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();
}
