// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION void RobotMap::init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow* lw = LiveWindow::GetInstance(); drivetrainLeftside = new Victor(1, 1); lw->AddActuator("Drivetrain", "Left side", (Victor*) drivetrainLeftside); drivetrainRightside = new Victor(1, 2); lw->AddActuator("Drivetrain", "Right side", (Victor*) drivetrainRightside); drivetrainRobotDrive = new RobotDrive(drivetrainLeftside, drivetrainRightside); drivetrainRobotDrive->SetSafetyEnabled(false); drivetrainRobotDrive->SetExpiration(0.1); drivetrainRobotDrive->SetSensitivity(0.5); drivetrainRobotDrive->SetMaxOutput(1.0); drivetrainDrivetrainGyro = new Gyro(1, 1); lw->AddSensor("Drivetrain", "Drivetrain Gyro", drivetrainDrivetrainGyro); drivetrainDrivetrainGyro->SetSensitivity(1.25); drivetrainOpticalsensor = new DigitalInput(1, 1); lw->AddSensor("Drivetrain", "Optical sensor", drivetrainOpticalsensor); drivetrainRangeFinder = new AnalogChannel(1, 2); lw->AddSensor("Drivetrain", "RangeFinder", drivetrainRangeFinder); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
void RobotMap::init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow *lw = LiveWindow::GetInstance(); controlSSsolenoid1.reset(new Solenoid(1)); lw->AddActuator("ControlSS", "solenoid1", controlSSsolenoid1); controlSSsolenoid1.reset(new Solenoid(2)); lw->AddActuator("ControlSS", "solenoid2", controlSSsolenoid2); controlSSsolenoid1.reset(new Solenoid(3)); lw->AddActuator("ControlSS", "solenoid3", controlSSsolenoid3); controlSSsolenoid1.reset(new Solenoid(4)); lw->AddActuator("ControlSS", "solenoid4", controlSSsolenoid4); controlSSfrontLS.reset(new DigitalInput(0)); lw->AddSensor("ControlSS", "frontLS", controlSSfrontLS); controlSSbackLS.reset(new DigitalInput(1)); lw->AddSensor("ControlSS", "backLS", controlSSbackLS); controlSSsideLS.reset(new DigitalInput(2)); lw->AddSensor("ControlSS", "sideLS", controlSSsideLS); controlSSpressureGauge.reset(new AnalogInput(1)); lw->AddSensor("ControlSS", "pressureGauge", controlSSpressureGauge); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
/** * Called when the robot starts up and the robot control software comes online * Much (if possible, all) of the initialization required for your robot should happen here */ void RobotInit() { //Get the instance of the LiveWindow system lw = LiveWindow::GetInstance(); //Create Drivetrain Left Instance and add to LiveWindow left = new Victor(LEFT_PWM); lw->AddActuator("Victor", LEFT_PWM, left); //Create Drivetrain Right Instance and add to LiveWindow right = new Victor(RIGHT_PWM); lw->AddActuator("Victor", RIGHT_PWM, right); //Create RobotDrive Instance rd = new RobotDrive(left, right); //Create Primary Shooter Instance and add to LiveWindow shoot1 = new Victor(SHOOT1_PWM); lw->AddActuator("Victor", SHOOT1_PWM, shoot1); //Create Secondary Shooter Instance and add to LiveWindow shoot2 = new Victor(SHOOT2_PWM); lw->AddActuator("Victor", SHOOT2_PWM, shoot2); //Create Kicker Instance and add to LiveWindow kicker = new Victor(KICKER_PWM); lw->AddActuator("Victor", KICKER_PWM, kicker); //Create Kicker Switch Instance and add to LiveWindow kickerSwitch = new DigitalInput(KICKER_DIO); lw->AddSensor("Digital Input", KICKER_DIO, kickerSwitch); //Create Joystick Instance j1 = new Joystick(JOYSTICK_USB); }
void RobotMap::init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow *lw = LiveWindow::GetInstance(); chassisLeftFrontMotor.reset(new Talon(0)); lw->AddActuator("Chassis", "LeftFrontMotor", (Talon&) chassisLeftFrontMotor); chassisrightFrontMotor.reset(new Talon(1)); lw->AddActuator("Chassis", "rightFrontMotor", (Talon&) chassisrightFrontMotor); chassisleftRearMotor.reset(new Talon(2)); lw->AddActuator("Chassis", "leftRearMotor", (Talon&) chassisleftRearMotor); chassisrightRearMotor.reset(new Talon(3)); lw->AddActuator("Chassis", "rightRearMotor", (Talon&) chassisrightRearMotor); chassisRobotDrive41.reset(new RobotDrive(chassisLeftFrontMotor, chassisleftRearMotor, chassisrightFrontMotor, chassisrightRearMotor)); chassisRobotDrive41->SetSafetyEnabled(true); chassisRobotDrive41->SetExpiration(0.1); chassisRobotDrive41->SetSensitivity(0.5); chassisRobotDrive41->SetMaxOutput(1.0); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION void RobotMap::init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow* lw = LiveWindow::GetInstance(); drivetrainFrontRight = new Victor(1, 1); lw->AddActuator("Drivetrain", "FrontRight", (Victor*) drivetrainFrontRight); drivetrainRearRight = new Victor(1, 2); lw->AddActuator("Drivetrain", "RearRight", (Victor*) drivetrainRearRight); drivetrainFrontLeft = new Victor(1, 3); lw->AddActuator("Drivetrain", "FrontLeft", (Victor*) drivetrainFrontLeft); drivetrainRearLeft = new Victor(1, 4); lw->AddActuator("Drivetrain", "RearLeft", (Victor*) drivetrainRearLeft); drivetrainHolonomic = new RobotDrive(drivetrainFrontLeft, drivetrainRearLeft, drivetrainFrontRight, drivetrainRearRight); drivetrainHolonomic->SetSafetyEnabled(true); drivetrainHolonomic->SetExpiration(0.1); drivetrainHolonomic->SetSensitivity(0.5); drivetrainHolonomic->SetMaxOutput(1.0); drivetrainHolonomic->SetInvertedMotor(RobotDrive::kFrontLeftMotor, true); drivetrainHolonomic->SetInvertedMotor(RobotDrive::kRearLeftMotor, true); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION void RobotMap::init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow* lw = LiveWindow::GetInstance(); driveTrainRightMotor = new Jaguar(1, 2); lw->AddActuator("DriveTrain", "RightMotor", (Jaguar*) driveTrainRightMotor); driveTrainLeftMotor = new Jaguar(1, 1); lw->AddActuator("DriveTrain", "LeftMotor", (Jaguar*) driveTrainLeftMotor); driveTrainRobotDrive21 = new RobotDrive(driveTrainLeftMotor, driveTrainRightMotor); driveTrainRobotDrive21->SetSafetyEnabled(true); driveTrainRobotDrive21->SetExpiration(0.1); driveTrainRobotDrive21->SetSensitivity(0.5); driveTrainRobotDrive21->SetMaxOutput(1.0); driveTrainRobotDrive21->SetInvertedMotor(RobotDrive::kRearLeftMotor, true); driveTrainRobotDrive21->SetInvertedMotor(RobotDrive::kRearRightMotor, true); shootingWheelShootingWheelController = new Talon(1, 3); lw->AddActuator("ShootingWheel", "ShootingWheelController", (Talon*) shootingWheelShootingWheelController); loaderLoaderController = new Talon(1, 4); lw->AddActuator("Loader", "LoaderController", (Talon*) loaderLoaderController); loaderReadySwitch = new DigitalInput(1, 1); lw->AddSensor("Loader", "ReadySwitch", loaderReadySwitch); loaderEndSwitch = new DigitalInput(1, 2); lw->AddSensor("Loader", "EndSwitch", loaderEndSwitch); trackLifterTrackLifterController = new Talon(1, 5); lw->AddActuator("TrackLifter", "TrackLifterController", (Talon*) trackLifterTrackLifterController); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
