static Hardware() { _leftDrive = new VictorSPX(1); _rightDrive = new VictorSPX(2); _lid = new TalonSRX(9); _leftDrive.ConfigFactoryDefault(); _rightDrive.ConfigFactoryDefault(); _lid.ConfigFactoryDefault(); _lid.ConfigForwardLimitSwitchSource(CTRE.Phoenix.MotorControl.LimitSwitchSource.FeedbackConnector, CTRE.Phoenix.MotorControl.LimitSwitchNormal.NormallyOpen); _lid.ConfigReverseLimitSwitchSource(CTRE.Phoenix.MotorControl.LimitSwitchSource.FeedbackConnector, CTRE.Phoenix.MotorControl.LimitSwitchNormal.NormallyOpen); _lid.ConfigContinuousCurrentLimit(2); // on port 3: Hardware Pin 1 is CTRE.HERO.IO.Port3.Pin3. // Hardware Pin 6 is CTRE.HERO.IO.Port3.Pin8. _testOutputPort = new OutputPort(CTRE.HERO.IO.Port5.Pin8, false); b0_supply = new OutputPort(CTRE.HERO.IO.Port3.Pin3, false); b0_tank = new OutputPort(CTRE.HERO.IO.Port3.Pin4, false); b0_shot = new OutputPort(CTRE.HERO.IO.Port3.Pin5, false); b1_supply = new OutputPort(CTRE.HERO.IO.Port3.Pin6, false); b1_tank = new OutputPort(CTRE.HERO.IO.Port3.Pin7, false); b1_shot = new OutputPort(CTRE.HERO.IO.Port3.Pin8, false); voltage = new AnalogInput(CTRE.HERO.IO.Port8.Analog_Pin5); lid_limit_switch = new InputPort(CTRE.HERO.IO.Port8.Pin6, false, Port.ResistorMode.PullUp); lid_limit_switch_led = new OutputPort(CTRE.HERO.IO.Port5.Pin3, false); UsbHostDevice usb = CTRE.Phoenix.UsbHostDevice.GetInstance(); _gamepad = new GameController(usb); usb.SetSelectableXInputFilter(UsbHostDevice.SelectableXInputFilter.XInputDevices); _display = new Display(); }
public Lid(BaseMotorController lidMotor, InputPort lidSwitch, OutputPort lidSwitchled) { m_lidMotor = lidMotor; m_lidSwitch = lidSwitch; m_lidSwitchled = lidSwitchled; }
public DifferentialDrive(BaseMotorController left, BaseMotorController right) { this.m_leftMotor = left; this.m_rightMotor = right; }