예제 #1
0
 /// <summary>
 /// Drive the specified rotations.
 /// </summary>
 /// <param name="leftRotations">Linear distance for the left motor to travel.</param>
 /// <param name="rightRotations">Linear distance for the right motor to travel.</param>
 public static void DriveRotations(double rightRotations)
 {
     SmartDashboard.PutNumber("Right Ticks", rightRotations);
     Right1.SetEncoderPostition(0); // Reset the encoder position to 0.
     Left1.SetEncoderPostition(0);  // Reset the eoncoder position to 0.
     RobotMap.Right1.Set(rightRotations);
     RobotMap.Left1.Set(rightRotations);
 }
예제 #2
0
        public static void DriveFast(double desiredDistance)
        {
            AutoFunctions.ConfigureTalon(Right1, ConfigureType.Position, new EncoderParameters
            {
                AllowedError   = 0,
                Device         = CANTalon.FeedbackDevice.CtreMagEncoderRelative,
                NominalVoltage = 0.0f,
                PeakVoltage    = 12f * .7f,
                PIDFValues     = new PIDF
                {
                    kP = 0.151,
                    kI = 0,
                    kD = 0,
                    kF = 0
                },
                ReverseSensor = false
            });
            AutoFunctions.ConfigureTalon(Left1, ConfigureType.Position, new EncoderParameters
            {
                AllowedError   = 0,
                Device         = CANTalon.FeedbackDevice.CtreMagEncoderRelative,
                NominalVoltage = 0.0f,
                PeakVoltage    = 12f * .9f,
                PIDFValues     = new PIDF
                {
                    kP = 0.151,
                    kI = 0,
                    kD = 0,
                    kF = 0
                },
                ReverseSensor = true
            });

            Right1.SetEncoderPostition(0); // Reset the encoder position to 0.
            Left1.SetEncoderPostition(0);  // Reset the eoncoder position to 0.
            // Converts meters to inches.
            double desiredInches = 39.3701 * desiredDistance;

            // Converts inches to rotations.
            double rotations = desiredInches / 3.29; // 3.29 inches per rotation.

            // Gets the displacement of the motors to set.
            double left  = /*(RobotMap.Left1 .GetEncoderPosition() / 4096 * 39.3701 / 3.29) + */ rotations;
            double right = /*(RobotMap.Right1.GetEncoderPosition() / 4096 * 39.3701 / 3.29) + */ rotations;

            // Drive with the specified distance.
            DriveRotations(left);

            SmartDashboard.PutNumber("Encoder Distance", rotations);
        }
예제 #3
0
        /// <summary>
        /// Initializes the AutoHandler.
        /// </summary>
        protected override void Init()
        {
            // Instantiates AutoHandler.
            AutoHandler = new Handler();

            //Sets the CAN Talons to rely off of the encoders for movement.
            AutoFunctions.ConfigureTalon(Right1, ConfigureType.Position, new EncoderParameters
            {
                AllowedError   = 0,
                Device         = CANTalon.FeedbackDevice.CtreMagEncoderRelative,
                NominalVoltage = 0.0f,
                PeakVoltage    = 12.0f,
                PIDFValues     = new PIDF
                {
                    kP = 0.151,
                    kI = 0,
                    kD = 0,
                    kF = 0
                },
                ReverseSensor = false
            });
            AutoFunctions.ConfigureTalon(Left1, ConfigureType.Position, new EncoderParameters
            {
                AllowedError   = 0,
                Device         = CANTalon.FeedbackDevice.CtreMagEncoderRelative,
                NominalVoltage = 0.0f,
                PeakVoltage    = 12.0f, //3.4f
                PIDFValues     = new PIDF
                {
                    kP = 0.151,
                    kI = 0,
                    kD = 0,
                    kF = 0
                },
                ReverseSensor = true
            });

            Right1.SetEncoderPostition(0); // Reset the encoder position to 0.
            Right1.ReverseOutput(true);    // Reverse the direction of the motor.
            Right2.MotorControlMode = WPILib.Interfaces.ControlMode.Follower;
            Right2.Set(Right1.DeviceId);   // Configure the second right talon to be a follower of the other right talon.

            Left1.SetEncoderPostition(0);  // Reset the eoncoder position to 0.
            Left1.ReverseOutput(false);    // Reverse the direction of the motor.
            Left1.ReverseSensor(true);
            Left2.MotorControlMode = WPILib.Interfaces.ControlMode.Follower;
            Left2.Set(Left1.DeviceId); // Configure the second left talon to be a follower of the other left talon.

            NavX.Reset();              // Reset the NavX's yaw value to zero.
        }
예제 #4
0
        /// <summary>
        /// Runs the auto handler.
        /// </summary>
        protected override void Main()
        {
            Right1.SetEncoderPostition(0); // Reset the encoder position to 0.
            Left1.SetEncoderPostition(0);  // Reset the eoncoder position to 0.
            // Runs the selected autonomous.
            //AutoHandler.RunAuto(Handler.AutoPosition.Disabled);
            // Both down. 0b00
            if (DriveStick_Left.GetAxis(WPILib.Joystick.AxisType.Z) < 0.5 && DriveStick_Right.GetAxis(WPILib.Joystick.AxisType.Z) < 0.5)
            {
                SmartConsole.PrintInfo("Currently running disabled autonomous on the " + DriverStation.Instance.GetAlliance() + " alliance.");
                AutoHandler.RunAuto(Handler.AutoPosition.Disabled);
            }
            // Left stick down, right stick up. 0b01
            else if (DriveStick_Left.GetAxis(WPILib.Joystick.AxisType.Z) < 0.5 && DriveStick_Right.GetAxis(WPILib.Joystick.AxisType.Z) > 0.5)
            {
                SmartConsole.PrintInfo("Currently running position 1 autonomous on the " + DriverStation.Instance.GetAlliance() + " alliance.");
                AutoHandler.RunAuto(Handler.AutoPosition.Position1);
            }
            // Left stick up, right stick down. 0b10
            else if (DriveStick_Left.GetAxis(WPILib.Joystick.AxisType.Z) > 0.5 && DriveStick_Right.GetAxis(WPILib.Joystick.AxisType.Z) < 0.5)
            {
                SmartConsole.PrintInfo("Currently running position 2 autonomous on the " + DriverStation.Instance.GetAlliance() + " alliance.");
                AutoHandler.RunAuto(Handler.AutoPosition.Position2);

                /*DriveTrain.Move(.65, .70);
                 *
                 * Snooze(2500);
                 *
                 * DriveTrain.StopMotor();
                 *
                 * GearSlot.Set(true);
                 *
                 * while (true) Snooze(1);*/
            }
            // Left stick up, right stick up. 0b11
            else if (DriveStick_Left.GetAxis(WPILib.Joystick.AxisType.Z) > 0.5 && DriveStick_Right.GetAxis(WPILib.Joystick.AxisType.Z) > 0.5)
            {
                SmartConsole.PrintInfo("Currently running position 3 autonomous on the " + DriverStation.Instance.GetAlliance() + " alliance.");
                AutoHandler.RunAuto(Handler.AutoPosition.Position3);
            }
        }