void RobotMap::init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow* lw = LiveWindow::GetInstance(); drivefrontRightMotor = new Talon(2); lw->AddActuator("Drive", "frontRightMotor", (Talon*) drivefrontRightMotor); drivefrontLeftMotor = new Talon(1); lw->AddActuator("Drive", "frontLeftMotor", (Talon*) drivefrontLeftMotor); drivebackRightMotor = new Talon(3); lw->AddActuator("Drive", "backRightMotor", (Talon*) drivebackRightMotor); drivebackLeftMotor = new Talon(4); lw->AddActuator("Drive", "backLeftMotor", (Talon*) drivebackLeftMotor); drivemecDrive = new RobotDrive(drivefrontLeftMotor, drivebackLeftMotor, drivefrontRightMotor, drivebackRightMotor); drivemecDrive->SetSafetyEnabled(true); drivemecDrive->SetExpiration(0.1); drivemecDrive->SetSensitivity(0.5); drivemecDrive->SetMaxOutput(1.0); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION void RobotMap::init() { LiveWindow* lw = LiveWindow::GetInstance(); driveLSpeed = new Talon(1, 2); lw->AddActuator("Drive", "LSpeed", (Talon*) driveLSpeed); driveRSpeed = new Talon(1, 1); lw->AddActuator("Drive", "RSpeed", (Talon*) driveRSpeed); driveControl = new RobotDrive(driveLSpeed, driveRSpeed); driveControl->SetSafetyEnabled(true); driveControl->SetExpiration(0.1); driveControl->SetSensitivity(0.5); driveControl->SetMaxOutput(1.0); driveGyro = new Gyro(1, 1); lw->AddSensor("Drive", "Gyro", driveGyro); driveGyro->SetSensitivity(0.007); driveTurn = new Victor(1, 4); //lw->AddActuator("Drive", "Turn", (Victor*) driveTurn); driveGyroPID = new PIDController(0.03, 0.0, 0.0,/* F: 0.0, */ driveGyro, driveTurn, 0.02); lw->AddActuator("Drive", "GyroPID", driveGyroPID); driveGyroPID->SetContinuous(false); driveGyroPID->SetAbsoluteTolerance(0.2); driveGyroPID->SetOutputRange(-1.0, 1.0); driveLEncoder = new Encoder(1, 2, 1, 3, false, Encoder::k1X); lw->AddSensor("Drive", "LEncoder", driveLEncoder); driveLEncoder->SetDistancePerPulse(1.0); driveLEncoder->SetPIDSourceParameter(Encoder::kDistance); driveLEncoder->Start(); driveREncoder = new Encoder(1, 9, 1, 10, true, Encoder::k1X); lw->AddSensor("Drive", "REncoder", driveREncoder); driveREncoder->SetDistancePerPulse(1.0); driveREncoder->SetPIDSourceParameter(Encoder::kDistance); driveREncoder->Start(); pincerPinch = new Relay(1,2); tiltTilt = new Relay(1,3); lw->AddSensor("El Pincho", "Pinch", pincerPinch); lw->AddSensor("El Pincho", "Tilt", tiltTilt); compressorSysComp = new Compressor(1, 1, 1, 4); catapultEncoder = new Encoder(1, 6, 1, 7, false, Encoder::k4X); lw->AddSensor("Catapult", "Encoder", catapultEncoder); catapultEncoder->SetDistancePerPulse(1.0); catapultEncoder->SetPIDSourceParameter(Encoder::kDistance); catapultEncoder->Start(); catapultJag2 = new CANJaguar(2); catapultJag3 = new CANJaguar(3); // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION void RobotMap::init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow* lw = LiveWindow::GetInstance(); shooterShooterMotor = new Jaguar(1, 1); lw->AddActuator("Shooter", "ShooterMotor", (Jaguar*) shooterShooterMotor); feederFeederMotor = new Jaguar(1, 2); lw->AddActuator("Feeder", "FeederMotor", (Jaguar*) feederFeederMotor); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION void RobotMap::init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow* lw = LiveWindow::GetInstance(); driveTrainFrontLeftMotor = new CANJaguar(2); driveTrainCenterLeftMotor = new CANJaguar(3); driveTrainRearLeftMotor = new CANJaguar(9); driveTrainFrontRightMotor = new CANJaguar(10); driveTrainCenterRightMotor = new CANJaguar(6); driveTrainRearRightMotor = new CANJaguar(16); shifterShifterLeftSolenoid = new DoubleSolenoid(1, 3, 4); shifterShifterRightSolenoid = new DoubleSolenoid(1, 1, 2); airCompressorCompressorSpike = new Relay(1, 3); lw->AddActuator("AirCompressor", "CompressorSpike", airCompressorCompressorSpike); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
void RobotMap::init() { // The following variables are automatically assigned by // robotbuilder and will be updated the next time you export to // Java from robot builder. Do not put any code or make any change // in the following block or it will be lost on an update. To // prevent this subsystem from being automatically updated, delete // the following line. LiveWindow* lw = LiveWindow::GetInstance(); DRIVE_LJAGA = new CANJaguar(6); DRIVE_LJAGB = new CANJaguar(7); DRIVE_RJAGA = new CANJaguar(8); DRIVE_RJAGB = new CANJaguar(9); DRIVE_LENC = new Encoder(1, 2, 1, 3, false, Encoder::k4X); lw->AddSensor("Drive", "lEnc", DRIVE_LENC); DRIVE_LENC->SetDistancePerPulse(1.0); DRIVE_LENC->SetPIDSourceParameter(Encoder::kRate); DRIVE_RENC = new Encoder(1, 4, 1, 5, false, Encoder::k4X); lw->AddSensor("Drive", "rEnc", DRIVE_RENC); DRIVE_RENC->SetDistancePerPulse(1.0); DRIVE_RENC->SetPIDSourceParameter(Encoder::kRate); DRIVE_SHIFTER = new LiveSolenoid(1, 1); lw->AddActuator("Drive", "shifter", DRIVE_SHIFTER); }
