LFRobotics
28-01-2015, 17:29
I uploaded this code and the second I press Enable for teleop the robot goes crazy and all the motors fire. This program is only made to straffe and go forwards/backwards.
Here it is:
package org.usfirst.frc.team4623.robot;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
*/
public class Robot extends IterativeRobot {
public XBox stick = new XBox(0);
SpeedController frontLeftMotor = new Jaguar(0);
SpeedController frontRightMotor = new Jaguar(1);
SpeedController rearLeftMotor = new Jaguar(2);
SpeedController rearRightMotor = new Jaguar(3);
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
public void robotInit() {
}
/**
* This function is run once each time the robot enters autonomous mode
*/
public void autonomousInit() {
}
/**
* This function is called periodically during autonomous
*/
public void autonomousPeriodic() {
}
/**
* This function is called once each time the robot enters tele-operated mode
*/
public void teleopInit(){
}
/**
* This function is called periodically during operator control
*/
public void teleopPeriodic() {
mecanumDrive(
(XBox.LEFTJOY_X+XBox.LEFTJOY_Y)/2,
(XBox.LEFTJOY_Y-XBox.LEFTJOY_X)/2,
-(XBox.LEFTJOY_Y-XBox.LEFTJOY_X)/2,
-(XBox.LEFTJOY_X+XBox.LEFTJOY_Y)/2);
}
/**
* This function is called periodically during test mode
*/
public void testPeriodic() {
LiveWindow.run();
}
public void mecanumDrive(double FL, double RL, double FR, double RR) {
frontLeftMotor.set(FL);
rearLeftMotor.set(RL);
frontRightMotor.set(FR);
rearRightMotor.set(RR);
}
}
It is pulling XBox stuff from this class:
package org.usfirst.frc.team4623.robot;
import edu.wpi.first.wpilibj.Joystick;
/**
*
* @author FrankyMonez
*/
public class XBox extends Joystick{
public XBox(int port) {
super(port);
}
public static final int
A_BUTTON = 1,
B_BUTTON = 2,
X_BUTTON = 3,
Y_BUTTON = 4,
START_BUTTON = 8,
BACK_BUTTON = 7,
LS_BUTTON = 9,
RS_BUTTON = 10,
RB_BUTTON = 6,
LB_BUTTON = 5,
LEFTJOY_Y = 2,
LEFTJOY_X = 1,
RIGHTJOY_Y = 5,
RIGHTJOY_X = 4,
LEFT_TRIGGER = 3,
RIGHT_TRIGGER = 3;
public boolean getButtonA() {
return getRawButton(A_BUTTON);
}
public boolean getButtonB() {
return getRawButton(B_BUTTON);
}
public boolean getButtonX() {
return getRawButton(X_BUTTON);
}
public boolean getButtonY() {
return getRawButton(Y_BUTTON);
}
public boolean getButtonRB() {
return getRawButton(RB_BUTTON);
}
public boolean getButtonLB() {
return getRawButton(LB_BUTTON);
}
public boolean getButtonRS() {
return getRawButton(RS_BUTTON);
}
public boolean getButtonLS() {
return getRawButton(LS_BUTTON);
}
public boolean getButtonStart() {
return getRawButton(START_BUTTON);
}
public boolean getButtonBack() {
return getRawButton(BACK_BUTTON);
}
public double getLeftJoyY() {
return getRawAxis(LEFTJOY_Y);
}
public double getLeftJoyX() {
return getRawAxis(LEFTJOY_X);
}
public double getRightJoyY() {
return getRawAxis(RIGHTJOY_Y);
}
public double getRightJoyX(){
return getRawAxis(RIGHTJOY_X);
}
public double getRightTrigger() {
return -Math.min(getRawAxis(RIGHT_TRIGGER), 0);
}
public double getLeftTrigger() {
return Math.max(getRawAxis(LEFT_TRIGGER), 0);
}
}
THANKS for the help!
Here it is:
package org.usfirst.frc.team4623.robot;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
*/
public class Robot extends IterativeRobot {
public XBox stick = new XBox(0);
SpeedController frontLeftMotor = new Jaguar(0);
SpeedController frontRightMotor = new Jaguar(1);
SpeedController rearLeftMotor = new Jaguar(2);
SpeedController rearRightMotor = new Jaguar(3);
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
public void robotInit() {
}
/**
* This function is run once each time the robot enters autonomous mode
*/
public void autonomousInit() {
}
/**
* This function is called periodically during autonomous
*/
public void autonomousPeriodic() {
}
/**
* This function is called once each time the robot enters tele-operated mode
*/
public void teleopInit(){
}
/**
* This function is called periodically during operator control
*/
public void teleopPeriodic() {
mecanumDrive(
(XBox.LEFTJOY_X+XBox.LEFTJOY_Y)/2,
(XBox.LEFTJOY_Y-XBox.LEFTJOY_X)/2,
-(XBox.LEFTJOY_Y-XBox.LEFTJOY_X)/2,
-(XBox.LEFTJOY_X+XBox.LEFTJOY_Y)/2);
}
/**
* This function is called periodically during test mode
*/
public void testPeriodic() {
LiveWindow.run();
}
public void mecanumDrive(double FL, double RL, double FR, double RR) {
frontLeftMotor.set(FL);
rearLeftMotor.set(RL);
frontRightMotor.set(FR);
rearRightMotor.set(RR);
}
}
It is pulling XBox stuff from this class:
package org.usfirst.frc.team4623.robot;
import edu.wpi.first.wpilibj.Joystick;
/**
*
* @author FrankyMonez
*/
public class XBox extends Joystick{
public XBox(int port) {
super(port);
}
public static final int
A_BUTTON = 1,
B_BUTTON = 2,
X_BUTTON = 3,
Y_BUTTON = 4,
START_BUTTON = 8,
BACK_BUTTON = 7,
LS_BUTTON = 9,
RS_BUTTON = 10,
RB_BUTTON = 6,
LB_BUTTON = 5,
LEFTJOY_Y = 2,
LEFTJOY_X = 1,
RIGHTJOY_Y = 5,
RIGHTJOY_X = 4,
LEFT_TRIGGER = 3,
RIGHT_TRIGGER = 3;
public boolean getButtonA() {
return getRawButton(A_BUTTON);
}
public boolean getButtonB() {
return getRawButton(B_BUTTON);
}
public boolean getButtonX() {
return getRawButton(X_BUTTON);
}
public boolean getButtonY() {
return getRawButton(Y_BUTTON);
}
public boolean getButtonRB() {
return getRawButton(RB_BUTTON);
}
public boolean getButtonLB() {
return getRawButton(LB_BUTTON);
}
public boolean getButtonRS() {
return getRawButton(RS_BUTTON);
}
public boolean getButtonLS() {
return getRawButton(LS_BUTTON);
}
public boolean getButtonStart() {
return getRawButton(START_BUTTON);
}
public boolean getButtonBack() {
return getRawButton(BACK_BUTTON);
}
public double getLeftJoyY() {
return getRawAxis(LEFTJOY_Y);
}
public double getLeftJoyX() {
return getRawAxis(LEFTJOY_X);
}
public double getRightJoyY() {
return getRawAxis(RIGHTJOY_Y);
}
public double getRightJoyX(){
return getRawAxis(RIGHTJOY_X);
}
public double getRightTrigger() {
return -Math.min(getRawAxis(RIGHT_TRIGGER), 0);
}
public double getLeftTrigger() {
return Math.max(getRawAxis(LEFT_TRIGGER), 0);
}
}
THANKS for the help!