コード例 #1
0
ファイル: TeleopStateMachine.cs プロジェクト: E-Fv1/Fall20FTC
 public TeleopStateMachine(Intake intake_, Conveyor conveyor_, Climber climber_, GameController gamepad_)
 {
     intake   = intake_;
     conveyor = conveyor_;
     climber  = climber_;
     gamepad  = gamepad_;
 }
コード例 #2
0
        static void Drive()
        {
            if (null == _gamepad)
            {
                _gamepad = new GameController(UsbHostDevice.GetInstance());
            }

            float x     = _gamepad.GetAxis(0);
            float y     = -1 * _gamepad.GetAxis(1);
            float twist = _gamepad.GetAxis(2);

            Deadband(ref x);
            Deadband(ref y);
            Deadband(ref twist);

            float leftThrot  = y + twist;
            float rightThrot = y - twist;

            left.Set(ControlMode.PercentOutput, leftThrot);
            //leftSlave.Set(ControlMode.PercentOutput, leftThrot);
            right.Set(ControlMode.PercentOutput, -rightThrot);
            //rightSlave.Set(ControlMode.PercentOutput, -rightThrot);

            stringBuilder.Append("\t");
            stringBuilder.Append(x);
            stringBuilder.Append("\t");
            stringBuilder.Append(y);
            stringBuilder.Append("\t");
            stringBuilder.Append(twist);
        }
コード例 #3
0
ファイル: Program.cs プロジェクト: FRC2539/KryptonHERO
        public static Button(uint id, dummy execute, dummy end)   // to assign to button, cannot take or return values.
        {
            buttonID = id;
            toDo     = execute;
            onStop   = end;

            if (controller == null)
            {
                controller = new GameController(UsbHostDevice.GetInstance());
            }                                                                                        // Create controller.
        }
コード例 #4
0
 public static void Main()
 {
     /* loop forever */
     while (true)
     {
         if (null == _gamepad)
         {
             _gamepad = new GameController(new CTRE.Phoenix.UsbHostDevice(0));
         }
         // This is the code that keeps the robot safe, if we loose the controller, "DON'T FEED THE DOG"
         if (_gamepad.GetConnectionStatus() == CTRE.Phoenix.UsbDeviceConnection.Connected)
         {
             /* feed watchdog to keep Talon's enabled */
             CTRE.Phoenix.Watchdog.Feed();
             /* drive robot using gamepad */
             Drive();
         }
         /* print whatever is in our string builder */
         Debug.Print(stringBuilder.ToString());
         stringBuilder.Clear();
         /* run this task every 20ms */
         Thread.Sleep(20);
     }
 }
コード例 #5
0
ファイル: Program.cs プロジェクト: E-Fv1/ogon
        public static void Main()
        {
            const int zmove   = 0; //Forwards Backwards
            const int xmove   = 1; //Left Right
            const int zxmove  = 2; // All directions
            const int stoppls = 4;
            int       mode    = zmove;

            int auton = 1;

            const int mechTalonid1 = 668;
            const int mechTalonid2 = 25;

            //const int meterTime = 100000000;

            CTRE.Phoenix.MotorControl.CAN.TalonSRX myTalon  = new CTRE.Phoenix.MotorControl.CAN.TalonSRX(0);
            CTRE.Phoenix.MotorControl.CAN.TalonSRX myTalon2 = new CTRE.Phoenix.MotorControl.CAN.TalonSRX(25);

//            CTRE.Phoenix.MotorControl.CAN.TalonSRX myTalon3 = new CTRE.Phoenix.MotorControl.CAN.TalonSRX(mechTalonid1);
//          CTRE.Phoenix.MotorControl.CAN.TalonSRX myTalon4 = new CTRE.Phoenix.MotorControl.CAN.TalonSRX(mechTalonid2);


            /*
             * double read0;
             * double read1;
             * double read2;
             */

            /* create a gamepad object */
            CTRE.Phoenix.Controller.GameController myGamepad = new CTRE.Phoenix.Controller.GameController(new CTRE.Phoenix.UsbHostDevice(0));