void RobotMap::init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow* lw = LiveWindow::GetInstance(); moverRightMotor0 = new Jaguar(0); lw->AddActuator("Mover", "RightMotor0", (Jaguar*) moverRightMotor0); moverRightMotor1 = new Jaguar(1); lw->AddActuator("Mover", "RightMotor1", (Jaguar*) moverRightMotor1); moverLeftMotor2 = new Jaguar(2); lw->AddActuator("Mover", "LeftMotor2", (Jaguar*) moverLeftMotor2); moverLeftMotor3 = new Jaguar(3); lw->AddActuator("Mover", "LeftMotor3", (Jaguar*) moverLeftMotor3); moverSpeedSwitch = new DigitalInput(8); lw->AddSensor("Mover", "SpeedSwitch", moverSpeedSwitch); airCannonLeftCannon = new Solenoid(0, 2); lw->AddActuator("AirCannon", "LeftCannon", airCannonLeftCannon); airCannonMiddleCannon = new Solenoid(0, 1); lw->AddActuator("AirCannon", "MiddleCannon", airCannonMiddleCannon); airCannonRightCannon = new Solenoid(0, 0); lw->AddActuator("AirCannon", "RightCannon", airCannonRightCannon); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION void RobotMap::init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow* lw = LiveWindow::GetInstance(); drivetrainleftfront = new CANJaguar(6); drivetrainleftrear = new CANJaguar(18); drivetrainrightfront = new CANJaguar(11); drivetrainrightrear = new CANJaguar(5); elevatorLeft = new CANJaguar(8); elevatorRight = new CANJaguar(4); elevatorPot = new AnalogChannel(1, 1); lw->AddSensor("Elevator", "Pot", elevatorPot); shooterFront = new CANJaguar(3); shooterRear = new CANJaguar(7); shifterLeft = new Servo(1, 1); lw->AddActuator("Shifter", "Left", shifterLeft); shifterRight = new Servo(1, 2); lw->AddActuator("Shifter", "Right", shifterRight); flopperFlopperSpike = new Relay(1, 1); lw->AddActuator("Flopper", "FlopperSpike", flopperFlopperSpike); flopperIRSensor = new DigitalInput(1, 1); lw->AddSensor("Flopper", "IRSensor", flopperIRSensor); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
void RobotMap::init() { // /home/lvuser/wpilib-preferences.ini std::string robotType = Preferences::GetInstance()->GetString("RobotType"); // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow* lw = LiveWindow::GetInstance(); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS forwardDriveForwardLeftTalon = new CANTalon(Preferences::GetInstance()->GetInt("ForwardDrive::LeftTalon::CANID")); forwardDriveForwardRightTalon = new CANTalon(Preferences::GetInstance()->GetInt("ForwardDrive::RightTalon::CANID")); strafingDriveStrafeRightTalon = new CANTalon(Preferences::GetInstance()->GetInt("StrafingDrive::RightTalon::CANID")); strafingDriveStrafeLeftTalon = new CANTalon(Preferences::GetInstance()->GetInt("StrafingDrive::LeftTalon::CANID")); elevatorLiftLiftTalon = new CANTalon(Preferences::GetInstance()->GetInt("ElevatorLift::LiftTalon::CANID")); forwardDriveForwardLeftTalon->SetPosition(0); forwardDriveForwardRightTalon->SetPosition(0); strafingDriveStrafeRightTalon->SetPosition(0); strafingDriveStrafeLeftTalon->SetPosition(0); liftGrabberLiftGrabberSolenoid = new Solenoid(Preferences::GetInstance()->GetInt("LiftGrabber::PCMID"), Preferences::GetInstance()->GetInt("LiftGrabber::Solenoid")); lw->AddActuator("LiftGrabber", "LiftGrabberSolenoid", liftGrabberLiftGrabberSolenoid); spinnersSpinnerRightTalon = new CANTalon(Preferences::GetInstance()->GetInt("Spinners::RightTalon::CANID")); spinnersSpinnerLeftTalon = new CANTalon(Preferences::GetInstance()->GetInt("Spinners::LeftTalon::CANID")); brakeBrakeSolenoid = new Solenoid(Preferences::GetInstance()->GetInt("Brake::PCMID"), Preferences::GetInstance()->GetInt("Brake::BrakeSolenoid")); lw->AddActuator("Brake", "BrakeSolenoid", brakeBrakeSolenoid); canBurglerCanBurglerRightSolenoid = new DoubleSolenoid(Preferences::GetInstance()->GetInt("RightCanBurgler::PCMID"), Preferences::GetInstance()->GetInt("RightCanBurgler::CanBurglerForwardSolenoid"), Preferences::GetInstance()->GetInt("RightCanBurgler::CanBurglerReverseSolenoid")); lw->AddActuator("CanBurgler", "CanBurglerRightSolenoid", canBurglerCanBurglerRightSolenoid); canBurglerCanBurglerLeftSolenoid = new DoubleSolenoid(Preferences::GetInstance()->GetInt("LeftCanBurgler::PCMID"), Preferences::GetInstance()->GetInt("LeftCanBurgler::CanBurglerForwardSolenoid"), Preferences::GetInstance()->GetInt("LeftCanBurgler::CanBurglerReverseSolenoid")); lw->AddActuator("CanBurgler", "CanBurglerLeftSolenoid", canBurglerCanBurglerLeftSolenoid); pneumaticsCompressor = new Compressor(Preferences::GetInstance()->GetInt("Compressor::PCMID")); }
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION void RobotMap::init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow* lw = LiveWindow::GetInstance(); driveTrainLeftDrive = new CANJaguar(1); driveTrainRightDrive = new CANJaguar(2); driveTrainRight0Drive = new CANJaguar(3); driveTrainLeft0Drive = new CANJaguar(4); driveTrainRobotDrive = new RobotDrive(driveTrainLeftDrive, driveTrainRightDrive, driveTrainRight0Drive, driveTrainLeft0Drive); driveTrainRobotDrive->SetSafetyEnabled(false); driveTrainRobotDrive->SetExpiration(0.1); driveTrainRobotDrive->SetSensitivity(0.5); driveTrainRobotDrive->SetMaxOutput(1.0); collectorPacManIR = new DigitalInput(1, 4); lw->AddSensor("Collector", "PacManIR", collectorPacManIR); collectorPacManFeeder = new Victor(1, 3); lw->AddActuator("Collector", "PacManFeeder", (Victor*) collectorPacManFeeder); shootermainShooter = new CANJaguar(7); shooterTurret = new CANJaguar(5); shooteroneBitIREncoder = new DigitalInput(1, 6); lw->AddSensor("Shooter", "oneBitIREncoder", shooteroneBitIREncoder); shooterAngleEncoder = new AnalogChannel(1, 2); lw->AddSensor("Shooter", "AngleEncoder", shooterAngleEncoder); shooterAngleVictor = new Victor(1, 4); lw->AddActuator("Shooter", "AngleVictor", (Victor*) shooterAngleVictor); angleCheckWithGyroGyro1 = new Gyro(1, 1); lw->AddSensor("AngleCheckWithGyro", "Gyro 1", angleCheckWithGyroGyro1); //angleCheckWithGyroGyro1->SetSensitivity(0.007); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS angleCheckWithGyroGyro1->Reset(); }
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION void RobotMap::init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow* lw = LiveWindow::GetInstance(); driveTrainRightMotor = new Victor(1, 1); lw->AddActuator("DriveTrain", "RightMotor", (Victor*) driveTrainRightMotor); driveTrainLeftMotor = new Victor(1, 2); lw->AddActuator("DriveTrain", "LeftMotor", (Victor*) driveTrainLeftMotor); driveTrainRobotDrive21 = new RobotDrive(driveTrainLeftMotor, driveTrainRightMotor); driveTrainRobotDrive21->SetSafetyEnabled(true); driveTrainRobotDrive21->SetExpiration(0.1); driveTrainRobotDrive21->SetSensitivity(0.5); driveTrainRobotDrive21->SetMaxOutput(1.0); shooterMotor1 = new Jaguar(1, 3); shooterMotor2 = new Jaguar(1, 3); lw->AddActuator("Shooter", "Motor1", (Jaguar*) shooterMotor1); lw->AddActuator("Shooter", "Motor1", (Jaguar*) shooterMotor2); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
