Robot() :
		robotDrive(Motor1, Motor2),	// these must be initialized in the same order
		stick(5),		// as they are declared above.
		lw(LiveWindow::GetInstance()),
		autoLoopCounter(0),
		Motor1(21),
		Motor2(12),
		Slave1(20),
		Slave2(14),
		t_motor(13),
		arm_Motor(23),
		finger_Motor(22),
		intake_Spin_Motor(11),
		intake_Winch_Motor(13),
		stick2(4),
		autoLoopCounter2(0)
	{
		robotDrive.SetExpiration(0.1);
		robotDrive.SetSafetyEnabled(false);
		Slave1.SetControlMode(CANSpeedController::kFollower);
		Slave1.Set(21);
		Slave2.SetControlMode(CANSpeedController::kFollower);
		Slave2.Set(12);
		Motor2.SetInverted(true); //12
		Slave2.SetInverted(true);//14
		arm_Motor.SetInverted(false);//23
		t_motor.SetInverted(true);//23
//		t_motor.SetControlMode(CANSpeedController::kVoltage);
//		t_motor.Set(0);
//		CameraServer::GetInstance()->SetQuality(50);

//		CameraServer::GetInstance()->SetSize(2);
//		//the camera name (ex "cam0") can be found through the roborio web interface
//		CameraServer::GetInstance()->StartAutomaticCapture("cam0");

		t_motor.SetControlMode(CANSpeedController::kPercentVbus);
//		t_motor.SetVoltageCompensationRampRate(24.0);
		t_motor.SetFeedbackDevice(CANTalon::QuadEncoder);
		t_motor.SetPosition(0);
//		t_motor.SetPID(1, 0, 0);
		arm_Motor.SetControlMode(CANSpeedController::kPercentVbus);
		finger_Motor.SetControlMode(CANSpeedController::kPercentVbus);
//		ourRangefinder = new AnalogInput(0);

	}
Пример #2
0
	void RobotInit()
	{
//		Auto chooser
		chooser = new SendableChooser();
		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
		SmartDashboard::PutData("Auto Modes", chooser);

//		Drive declarations
		frontLeftTalon = new CANTalon(frontLeftChannel);
		rearLeftTalon = new CANTalon(rearLeftChannel);
		frontRightTalon = new Victor(frontRightChannel);
		rearRightTalon = new CANTalon(rearRightChannel);
		//frontLeftTalon->SetInverted(true);
		rearLeftTalon->SetInverted(true);
		yawGyro = new ADXRS450_Gyro();
		robotDrive = new RobotDrive(frontLeftTalon, rearLeftTalon, frontRightTalon, rearRightTalon);
		flightStick = new Joystick(flightstickChannel);
		robotDrive -> SetSafetyEnabled(false);

//		Shooter variable declarations MAKE SURE YOU PLUG THEM INTO THE RIGHT PORTS WENDY
		motor1 = new Talon(8); // loook above
		motor2 = new Jaguar(4);
		motor3 = new Jaguar(5);
		shootStick = new Joystick(0);
		shooterSwitch = new DigitalInput(0);

//		Distance sensor declarations
		distanceSensor = new AnalogInput(0);
		getVcc = new AnalogInput(2);

//		Servo
		doorLift = new Servo(9);

//		Camera stuff
		camera1 = new USBCamera("cam0", false);
		camera2 = new USBCamera("cam1", false);
		camera1->OpenCamera();
		camera2->OpenCamera();
		camera1->StartCapture();
		camera2->StartCapture();

		//Camera servos
		frontCamServo = new Servo(10); // WHAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAT
		backCamServo = new Servo(11); // WHAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAT
	}