            CTRE.Phoenix.Controller.GameControllerValues gv = new CTRE.Phoenix.Controller.GameControllerValues();

            /* loop forever */
            //AUTON!!!!
            var startTime = DateTime.UtcNow;


            if (auton == 1)
            {
                startTime = DateTime.Now;

                while (DateTime.UtcNow - startTime < TimeSpan.FromTicks(20500000 * 77 / 100))
                {
                    myTalon2.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, -1);
                    myTalon.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 1);
                    Debug.Print("Test: ");
                    /* allow motor control */
                    CTRE.Phoenix.Watchdog.Feed();
                }

                startTime = DateTime.UtcNow;

                while (DateTime.UtcNow - startTime < TimeSpan.FromTicks(10000))
                {
                    myTalon.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 0);
                    myTalon2.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 0);
                    CTRE.Phoenix.Watchdog.Feed();
                }

                startTime = DateTime.UtcNow;

                while (DateTime.UtcNow - startTime < TimeSpan.FromTicks(7000000))
                {
                    myTalon.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 1);
                    myTalon2.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 1);
                    Debug.Print("turn");
                    CTRE.Phoenix.Watchdog.Feed();
                }

                startTime = DateTime.UtcNow;

                while (DateTime.UtcNow - startTime < TimeSpan.FromTicks(28000000))
                {
                    myTalon.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 1);
                    myTalon2.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, -1);
                    Debug.Print("fwrd");
                    CTRE.Phoenix.Watchdog.Feed();
                }

                startTime = DateTime.UtcNow;

                while (DateTime.UtcNow - startTime < TimeSpan.FromTicks(1000000))
                {
                    myTalon.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 1);
                    myTalon2.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 1);
                    Debug.Print("turn2");
                    CTRE.Phoenix.Watchdog.Feed();
                }

                startTime = DateTime.UtcNow;

                while (DateTime.UtcNow - startTime < TimeSpan.FromTicks(1000000))
                {
                    myTalon.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 0);
                    myTalon2.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 0);
                    Debug.Print("stopping");
                    CTRE.Phoenix.Watchdog.Feed();
                }
            }
            while (true)
            {
                /*
                 * read0 = analogInput0.Read();
                 * read1 = analogInput1.Read();
                 * read2 = analogInput2.Read();
                 */
                //Debug.Print("bruh");
                myGamepad.GetAllValues(ref gv);

                if (myGamepad.GetButton(1) == true)
                {
                    mode = zmove; //forwardsbackwards
                }
                else if (myGamepad.GetButton(2) == true)
                {
                    mode = xmove; //leftright
                }
                else if (myGamepad.GetButton(3) == true)
                {
                    mode = zxmove;
                }
                else if (myGamepad.GetButton(4) == true)
                {
                    mode = stoppls;
                }

                float speed = myGamepad.GetAxis(1) * -1;
                float turn  = myGamepad.GetAxis(0) * 1;

                float shoulder = myGamepad.GetAxis(2);
                float elbow    = myGamepad.GetAxis(5);

                if (myGamepad.GetConnectionStatus() == CTRE.Phoenix.UsbDeviceConnection.Connected)
                {
                    /* print the axis values */

                    Debug.Print("axis0 - LSH:" + myGamepad.GetAxis(0));     //Left Stick Horizontal // For movement of the wheels
                    Debug.Print("axis1 - LSV:" + myGamepad.GetAxis(1));     //Left Stick Vertical  //For movement of the wheels
                    Debug.Print("axis2 - RSH:" + myGamepad.GetAxis(2));     //Right Stick Horizontal //For movement of the Arm
                    Debug.Print("axis3 - RSV:" + myGamepad.GetAxis(5));     //Right Stick Vertical //For movement of the Arm
                    if (mode == zmove)
                    {
                        Debug.Print("Forward/Reverse Mode");
                    }
                    else if (mode == xmove)
                    {
                        Debug.Print("Turning Mode");
                    }
                    else if (mode == zxmove)
                    {
                        Debug.Print("Forward/Reverse + Turning Mode");
                    }
                    else if (mode == stoppls)
                    {
                        Debug.Print("STOP!!!");
                    }