void RobotMap::init() { LiveWindow* lw = LiveWindow::GetInstance(); driveleft1 = new CANJaguar(DRV_MTR_LEFT_ONE); driveleft2 = new CANJaguar(DRV_MTR_LEFT_TWO); driveleft3 = new CANJaguar(DRV_MTR_LEFT_THREE); driveright1 = new CANJaguar(DRV_MTR_RIGHT_ONE); driveright2 = new CANJaguar(DRV_MTR_RIGHT_TWO); driveright3 = new CANJaguar(DRV_MTR_RIGHT_THREE); drivelEnc = new Encoder(DRV_ENC_LEFT); driverEnc = new Encoder(DRV_ENC_RIGHT); driverangeFinder = new AnalogChannel(DRV_ULT_LONGDIST); drivegoalSensor = new AnalogChannel(DRV_ULT_SHORTDIST); driveshift = new Solenoid(DRV_SOL_SHIFT); lw->AddActuator("Drive", "shift", driveshift); shooterleft = new Solenoid(SHO_SOL_LEFT); lw->AddActuator("Shooter", "left", shooterleft); shooterright = new Solenoid(SHO_SOL_RIGHT); lw->AddActuator("Shooter", "right", shooterright); acquisitionroller = new Victor(ACQ_MTR_ROLLER); lw->AddActuator("Acquisition", "roller", (Victor*) acquisitionroller); acquisitionraise = new Solenoid(ACQ_SOL_RAISE); lw->AddActuator("Acquisition", "raise", acquisitionraise); acquisitionproc1 = new AnalogChannel(DRV_ANA_PROC_1); acquisitionproc2 = new AnalogChannel(DRV_ANA_PROC_2); acquisitionproc3 = new AnalogChannel(DRV_ANA_PROC_3); ejectionkicker = new Solenoid(EJT_SOL_KICK); lw->AddActuator("Ejection", "kicker", ejectionkicker); visiongoalHot = new DigitalInput(VIS_DIN_HOT); visionLEDs = new Relay(VIS_REL_LED); }
void HardwareMap::init() { log_info("init()"); // Add hardware to the live window // You can then debug each hardware object in the driver station test mode // on the smart dashboard. LiveWindow *lw = LiveWindow::GetInstance(); lw->AddActuator("Drive", "Front Left Motor", &front_left_motor); lw->AddActuator("Drive", "Rear Left Motor", &rear_left_motor); lw->AddActuator("Drive", "Front Right Motor", &front_right_motor); lw->AddActuator("Drive", "Rear Right Motor", &rear_right_motor); lw->AddActuator("Arm", "Front Arm Motor", &front_arm_motor); lw->AddActuator("Arm", "Wheel Motor", &wheel_motor); lw->AddActuator("Shooter", "Left Launch Solenoid", &launch_solenoid_left); lw->AddActuator("Shooter", "Right Launch Solenoid", &launch_solenoid_right); lw->AddSensor("Shooter", "Compressor", &compressor); }
void RobotMap::init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow *lw = LiveWindow::GetInstance(); driveLeftDrive.reset(new CANTalon(5)); lw->AddActuator("Drive", "LeftDrive", driveLeftDrive); driveRightDrive.reset(new CANTalon(3)); lw->AddActuator("Drive", "RightDrive", driveRightDrive); driveTankDrive.reset(new RobotDrive(driveLeftDrive, driveRightDrive)); driveTankDrive->SetSafetyEnabled(true); driveTankDrive->SetExpiration(0.1); driveTankDrive->SetSensitivity(0.5); driveTankDrive->SetMaxOutput(1.0); shooterSystemLeftShooterTalonLeft.reset(new CANTalon(2)); lw->AddActuator("ShooterSystemLeft", "ShooterTalonLeft", shooterSystemLeftShooterTalonLeft); shooterSystemLeftQuadEncShooterLeft.reset(new Encoder(9, 8, false, Encoder::k4X)); lw->AddSensor("ShooterSystemLeft", "QuadEncShooterLeft", shooterSystemLeftQuadEncShooterLeft); shooterSystemLeftQuadEncShooterLeft->SetDistancePerPulse(1.0); shooterSystemLeftQuadEncShooterLeft->SetPIDSourceType(PIDSourceType::kRate); intakeSubsystemIntakeTalon.reset(new CANTalon(1)); lw->AddActuator("IntakeSubsystem", "IntakeTalon", intakeSubsystemIntakeTalon); shooterSystemRightShooterTalonRight.reset(new CANTalon(4)); lw->AddActuator("ShooterSystemRight", "ShooterTalonRight", shooterSystemRightShooterTalonRight); shooterSystemRightQuadEncShooterRight.reset(new Encoder(7, 6, false, Encoder::k4X)); lw->AddSensor("ShooterSystemRight", "QuadEncShooterRight", shooterSystemRightQuadEncShooterRight); shooterSystemRightQuadEncShooterRight->SetDistancePerPulse(1.0); shooterSystemRightQuadEncShooterRight->SetPIDSourceType(PIDSourceType::kRate); intakeSubsystemServoLeft.reset(new Servo(0)); lw->AddActuator("IntakeSubsystem", "ServoLeft", intakeSubsystemServoLeft); intakeSubsystemServoRight.reset(new Servo(1)); lw->AddActuator("IntakeSubsystem", "ServoRight", intakeSubsystemServoRight); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
void RobotMap::init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow* lw = LiveWindow::GetInstance(); driveLeftFront = new Talon(1); lw->AddActuator("Drive", "Left Front", (Talon*) driveLeftFront); driveLeftRear = new Talon(2); lw->AddActuator("Drive", "Left Rear", (Talon*) driveLeftRear); driveRightFront = new Talon(3); lw->AddActuator("Drive", "Right Front", (Talon*) driveRightFront); driveRightRear = new Talon(4); lw->AddActuator("Drive", "Right Rear", (Talon*) driveRightRear); driveRobotDrive41 = new RobotDrive(driveLeftFront, driveLeftRear, driveRightFront, driveRightRear); driveRobotDrive41->SetSafetyEnabled(true); driveRobotDrive41->SetExpiration(0.1); driveRobotDrive41->SetSensitivity(0.5); driveRobotDrive41->SetMaxOutput(1.0); grabberGrabberPnuematicCylinder = new DoubleSolenoid(0, 0, 1); lw->AddActuator("Grabber", "Grabber Pnuematic Cylinder", grabberGrabberPnuematicCylinder); elevatorLifterEncoder = new Encoder(0, 1, false, Encoder::k4X); lw->AddSensor("Elevator", "Lifter Encoder", elevatorLifterEncoder); elevatorLifterEncoder->SetDistancePerPulse(1.0); elevatorLifterEncoder->SetPIDSourceParameter(Encoder::kDistance); elevatorLifterMotor = new Talon(0); lw->AddActuator("Elevator", "LifterMotor", (Talon*) elevatorLifterMotor); elevatorUpperLimitSwitch = new DigitalInput(2); lw->AddSensor("Elevator", "Upper Limit Switch", elevatorUpperLimitSwitch); elevatorLowerLimitSwitch = new DigitalInput(3); lw->AddSensor("Elevator", "Lower Limit Switch", elevatorLowerLimitSwitch); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION