public static void AfterClass() { pdp.Dispose(); pdp = null; fixture.Teardown(); fixture = null; }
public static void AfterClass() { pdp.Dispose(); pdp = null; fixture.Teardown(); fixture = null; }
public void TestCreatePDPUpperLimit() { SimData.ResetHALData(false); Assert.Throws<ArgumentOutOfRangeException>(() => { PowerDistributionPanel pdp = new PowerDistributionPanel(PDPModules); pdp.GetCurrent(0); }); }
public void TestCreatePDPUpperLimit() { SimData.ResetHALData(false); Assert.Throws <ArgumentOutOfRangeException>(() => { PowerDistributionPanel pdp = new PowerDistributionPanel(PDPModules); pdp.GetCurrent(0); }); }
/// <summary> /// Initialize the controllers. /// </summary> public static void Init() { // Instantiates all the hardware devices with the respective ports. #region InstantiateDevices can_01 = new CANTalon(1); can_02 = new CANTalon(2); //can_02.MotorControlMode = ControlMode.Follower; //can_02.Set(can_01.DeviceId); //can_02.ReverseOutput(true); can_03 = new CANTalon(3); can_04 = new CANTalon(4); //can_04.MotorControlMode = ControlMode.Follower; //can_04.Set(can_03.DeviceId); can_05 = new CANTalon(5); can_06 = new CANTalon(6); can_07 = new CANTalon(7); can_08 = new CANTalon(8); can_09 = new CANTalon(9); can_10 = new CANTalon(10); can_11 = new Compressor(11); can_12 = new PowerDistributionPanel(12); pcm_11_0 = new Solenoid(11, 0); pcm_11_1 = new Solenoid(11, 1); pcm_11_2 = new Solenoid(11, 2); usb_0 = new Joystick(0); usb_1 = new Joystick(1); usb_2 = new Joystick(2); sw_0 = new DriveTrainObject(Left1, Left2, Right1, Right2); #endregion // Clears the sticky faults on all CAN devices. #region ClearCANStickyFaults can_01.ClearStickyFaults(); can_02.ClearStickyFaults(); can_03.ClearStickyFaults(); can_04.ClearStickyFaults(); can_05.ClearStickyFaults(); can_06.ClearStickyFaults(); can_07.ClearStickyFaults(); can_08.ClearStickyFaults(); can_09.ClearStickyFaults(); can_10.ClearStickyFaults(); can_11.ClearAllPCMStickyFaults(); can_12.ClearStickyFaults(); #endregion // Disable motor safety so that it doesn't stop motors from being output to. #region DisableSafety can_01.SafetyEnabled = false; can_02.SafetyEnabled = false; can_03.SafetyEnabled = false; can_04.SafetyEnabled = false; can_05.SafetyEnabled = false; can_06.SafetyEnabled = false; can_07.SafetyEnabled = false; can_08.SafetyEnabled = false; can_09.SafetyEnabled = false; can_10.SafetyEnabled = false; sw_0.SafetyEnabled = false; #endregion Intake2.Inverted = true; Shooter_Pivot.Inverted = true; Intake1.Inverted = true; Agitator.Inverted = true; // Initializes the camera server with the default options. CameraServer.Instance.StartAutomaticCapture(); //UsbCamera cam = new UsbCamera("cam0", 0); //cam.SetResolution(320, 240); //CameraServer.Instance.StartAutomaticCapture(cam); // Instantiates the NavX. NavX = new AHRS(SPI.Port.MXP); // Creates a new copy of the turntable. TurntableEncoder = new Encoder(8, 9); #region PID Controllers // Handles moving forwards and backwards for the shooter using the Pixy as the sensor. CamForward = new CamForwardPID(3.00, 0.00, 0.00, 0.00); // Handles the setpoint needed for the shooter using Pixy data. ShooterPos = new ShooterPosPID(3.00, 0.00, 0.00, 0.00); // Creates a new instance of the turn controller. TurnController = new TurningPID(new PIDF { kP = 0.0465, // 0.054 kI = 0.00, kD = 0.00, kF = 0.00 }); // Sets the tolerance of the PID controller to 0.02. // Cancels the turning if the error is within 0.02. TurnController.Controller.SetAbsoluteTolerance(0.2); // Adds the PID controller to the Live Window for easier testing. LiveWindow.AddActuator("PID Controllers", "Turn Control", TurnController.Controller); #endregion }
public static void BeforeClass() { pdp = new PowerDistributionPanel(); }
public PowerChannel(PowerDistributionPanel panel, int port, string name) { Panel = panel; Port = port; Name = name; }
public PowerSubsystem() { System.Console.WriteLine("Init power subsystem."); pdp = new PowerDistributionPanel(); }
public static void BeforeClass() { pdp = new PowerDistributionPanel(); }