                    /* allow motor control */
                    if (gv.pov == 1)
                    {
                        startTime = DateTime.Now;

                        while (DateTime.UtcNow - startTime < TimeSpan.FromTicks(20500000 * 77 / 100))
                        {
                            myTalon2.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, -1);
                            myTalon.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 1);
                            Debug.Print("Test: ");
                            /* allow motor control */
                            CTRE.Phoenix.Watchdog.Feed();
                        }

                        startTime = DateTime.UtcNow;

                        while (DateTime.UtcNow - startTime < TimeSpan.FromTicks(10000))
                        {
                            myTalon.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 0);
                            myTalon2.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 0);
                            CTRE.Phoenix.Watchdog.Feed();
                        }

                        startTime = DateTime.UtcNow;

                        while (DateTime.UtcNow - startTime < TimeSpan.FromTicks(7000000))
                        {
                            myTalon.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 1);
                            myTalon2.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 1);
                            Debug.Print("turn");
                            CTRE.Phoenix.Watchdog.Feed();
                        }

                        startTime = DateTime.UtcNow;

                        while (DateTime.UtcNow - startTime < TimeSpan.FromTicks(28000000))
                        {
                            myTalon.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 1);
                            myTalon2.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, -1);
                            Debug.Print("fwrd");
                            CTRE.Phoenix.Watchdog.Feed();
                        }

                        startTime = DateTime.UtcNow;

                        while (DateTime.UtcNow - startTime < TimeSpan.FromTicks(1000000))
                        {
                            myTalon.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 1);
                            myTalon2.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 1);
                            Debug.Print("turn2");
                            CTRE.Phoenix.Watchdog.Feed();
                        }

                        startTime = DateTime.UtcNow;

                        while (DateTime.UtcNow - startTime < TimeSpan.FromTicks(1000000))
                        {
                            myTalon.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 0);
                            myTalon2.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 0);
                            Debug.Print("stopping");
                            CTRE.Phoenix.Watchdog.Feed();
                        }
                    }


                    if (gv.pov == 2)
                    {
                        Debug.Print("p2");
                    }
                    else if (gv.pov == 3)
                    {
                        Debug.Print("p3");
                    }
                    else if (gv.pov == 4)
                    {
                        Debug.Print("p4");
                    }
                    else if (gv.pov == 5)
                    {
                        Debug.Print("p5");
                    }
                    else if (gv.pov == 6)
                    {
                        Debug.Print("p6");
                    }
                    else if (gv.pov == 7)
                    {
                        Debug.Print("p7");
                    }
                    else if (gv.pov == 8)
                    {
                        Debug.Print("p8");
                    }
                    else
                    {
                    }

                    if (mode == zmove)
                    {
                        myTalon.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, speed * 1);
                        myTalon2.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, speed * -1);

                        //   myTalon3.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, shoulder);
                        // myTalon4.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, elbow);
                    }
                    else if (mode == xmove)
                    {
                        myTalon.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, turn * 1);
                        myTalon2.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, turn * 1);

                        //myTalon3.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, shoulder);
                        //myTalon4.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, elbow);
                    }
                    else if (mode == zxmove)
                    {
                        myTalon.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, (speed * 1) + turn);
                        myTalon2.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, (speed * -1) + turn);

                        //myTalon3.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, shoulder);
                        //myTalon4.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, elbow);
                    }
                    else if (mode == stoppls)
                    {
                        myTalon.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 0);
                        myTalon2.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 0);

                        //myTalon3.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 0);
                        //myTalon4.Set(CTRE.Phoenix.MotorControl.ControlMode.PercentOutput, 0);
                    }
                }


                Thread.Sleep(10);

                CTRE.Phoenix.Watchdog.Feed();
            }
        }
コード例 #6
0
 public LogitechWirelessGamepad(uint usbPortNumber)
 {
     gamepad = new CTRE.Phoenix.Controller.GameController(new CTRE.Phoenix.UsbHostDevice(usbPortNumber));
 }