void RobotMap::init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow* lw = LiveWindow::GetInstance(); driveTrainDriveLeft1 = new Victor(1, 1); lw->AddActuator("DriveTrain", "DriveLeft1", (Victor*) driveTrainDriveLeft1); driveTrainDriveRight1 = new Victor(1, 3); lw->AddActuator("DriveTrain", "DriveRight1", (Victor*) driveTrainDriveRight1); driveTrainRobotDrive = new RobotDrive(driveTrainDriveLeft1, driveTrainDriveRight1); driveTrainRobotDrive->SetSafetyEnabled(true); driveTrainRobotDrive->SetExpiration(0.25); driveTrainRobotDrive->SetSensitivity(0.5); driveTrainRobotDrive->SetMaxOutput(1.0); driveTrainultrasonicDistance = new AnalogChannel(1, 1); lw->AddSensor("DriveTrain", "ultrasonicDistance", driveTrainultrasonicDistance); feederFeederMotor = new Victor(1, 2); lw->AddActuator("Feeder", "FeederMotor", (Victor*) feederFeederMotor); climberClimberMotor = new Victor(1, 5); lw->AddActuator("Climber", "ClimberMotor", (Victor*) climberClimberMotor); climberTapeLimitLeft = new DigitalInput(1, 1); lw->AddSensor("Climber", "TapeLimitLeft", climberTapeLimitLeft); climberTapeLimitRight = new DigitalInput(1, 2); lw->AddSensor("Climber", "TapeLimitRight", climberTapeLimitRight); climberTapeAngleLeft = new Servo(1, 6); lw->AddActuator("Climber", "TapeAngleLeft", climberTapeAngleLeft); climberTapeAngleRight = new Servo(1, 7); lw->AddActuator("Climber", "TapeAngleRight", climberTapeAngleRight); shootershooterMotor = new CANJaguar(4); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
void RobotMap::init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow *lw = LiveWindow::GetInstance(); chassisLeftMotor1.reset(new CANTalon(4)); lw->AddActuator("Chassis", "LeftMotor1", chassisLeftMotor1); chassisLeftMotor2.reset(new CANTalon(3)); lw->AddActuator("Chassis", "LeftMotor2", chassisLeftMotor2); chassisRightMotor1.reset(new CANTalon(2)); lw->AddActuator("Chassis", "RightMotor1", chassisRightMotor1); chassisRightMotor2.reset(new CANTalon(1)); lw->AddActuator("Chassis", "RightMotor2", chassisRightMotor2); chassisDriveMotors.reset(new RobotDrive(chassisLeftMotor1, chassisLeftMotor2, chassisRightMotor1, chassisRightMotor2)); chassisDriveMotors->SetSafetyEnabled(false); chassisDriveMotors->SetExpiration(0.1); chassisDriveMotors->SetSensitivity(0.5); chassisDriveMotors->SetMaxOutput(1.0); chassisCompressor.reset(new Compressor(0)); pickupThePickupMotor.reset(new Talon(9)); lw->AddActuator("Pickup", "ThePickupMotor", std::static_pointer_cast<Talon>(pickupThePickupMotor)); shooterLeftShooterMotor.reset(new CANTalon(5)); lw->AddActuator("Shooter", "LeftShooterMotor", shooterLeftShooterMotor); shooterRightShooterMotor.reset(new CANTalon(6)); lw->AddActuator("Shooter", "RightShooterMotor", shooterRightShooterMotor); shooterShooterSolenoid.reset(new Solenoid(0, 1)); lw->AddActuator("Shooter", "ShooterSolenoid", shooterShooterSolenoid); pneumaticSubDefenseSolen.reset(new Solenoid(0, 3)); lw->AddActuator("PneumaticSub", "DefenseSolen", pneumaticSubDefenseSolen); pneumaticSubGShiftSolen.reset(new Solenoid(0, 2)); lw->AddActuator("PneumaticSub", "GShiftSolen", pneumaticSubGShiftSolen); pneumaticSubScissorSolen.reset(new Solenoid(0, 4)); lw->AddActuator("PneumaticSub", "ScissorSolen", pneumaticSubScissorSolen); pneumaticSubRatchetSolen.reset(new Solenoid(0, 5)); lw->AddActuator("PneumaticSub", "RatchetSolen", pneumaticSubRatchetSolen); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS chassisClimbLS.reset(new DigitalInput(0)); lw->AddSensor("Chassis", "ClimbLS", chassisClimbLS); chassisPhotonCannon.reset(new Relay(0)); lw->AddActuator("Chassis", "PhotonCannon", chassisPhotonCannon); }
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION void RobotMap::init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow* lw = LiveWindow::GetInstance(); driveTrainSpeedControllerRR = new Talon(1, 3); lw->AddActuator("DriveTrain", "SpeedControllerRR", (Talon*) driveTrainSpeedControllerRR); driveTrainSpeedControllerRL = new Talon(1, 1); lw->AddActuator("DriveTrain", "SpeedControllerRL", (Talon*) driveTrainSpeedControllerRL); driveTrainSpeedControllerFR = new Talon(1, 4); lw->AddActuator("DriveTrain", "SpeedControllerFR", (Talon*) driveTrainSpeedControllerFR); driveTrainSpeedControllerFL = new Talon(1, 2); lw->AddActuator("DriveTrain", "SpeedControllerFL", (Talon*) driveTrainSpeedControllerFL); driveTrainOmniDrive = new RobotDrive(driveTrainSpeedControllerFL, driveTrainSpeedControllerRL, driveTrainSpeedControllerFR, driveTrainSpeedControllerRR); driveTrainOmniDrive->SetSafetyEnabled(false); driveTrainOmniDrive->SetExpiration(0.1); driveTrainOmniDrive->SetSensitivity(0.5); driveTrainOmniDrive->SetMaxOutput(1.0); feederSpeedController = new Talon(1, 6); lw->AddActuator("Feeder", "SpeedController", (Talon*) feederSpeedController); feederLimitSwitch = new DigitalInput(1, 9); lw->AddSensor("Feeder", "LimitSwitch", feederLimitSwitch); launcherLimitSwitchUp = new DigitalInput(1, 8); lw->AddSensor("Launcher", "LimitSwitchUp", launcherLimitSwitchUp); launcherSpeedController = new Victor(1, 5); lw->AddActuator("Launcher", "SpeedController", (Victor*) launcherSpeedController); launcherLimitSwitchDown = new DigitalInput(1, 7); lw->AddSensor("Launcher", "LimitSwitchDown", launcherLimitSwitchDown); launcherDistanceSensor = new AnalogChannel(1, 1); lw->AddSensor("Launcher", "DistanceSensor", launcherDistanceSensor); pneumaticMainCompressor = new Compressor(1, 5, 1, 1); feederSolenoidFeederDown = new Solenoid(1, 1); lw->AddActuator("FeederSolenoid", "FeederDown", feederSolenoidFeederDown); cameraMoveLeft = new DigitalInput(1, 10); lw->AddSensor("Camera", "MoveLeft", cameraMoveLeft); cameraMoveRight = new DigitalInput(1, 11); lw->AddSensor("Camera", "MoveRight", cameraMoveRight); cameraCameraServo = new Servo(1, 8); lw->AddActuator("Camera", "CameraServo", cameraCameraServo); distanceSensorUltrasonicSensor = new AnalogChannel(1, 2); lw->AddSensor("DistanceSensor", "UltrasonicSensor", distanceSensorUltrasonicSensor); distanceSensorInRangeLight = new Relay(1, 2); lw->AddActuator("DistanceSensor", "InRangeLight", distanceSensorInRangeLight); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
