Esempio n. 1
0
	Robot()
	{
#if BUILD_VERSION == COMPETITION
		liftMotor = new CANTalon(CHAN_LIFT_MOTOR);
		liftMotor2 = new CANTalon(CHAN_LIFT_MOTOR2);
#else
		liftMotor = new CANJaguar(CHAN_LIFT_MOTOR);
		liftMotor2 = new CANJaguar(CHAN_LIFT_MOTOR2);
#endif
		liftEncoder = new Encoder(CHAN_LIFT_ENCODER_A, CHAN_LIFT_ENCODER_B, false, Encoder::EncodingType::k4X);
		liftEncoder->SetDistancePerPulse(LIFT_ENCODER_DIST_PER_PULSE);
		liftEncoder->SetPIDSourceParameter(liftEncoder->kDistance);
#if BUILD_VERSION == COMPETITION
		liftEncoder->SetReverseDirection(true);
#endif
		controlLift = new PIDController(PID_P, PID_I, PID_D, liftEncoder, liftMotor);
		controlLift->SetContinuous(true); //treat input to controller as continuous; true by default
		controlLift->SetOutputRange(PID_OUT_MIN, PID_OUT_MAX);
		controlLift->Disable(); //do not enable until in holding position mode
		controlLift2 = new PIDController(PID_P, PID_I, PID_D, liftEncoder, liftMotor2);
		controlLift2->SetContinuous(true); //treat input to controller as continuous; true by default
		controlLift2->SetOutputRange(PID_OUT_MIN, PID_OUT_MAX);
		controlLift2->Disable(); //do not enable until in holding position mode
		liftLimitSwitchMin = new DigitalInput(CHAN_LIFT_LOW_LS);
		liftLimitSwitchMax = new DigitalInput(CHAN_LIFT_HIGH_LS);
		joystick = new Joystick(CHAN_JS);
	}
Esempio n. 2
0
	FECLift()
	{
		theTimer = new Timer();
		//initialized the jag
		theJag = new Jaguar(JAGPORT);
		fakeEncoder = new Encoder(6,6,6,7,fakeEncoder->k4X);
		theEncoder = new Encoder(ENCODERSLOTA, ENCODERCHANNELA, ENCODERSLOTB, ENCODERCHANNELB, false, theEncoder->k4X);
#if RATE
		theEncoder->SetPIDSourceParameter(Encoder::kRate);
#else
		theEncoder->SetPIDSourceParameter(Encoder::kDistance);
#endif
		
		theEncoder->SetDistancePerPulse(DISTANCE_PER_PULSE);
		driverStation = DriverStation::GetInstance();
		theLift = new PIDController(P,I,D,theEncoder,theJag);
		GetWatchdog().SetExpiration(.3);
		
		decel = false;
		done = false;
		writing = true;
		closed = false;
		initFile();
	}