Пример #1
0
	void RobotInit(void) {
		// Actions which would be performed once (and only once) upon initialization of the
		// robot would be put here.
		
		// Test to see if Dashboard is connected---------------------------------------------------------
//		printf("HUE MIN: %d\n", SmartDashboard::GetNumber("HUE MIN"));
		
		// Initialize exponent value from SmartDashboard
		exp = 3.0;
		
		buttonWasDown = false;
		// Initialize settings for encoder drive PIDControllers
//		Drive_PID_Controller->SetOutputRange(-0.2, 0.2);
//		Drive_PID_Controller->SetTolerance(0.1);
		
		// Initialize settings for RobotTurn
//		Goal_Align_PID->SetOutputRange(-0.2, 0.2);
//		Goal_Align_PID->SetTolerance(0.1);
        
		// Set encoders
        Front_R->ConfigEncoderCodesPerRev(360);
        Front_L->ConfigEncoderCodesPerRev(360);
		
        // Set each drive motor to have an encoder to be its friend
        Front_R->SetPositionReference(CANJaguar::kPosRef_QuadEncoder);
        Front_L->SetPositionReference(CANJaguar::kPosRef_QuadEncoder);
        
		
		printf("RobotInit() completed.\n");
	}
Пример #2
0
	void RawControl::resetArm()
	{
		arm->SetPID(-5, 0, 0);
		arm->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
		arm->SetSafetyEnabled(false);
		arm->SetPositionReference(CANJaguar::kPosRef_Potentiometer);
		arm->ConfigEncoderCodesPerRev(1);
		arm->EnableControl(0);
		
	}
Пример #3
0
	void RawControl::checkJag()
	{
		
		if(frontRight->GetFaults()!=0)
		{
			frontRight->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
			frontRight->SetSafetyEnabled(false);
			frontRight->ConfigEncoderCodesPerRev(360);
			frontRight->EnableControl(0);

		}
		if(frontLeft->GetFaults()!=0)
		{
			frontLeft->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
			frontLeft->SetSafetyEnabled(false);
			frontLeft->ConfigEncoderCodesPerRev(360);
			frontLeft->EnableControl(0);
			
		}
		if(backLeft->GetFaults()!=0)
		{
			backLeft->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
			backLeft->SetSafetyEnabled(false);
			backLeft->ConfigEncoderCodesPerRev(360);
			backLeft->EnableControl(0);
			
		}
		if(backRight->GetFaults()!=0)
		{
			backRight->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
			backRight->SetSafetyEnabled(false);
			backRight->ConfigEncoderCodesPerRev(360);
			backRight->EnableControl(0);
			
		}
		if(arm->GetFaults()!=0)
		{
			arm->SetPID(ARM_P, -.02, 0);
			arm->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
			arm->SetSafetyEnabled(false);
			arm->ConfigMaxOutputVoltage(13);
			arm->SetPositionReference(CANJaguar::kPosRef_Potentiometer);
			arm->ConfigPotentiometerTurns(1);
			arm->EnableControl(0);
		}
		
		
	}
Пример #4
0
//CHECK THIS OUT!!
	void RawControl::configJags() {
		//will need to be tuned on the new robot
		frontLeft->SetPID(3, .07, 0);//tested values are 1,.02,0
		frontRight->SetPID(3, .09, 0);
		backLeft->SetPID(1, .013, 0);
		backRight->SetPID(1.2, .013, 0);
		arm->SetPID(ARM_P, -.02, 0);

		backLeft->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
		frontLeft->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
		frontRight->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
		backRight->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
		arm->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
		//shoot everything remotely safety related
		backLeft->SetSafetyEnabled(false);
		backRight->SetSafetyEnabled(false);
		frontLeft->SetSafetyEnabled(false);
		frontRight->SetSafetyEnabled(false);
		arm->SetSafetyEnabled(false);
		
		
		

		frontLeft->ConfigMaxOutputVoltage(13);
		frontRight->ConfigMaxOutputVoltage(13);
		backLeft->ConfigMaxOutputVoltage(13);
		backRight->ConfigMaxOutputVoltage(13);
		arm->ConfigMaxOutputVoltage(13);

		frontLeft->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
		frontRight->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
		backRight->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
		backLeft->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
		arm->SetPositionReference(CANJaguar::kPosRef_Potentiometer);
		//not sure on these values either
		frontLeft->ConfigEncoderCodesPerRev(360);
		frontRight->ConfigEncoderCodesPerRev(360);
		backLeft->ConfigEncoderCodesPerRev(360);
		backRight->ConfigEncoderCodesPerRev(360);
		arm->ConfigPotentiometerTurns(1);
		frontLeft->ChangeControlMode(CANJaguar::kPercentVbus);
		frontRight->ChangeControlMode(CANJaguar::kPercentVbus);
		backLeft->ChangeControlMode(CANJaguar::kPercentVbus);
		backRight->ChangeControlMode(CANJaguar::kPercentVbus);
		frontLeft->EnableControl(0);
		frontRight->EnableControl(0);
		backLeft->EnableControl(0);
		backRight->EnableControl(0);
		frontLeft->ConfigFaultTime(0);
		backLeft->ConfigFaultTime(0);
		backRight->ConfigFaultTime(0);
		frontRight->ConfigFaultTime(0);
		arm->ConfigFaultTime(0);
		arm->EnableControl(0);
		arm->EnableControl(0);
		
		
		/*
		 fl=new CANJaguar(2,CANJaguar::kSpeed);
		 fr=new CANJaguar(3,CANJaguar::kSpeed);
		 bl=new CANJaguar(4,CANJaguar::kSpeed);
		 br=new CANJaguar(1,CANJaguar::kSpeed);
		 
		 fl->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
		 fr->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
		 br->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
		 bl->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
		 
		 fl->ConfigEncoderCodesPerRev(1440);
		 fr->ConfigEncoderCodesPerRev(1440);
		 bl->ConfigEncoderCodesPerRev(1440);
		 br->ConfigEncoderCodesPerRev(1440);
		 */
	}