virtual void TestPeriodic() { lw->Run(); lw->AddActuator("Intake", "ramplifter", CommandBase::intake->getServo()); }
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION void RobotMap::init() { articulatingJaguar = new CANJaguar(6); compressorRelay = new Relay(1, Relay::kForwardOnly); articulatingRelay = new Relay(2, Relay::kBothDirections); // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow* lw = LiveWindow::GetInstance(); driveCANJaguar1 = new CANJaguar(2); driveCANJaguar2 = new CANJaguar(3); driveCANJaguar3 = new CANJaguar(4); driveCANJaguar4 = new CANJaguar(5); driveRobotDrive41 = new RobotDrive(driveCANJaguar1, driveCANJaguar2, driveCANJaguar3, driveCANJaguar4); driveRobotDrive41->SetSafetyEnabled(false); driveRobotDrive41->SetExpiration(0.1); driveRobotDrive41->SetSensitivity(0.5); driveRobotDrive41->SetMaxOutput(1.0); driveRobotDrive41->SetInvertedMotor(RobotDrive::kFrontLeftMotor, true); driveRobotDrive41->SetInvertedMotor(RobotDrive::kRearLeftMotor, true); driveGyro1 = new Gyro(1, 1); lw->AddSensor("Drive", "Gyro 1", driveGyro1); driveGyro1->SetSensitivity(0.007); shooterCANJaguar1 = new CANJaguar(7); shooterLoaderSolenoid = new DoubleSolenoid(1, 3, 6); trackQuadratureEncoder1 = new Encoder(1, 1, 1, 2, false, Encoder::k4X); lw->AddSensor("Track", "Quadrature Encoder 1", trackQuadratureEncoder1); trackQuadratureEncoder1->SetDistancePerPulse(1.0); trackQuadratureEncoder1->SetPIDSourceParameter(Encoder::kRate); trackQuadratureEncoder1->Start(); trackAnalogForce1 = new AnalogChannel(1, 3); lw->AddSensor("Track", "Analog Force 1", trackAnalogForce1); trackAnalogForce2 = new AnalogChannel(1, 4); lw->AddSensor("Track", "Analog Force 2", trackAnalogForce2); trackBrakeSolenoid = new Solenoid(1, 1); lw->AddActuator("Track", "Brake Solenoid", trackBrakeSolenoid); trackSpeedController1 = new Victor(1, 1); lw->AddActuator("Track", "Speed Controller 1", (Victor*) trackSpeedController1); trackSpeedController2 = new Victor(1, 2); lw->AddActuator("Track", "Speed Controller 2", (Victor*) trackSpeedController2); tippingSolenoid1 = new Solenoid(1, 2); lw->AddActuator("Tipping", "Solenoid 1", tippingSolenoid1); pneumaticsCompressorDigitalInput1 = new DigitalInput(1, 3); lw->AddSensor("Pneumatics Compressor", "Digital Input 1", pneumaticsCompressorDigitalInput1); articulatingArmDoubleSolenoid1 = new DoubleSolenoid(1, 8, 7); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS driveCANJaguar1->ConfigEncoderCodesPerRev(360); driveCANJaguar1->SetPositionReference(CANJaguar::kPosRef_QuadEncoder); driveCANJaguar2->ConfigEncoderCodesPerRev(360); driveCANJaguar2->SetPositionReference(CANJaguar::kPosRef_QuadEncoder); driveCANJaguar3->ConfigEncoderCodesPerRev(360); driveCANJaguar3->SetPositionReference(CANJaguar::kPosRef_QuadEncoder); driveCANJaguar4->ConfigEncoderCodesPerRev(360); driveCANJaguar4->SetPositionReference(CANJaguar::kPosRef_QuadEncoder); //shooterCANJaguar1->ConfigEncoderCodesPerRev(360); //shooterCANJaguar1->SetPositionReference(CANJaguar::kPosRef_QuadEncoder); trackQuadratureEncoder1->SetDistancePerPulse(0.0037149147); trackQuadratureEncoder1->SetReverseDirection(true); }
void RobotMap::init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow *lw = LiveWindow::GetInstance(); driveLeftDrive.reset(new CANTalon(3)); lw->AddActuator("Drive", "LeftDrive", driveLeftDrive); driveRightDrive.reset(new CANTalon(5)); lw->AddActuator("Drive", "RightDrive", driveRightDrive); driveTankDrive.reset(new RobotDrive(driveLeftDrive, driveRightDrive)); driveTankDrive->SetSafetyEnabled(true); driveTankDrive->SetExpiration(0.1); driveTankDrive->SetSensitivity(0.5); driveTankDrive->SetMaxOutput(1.0); intakeSubsystemIntakeTalon.reset(new CANTalon(1)); lw->AddActuator("IntakeSubsystem", "IntakeTalon", intakeSubsystemIntakeTalon); intakeSubsystemServoLeft.reset(new Servo(1)); lw->AddActuator("IntakeSubsystem", "ServoLeft", intakeSubsystemServoLeft); intakeSubsystemServoRight.reset(new Servo(0)); lw->AddActuator("IntakeSubsystem", "ServoRight", intakeSubsystemServoRight); shooterSystemShooterRight.reset(new CANTalon(4)); lw->AddActuator("ShooterSystem", "ShooterRight", shooterSystemShooterRight); shooterSystemShooterLeft.reset(new CANTalon(2)); lw->AddActuator("ShooterSystem", "ShooterLeft", shooterSystemShooterLeft); lifterSystemWindowMotor.reset(new CANTalon(7)); lw->AddActuator("LifterSystem", "WindowMotor", lifterSystemWindowMotor); lifterSystemWinch.reset(new CANTalon(17)); //fix number lw->AddActuator("LifterSystem", "Winch", lifterSystemWinch); cobraArmSystemPrimaryMotor.reset(new CANTalon(6)); lw->AddActuator("CobraArmSystem", "PrimaryMotor", cobraArmSystemPrimaryMotor); cobraArmSystemSecondaryMotor.reset(new CANTalon(8)); lw->AddActuator("CobraArmSystem", "SecondaryMotor", cobraArmSystemSecondaryMotor); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
void RobotMap::init() { CameraServer *camera = CameraServer::GetInstance(); camera->SetQuality(25); camera->StartAutomaticCapture("cam1"); //If using 2015 robot use "cam0" if using 2016 robot use "" autoLowBar = new DigitalInput(AUTO_LOW_BAR); autoSpyBox = new DigitalInput(AUTO_SPY_BOX); autoNotLowBar = new DigitalInput(AUTO_NOT_LOW_BAR); gyro = new AnalogGyro(PORT_GYRO); if(autoLowBar->Get()) { autoSelector = 0; } else if(autoLowBar->Get()) { autoSelector = 1; } else if(autoLowBar->Get()) { autoSelector = 2; } // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow* lw = LiveWindow::GetInstance(); //NOTE: This is where you set the where the wire on RoboRIO goes //Sensors accelerometer = new BuiltInAccelerometer(BuiltInAccelerometer::Range::kRange_8G); potentiometer = new AnalogPotentiometer(PORT_POTENTIOMETER); ultrasonicPing = new DigitalOutput(PORT_ULTRASONIC_PING); ultrasonicEcho = new AnalogInput(PORT_ULTRASONIC_ECHO); //Limit limitSpinnerSpringWinder = new DigitalInput(L_SPINNER_SPRING_WINDER); limitSADPosBaseline = new DigitalInput(L_SAD_POS_BASELINE); //Counter