// Constructor
public StudentCode(Robot robot)
{
this.robot = robot;
smcR = new SimpleMotorController(robot, 13); //let's say 13 is right motor on drivetrain
smcL = new SimpleMotorController(robot, 14); //let's say 14 is left motor on drivetrain
mm = new MicroMaestro(robot, 12);
encL = new Encoder(robot, 0);
encR = new Encoder(robot, 1);
pidL = new PIDController(KP, KI, KD);
pidR = new PIDController(KP, KI, KD);
sDT1 = new SharpDistanceTracker(0);
sDT2 = new SharpDistanceTracker(1);
sDT3 = new SharpDistanceTracker(2);
sDT4 = new SharpDistanceTracker(3);
sDT5 = new SharpDistanceTracker(4);
}
/// <summary>
/// Initializes a new instance of the
/// <see cref="StudentPiER.StudentCode"/> class.
/// </summary>
/// <param name='robot'>
/// The Robot to associate with this StudentCode
/// </param>
public StudentCode(Robot robot)
{
Debug.Print("hello");
this.robot = robot;
this.stopwatch = new Stopwatch();
this.stopwatch.Start();
this.useRfid = true;
if (this.useRfid)
{
this.rfid = new Rfid(robot);
}
this.leftMotor = new GrizzlyBear(robot, Watson.Motor.M0);
this.rightMotor = new GrizzlyBear(robot, Watson.Motor.M1);
this.gearbox = new GrizzlyBear(robot, Watson.Motor.M2, 0, 100, true);
this.sonar = new AnalogSonarDistanceSensor(robot, Watson.Analog.A5);
this.doorController = new MicroMaestro(robot, 12);
this.motorDoor = new ServoMotor(robot, doorController,0,2400,9600);
this.leftEncoder = new GrizzlyEncoder(10, leftMotor, robot);
this.rightEncoder = new GrizzlyEncoder(10, rightMotor, robot);
}
//for hopper delay
//private Boolean dump;
//private Boolean notDump;
//For stage 3 autonomous
//private int n;
/// <summary>
/// Initializes a new instance of the
/// <see cref="StudentPiER.StudentCode"/> class.
/// </summary>
/// <param name='robot'>
/// The Robot to associate with this StudentCode
/// </param>
public StudentCode(Robot robot)
{
this.robot = robot;
this.stopwatch = new Stopwatch();
this.stopwatch.Start();
this.useRfid = false;
/*if (this.useRfid)
{
this.rfid = new Rfid(robot);
}*/
this.leftMotor = new GrizzlyBear(robot, Watson.Motor.M0);
this.rightMotor = new GrizzlyBear(robot, Watson.Motor.M1);
this.conveyorBeltMotor = new GrizzlyBear(robot, Watson.Motor.M3);
this.hopperMotor = new GrizzlyBear(robot, Watson.Motor.M2);
this.sonar = new AnalogSonarDistanceSensor(robot, Watson.Analog.A5);
this.leftEncoder = new GrizzlyEncoder(Step, this.leftMotor, this.robot);
this.rightEncoder = new GrizzlyEncoder(Step, this.rightMotor, this.robot);
this.servoSwitch = new DigitalLimitSwitch(robot, Watson.Digital.D1);
this.autonomousSwitch = new DigitalLimitSwitch(robot, Watson.Digital.D3);
this.StartTime = true;
this.mm = new MicroMaestro(robot, 12);
this.servo0 = new ServoMotor(robot, mm, 0, 500, 2000);
//this.dump = true;
//this.notDump = false;
//this.n = 0;
}
