
* @param aChannel The channel on the digital module for the A Channel of the encoder
* @param bSlot The digital module slot for the B Channel on the encoder
* @param bChannel The channel on the digital module for the B Channel of the encoder
*/
void SetMaxEncoderPeriod(UINT32 aSlot, UINT32 aChannel, UINT32 bSlot, UINT32 bChannel, double maxPeriod)
{
Encoder *encoder = AllocateEncoder(aSlot, aChannel, bSlot, bChannel);
if (encoder != NULL)
encoder->SetMaxPeriod(maxPeriod);
}