heightCounter = new DigitalInput(HEIGHT_COUNTER); #ifdef USE_TWO_REV_COUNTERS revCounterInputLeft = new DigitalInput(PORT_REV_COUNTER_LEFT); revCounterInputRight = new DigitalInput(PORT_REV_COUNTER_RIGHT); #else revCounterInput = new DigitalInput(PORT_REV_COUNTER); oldRevState = revCounterInput->Get(); #endif //Drive robotDriveTreadRightFront = new Talon(FRONT_RIGHT); lw->AddActuator("Robot Drive" , "treadRightFront" , (Talon*) robotDriveTreadRightFront); robotDriveTreadRightBack = new Talon(BACK_RIGHT); lw->AddActuator("Robot Drive" , "treadRightBack" , (Talon*) robotDriveTreadRightBack); robotDriveTreadLeftFront = new Talon(FRONT_LEFT); lw->AddActuator("Robot Drive" , "treadLeftFront" , (Talon*) robotDriveTreadLeftFront); robotDriveTreadLeftBack = new Talon(BACK_LEFT); lw->AddActuator("Robot Drive" , "treadLeftBack" , (Talon*) robotDriveTreadLeftBack); robotDrive41 = new RobotDrive(robotDriveTreadLeftFront , robotDriveTreadLeftBack , robotDriveTreadRightFront , robotDriveTreadRightBack); robotDrive41->SetSafetyEnabled(true); robotDrive41->SetExpiration(2); robotDrive41->SetSensitivity(0.5); robotDrive41->SetMaxOutput(1.0); robotDrive41->SetInvertedMotor(RobotDrive::kFrontLeftMotor , true); robotDrive41->SetInvertedMotor(RobotDrive::kRearLeftMotor , true); robotDrive41->SetInvertedMotor(RobotDrive::kFrontRightMotor , true); robotDrive41->SetInvertedMotor(RobotDrive::kRearRightMotor , true); //Ball Shooter shooterAimingDevice = new Talon(PORT_SAD); // shooterAimingDevice->SetInverted(true); lw->AddActuator("Position Subsystem" , "SAD" , (Talon*) shooterAimingDevice); ballShooterSpinnerClockwise = new Talon(SPINNER_CW); lw->AddActuator("Position Subsystem" , "clockwise spinner" , (Talon*) ballShooterSpinnerClockwise); ballShooterSpinnerCounterclockwise = new Talon(SPINNER_CCW); lw->AddActuator("Position Subsystem" , "counterclockwise spinner" , (Talon*) ballShooterSpinnerCounterclockwise); ballShooterSpinnerSpringWinder = new Relay(SPINNER_SPRING_WINDER); lw->AddActuator("Position Subsystem" , "spinner spring winder" , (Relay*) ballShooterSpinnerSpringWinder); positionSubsystem = new PositionSubsystem(); scaleTower = new Talon(SCALE_TOWER); lw->AddActuator("Scale Tower" , "Scale Tower" , (Relay*) scaleTower); armsUpAndOut = new Relay(ARMS_UP_AND_OUT); lw->AddActuator("MCL" , "lifter" , (Relay*) armsUpAndOut); // position->SetInverted(true); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION void RobotMap::init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow* lw = LiveWindow::GetInstance(); driveTrainFrontLeftPos = new AnalogChannel(1, 2); lw->AddSensor("DriveTrain", "FrontLeftPos", driveTrainFrontLeftPos); driveTrainFrontLeftSteer = new Jaguar(1, 5); lw->AddActuator("DriveTrain", "FrontLeftSteer", (Jaguar*) driveTrainFrontLeftSteer); driveTrainFrontLeft = new PIDController(1.25, 0.0, 0.0,/* F: 0.0, */ driveTrainFrontLeftPos, driveTrainFrontLeftSteer, 0.02); lw->AddActuator("DriveTrain", "FrontLeft", driveTrainFrontLeft); driveTrainFrontLeft->SetContinuous(true); driveTrainFrontLeft->SetAbsoluteTolerance(0.2); driveTrainFrontLeft->SetInputRange(0.0, 5.0); driveTrainFrontLeft->SetOutputRange(-0.75, 0.75); driveTrainFrontRightPos = new AnalogChannel(1, 3); lw->AddSensor("DriveTrain", "FrontRightPos", driveTrainFrontRightPos); driveTrainFrontRightSteer = new Jaguar(1, 6); lw->AddActuator("DriveTrain", "FrontRightSteer", (Jaguar*) driveTrainFrontRightSteer); driveTrainFrontRight = new PIDController(1.0, 0.0, 0.0,/* F: 0.0, */ driveTrainFrontRightPos, driveTrainFrontRightSteer, 0.02); lw->AddActuator("DriveTrain", "FrontRight", driveTrainFrontRight); driveTrainFrontRight->SetContinuous(true); driveTrainFrontRight->SetAbsoluteTolerance(0.2); driveTrainFrontRight->SetInputRange(0.0, 5.0); driveTrainFrontRight->SetOutputRange(-0.75, 0.75); driveTrainRearLeftPos = new AnalogChannel(1, 4); lw->AddSensor("DriveTrain", "RearLeftPos", driveTrainRearLeftPos); driveTrainRearLeftSteer = new Jaguar(1, 7); lw->AddActuator("DriveTrain", "RearLeftSteer", (Jaguar*) driveTrainRearLeftSteer); driveTrainRearLeft = new PIDController(1.0, 0.0, 0.0,/* F: 0.0, */ driveTrainRearLeftPos, driveTrainRearLeftSteer, 0.02); lw->AddActuator("DriveTrain", "RearLeft", driveTrainRearLeft); driveTrainRearLeft->SetContinuous(true); driveTrainRearLeft->SetAbsoluteTolerance(0.2); driveTrainRearLeft->SetInputRange(0.0, 5.0); driveTrainRearLeft->SetOutputRange(-0.75, 0.75); driveTrainRearRightPos = new AnalogChannel(1, 5); lw->AddSensor("DriveTrain", "RearRightPos", driveTrainRearRightPos); driveTrainRearRightSteer = new Jaguar(1, 8); lw->AddActuator("DriveTrain", "RearRightSteer", (Jaguar*) driveTrainRearRightSteer); driveTrainRearRight = new PIDController(1.0, 0.0, 0.0,/* F: 0.0, */ driveTrainRearRightPos, driveTrainRearRightSteer, 0.02); lw->AddActuator("DriveTrain", "RearRight", driveTrainRearRight); driveTrainRearRight->SetContinuous(true); driveTrainRearRight->SetAbsoluteTolerance(0.2); driveTrainRearRight->SetInputRange(0.0, 5.0); driveTrainRearRight->SetOutputRange(-0.75, 0.75); driveTrainFrontLeftDrive = new Jaguar(1, 1); lw->AddActuator("DriveTrain", "FrontLeftDrive", (Jaguar*) driveTrainFrontLeftDrive); driveTrainFrontRightDrive = new Jaguar(1, 2); lw->AddActuator("DriveTrain", "FrontRightDrive", (Jaguar*) driveTrainFrontRightDrive); driveTrainRearLeftDrive = new Jaguar(1, 3); lw->AddActuator("DriveTrain", "RearLeftDrive", (Jaguar*) driveTrainRearLeftDrive); driveTrainRearRightDrive = new Jaguar(1, 4); lw->AddActuator("DriveTrain", "RearRightDrive", (Jaguar*) driveTrainRearRightDrive); driveTrainGyroscope = new Gyro(1, 1); lw->AddSensor("DriveTrain", "Gyroscope", driveTrainGyroscope); driveTrainGyroscope->SetSensitivity(0.007); shooterComp = new Compressor(1, 1, 1, 1); shooterFireLeft = new Solenoid(1, 1); lw->AddActuator("Shooter", "FireLeft", shooterFireLeft); shooterFireRight = new Solenoid(1, 2); lw->AddActuator("Shooter", "FireRight", shooterFireRight); shooterLeftArm = new Solenoid(1, 3); lw->AddActuator("Shooter", "LeftArm", shooterLeftArm); shooterRightArm = new Solenoid(1, 4); lw->AddActuator("Shooter", "RightArm", shooterRightArm); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
/** * Robot-wide initialization code should go here. * * Use this method for default Robot-wide initialization which will * be called when the robot is first powered on. It will be called exactly 1 time. */ void RobotInit() { printf(">>> RobotInit\n"); LogInit(); #ifdef HAVE_COMPRESSOR compressor = new Compressor(1, 1); #endif #ifdef HAVE_TOP_WHEEL #ifdef HAVE_TOP_CAN1 topWheel1 = new CANJaguar(1); topWheel1->SetSafetyEnabled(false); // motor safety off while configuring topWheel1->SetSpeedReference( CANJaguar::kSpeedRef_Encoder ); topWheel1->ConfigEncoderCodesPerRev( 1 ); #endif #ifdef HAVE_TOP_PWM1 topWheel1 = new Victor(1); topWheel1->SetSafetyEnabled(false); // motor safety off while configuring #endif #ifdef HAVE_TOP_CAN2 topWheel2 = new CANJaguar(2); topWheel2->SetSafetyEnabled(false); // motor safety off while configuring topWheel2->SetSpeedReference( CANJaguar::kSpeedRef_Encoder ); topWheel2->ConfigEncoderCodesPerRev( 1 ); #endif topTach = new Tachometer(2); #endif #ifdef HAVE_BOTTOM_WHEEL #ifdef HAVE_BOTTOM_CAN1 bottomWheel1 = new CANJaguar(3); bottomWheel1->SetSafetyEnabled(false); // motor safety off while configuring bottomWheel1->SetSpeedReference( CANJaguar::kSpeedRef_Encoder ); bottomWheel1->ConfigEncoderCodesPerRev( 1 ); #endif #ifdef HAVE_BOTTOM_PWM1 bottomWheel1 = new Victor(2); bottomWheel1->SetSafetyEnabled(false); // motor safety off while configuring #endif #ifdef HAVE_BOTTOM_CAN2 bottomWheel2 = new CANJaguar(4); bottomWheel2->SetSafetyEnabled(false); // motor safety off while configuring bottomWheel2->SetSpeedReference( CANJaguar::kSpeedRef_Encoder ); bottomWheel2->ConfigEncoderCodesPerRev( 1 ); #endif bottomTach = new Tachometer(3); #endif #ifdef HAVE_ARM arm = new DoubleSolenoid(2, 1); #endif #ifdef HAVE_INJECTOR injectorL = new DoubleSolenoid(5, 3); injectorR = new DoubleSolenoid(6, 4); #endif #ifdef HAVE_EJECTOR ejector = new Solenoid(7); #endif #ifdef HAVE_LEGS legs = new Solenoid(8); #endif ds = DriverStation::GetInstance(); eio = &ds->GetEnhancedIO(); gamepad = new Joystick(1); LiveWindow *lw = LiveWindow::GetInstance(); #ifdef HAVE_COMPRESSOR lw->AddActuator("K9", "Compressor", compressor); #endif #ifdef HAVE_TOP_WHEEL #ifdef HAVE_TOP_CAN1 lw->AddActuator("K9", "Top1", topWheel1); #endif #ifdef HAVE_TOP_PWM1 lw->AddActuator("K9", "Top1", topWheel1); #endif #ifdef HAVE_TOP_CAN2 lw->AddActuator("K9", "Top2", topWheel2); #endif #endif #ifdef HAVE_BOTTOM_WHEEL #ifdef HAVE_BOTTOM_CAN1 lw->AddActuator("K9", "Bottom1", bottomWheel1); #endif #ifdef HAVE_BOTTOM_PWM1 lw->AddActuator("K9", "Bottom1", bottomWheel1); #endif #ifdef HAVE_BOTTOM_CAN2 lw->AddActuator("K9", "Bottom2", bottomWheel2); #endif #endif #ifdef HAVE_ARM lw->AddActuator("K9", "Arm", arm); #endif #ifdef HAVE_INJECTOR lw->AddActuator("K9", "InjectorL", injectorL); lw->AddActuator("K9", "InjectorR", injectorR); #endif #ifdef HAVE_EJECTOR lw->AddActuator("K9", "Ejector", ejector); #endif #ifdef HAVE_LEGS lw->AddActuator("K9", "Legs", legs); #endif SmartDashboard::PutNumber("Shooter P", kP); SmartDashboard::PutNumber("Shooter I", kI); SmartDashboard::PutNumber("Shooter D", kD); spinFastNow = false; #ifdef HAVE_TOP_WHEEL SmartDashboard::PutNumber("Top Set ", topSpeed); #ifdef HAVE_TOP_CAN1 SmartDashboard::PutNumber("Top Current 1", 0.0); #endif #ifdef HAVE_TOP_CAN2 SmartDashboard::PutNumber("Top Current 2", 0.0); SmartDashboard::PutNumber("Top Jag ", 0.0); #endif SmartDashboard::PutNumber("Top Tach ", 0.0); #endif #ifdef HAVE_BOTTOM_WHEEL SmartDashboard::PutNumber("Bottom Set ", bottomSpeed); #ifdef HAVE_BOTTOM_CAN1 SmartDashboard::PutNumber("Bottom Current 1", 0.0); #endif #ifdef HAVE_BOTTOM_CAN2 SmartDashboard::PutNumber("Bottom Current 2", 0.0); SmartDashboard::PutNumber("Bottom Jag ", 0.0); #endif SmartDashboard::PutNumber("Bottom Tach ", 0.0); #endif SetPeriod(0); //Set update period to sync with robot control packets (20ms nominal) printf("<<< RobotInit\n"); }
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION void RobotMap::init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS LiveWindow* lw = LiveWindow::GetInstance(); drivetrainFrontRight = new Talon(1, 1); lw->AddActuator("Drivetrain", "Front Right", (Talon*) drivetrainFrontRight); drivetrainFrontLeft = new Talon(1, 2); lw->AddActuator("Drivetrain", "Front Left", (Talon*) drivetrainFrontLeft); drivetrainBackRight = new Talon(1, 3); lw->AddActuator("Drivetrain", "Back Right", (Talon*) drivetrainBackRight); drivetrainBackLeft = new Talon(1, 4); lw->AddActuator("Drivetrain", "Back Left", (Talon*) drivetrainBackLeft); drivetrainDrivetrain = new RobotDrive(drivetrainFrontLeft, drivetrainBackLeft, drivetrainFrontRight, drivetrainBackRight); drivetrainDrivetrain->SetSafetyEnabled(true); drivetrainDrivetrain->SetExpiration(0.1); drivetrainDrivetrain->SetSensitivity(0.5); drivetrainDrivetrain->SetMaxOutput(1.0); shooterDiskPusher = new Relay(1, 1); lw->AddActuator("Shooter", "Disk Pusher", shooterDiskPusher); shooterShooterEncoder = new GearTooth(1, 1, false); lw->AddSensor("Shooter", "Shooter Encoder", shooterShooterEncoder); shooterShooterTalon1 = new Talon(1, 5); lw->AddActuator("Shooter", "Shooter Talon 1", (Talon*) shooterShooterTalon1); shooterShooterTalon2 = new Talon(1, 6); lw->AddActuator("Shooter", "Shooter Talon 2", (Talon*) shooterShooterTalon2); shooterPusherStopSwitch = new DigitalInput(1, 2); lw->AddSensor("Shooter", "Pusher Stop Switch", shooterPusherStopSwitch); climberClimberTalon1 = new Talon(1, 7); lw->AddActuator("Climber", "Climber Talon 1", (Talon*) climberClimberTalon1); climberClimberBeltSystem = new Relay(1, 2); lw->AddActuator("Climber", "Climber Belt System", climberClimberBeltSystem); climberDiskStopper1 = new Servo(1, 9); lw->AddActuator("Climber", "Disk Stopper 1", climberDiskStopper1); climberDiskStopper2 = new Servo(1, 10); lw->AddActuator("Climber", "Disk Stopper 2", climberDiskStopper2); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }