Chief Delphi - Java Arcade with 3 CIM Gearbox

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Coach Seb

01-02-2017 13:41

Java Arcade with 3 CIM Gearbox

Following this video...

https://youtu.be/WO-FAKuhpNs?list=PL...d2I4m8Z6gfm7YC

I have 3 CIM gearbox on each side... comment was made that i may need a y to connect 2 motor into 1 PWM port... i guess thats a limitation on the arcade class???

Since we are using Talon SRX with CAN bus, can i assume that i will just each motor separated in my RobotMap.java like this ?

public static final int
Drive_Left1 = 0,
Drive_Left2 = 1,
Drive_Left3 = 2,
Drive_Right1 = 3,
Drive_Right2 = 4,
Drive_Right3 = 5;

JonKiddy

01-02-2017 13:55

Re: Java Arcade with 3 CIM Gearbox

Our team also uses a 3 CIM gearbox on both sides for our drive train. Look into a slave/master setup. A CANTalon object can be set to follow another CANTalon object.

http://www.ctr-electronics.com/downl...e%20Manual.pdf

Section 9.1.3

Also, I don't believe a y connector is legal (I could be mistaken).

flemdogmillion

01-02-2017 14:10

Re: Java Arcade with 3 CIM Gearbox

Quote:

Originally Posted by JonKiddy (Post 1639094)

PWM Y connectors are legal, a CAN master/slave setup is also legal. (comma splice, I know)

You need one motor controller for each CIM.
You need 6 motor controllers of the same type and settings.
If you go the PWM route, you will need a total of 4 PWM y connectors.
If you go the CAN route, you can simply daisy-chain all of them together, connecting one to the next, eventually connecting all 6 together in a line.

For CAN, unlike PWM, you need to set up your master/slave setup.

PWM is easier to work with in my opinion.

I hope all these snippets help. :)

ozrien

01-02-2017 15:07

Re: Java Arcade with 3 CIM Gearbox

We also have an example that might help....
https://github.com/CrossTheRoadElec/...bot/Robot.java
... basically slave the fifth and sixth talon outside of RobotDrive to the appropriate talons inside RobotDrive.

Quote:

PWM is easier to work with in my opinion.

I argue CANTalon is easier than PWM. If a CANTalon misbehaves you can use the web-based config to determine why - without adding telemetry to your robot code.

A PWM motor controller will provide little feedback as to why it's not doing what you want.

Coach Seb

03-02-2017 10:33

Re: Java Arcade with 3 CIM Gearbox

Omar,

do i add these lines in my robot.java class? or to my robotmap.java class?

I am a little confused and very new to java...

I was trying to use Robotbuilder but gave up because the talon SRX are not available... since it feels that it has not been updated since 2013, i am assuming that some new sensors, actuators are missing and feel that i should just code from scratch and learn the hard way... (that's my french sticking....)

I am now trying to follow the WPILIB docs and this video

Wish i could find a resource that explain what the class are for.... These are my assumption... please correct if i am off....

robot.java --> main program, this is what call all other class/methods
robotmap.java --> where i define ports on Roborio, sensors, controller...
OI --> define my joystick and human interface...

I then create subsystem class in which i call the robotmap.java to get the hardware settings ....

flemdogmillion

03-02-2017 10:53

Re: Java Arcade with 3 CIM Gearbox

Whether or not you use PWM, before you test the code, remove the motors from the gearbox in case one was wired or programmed in reverse polarity.

Coach Seb

03-02-2017 12:29

Re: Java Arcade with 3 CIM Gearbox

so here is what i did.... Hopefully this make sense...

in my RobotMap.java....

Code:

public class RobotMap {

                

        public static CANTalon _frontLeftMotor = new CANTalon(11);  /* device IDs here (1 of 2) */                

        public static CANTalon _rearLeftMotor = new CANTalon(13);

        public static CANTalon _frontRightMotor = new CANTalon(14);

        public static CANTalon _rearRightMotor = new CANTalon(15);



        /* extra talons for six motor drives */

        public static CANTalon _leftSlave = new CANTalon(16);

        public static CANTalon _rightSlave = new CANTalon(17);

then in my DriveTrain_Subsystem class

Code:

private RobotDrive MainDrive = new RobotDrive(RobotMap._frontLeftMotor, RobotMap._rearLeftMotor, RobotMap._frontRightMotor, RobotMap._rearRightMotor);

I added the joystick line in my OI.java class

Code:

Joystick _joy = new Joystick(0);

and finally, added the following to my Robot.java class... unfortunately it will not resolved the DriverJoystick .....

Code:

        public void teleopPeriodic() {

                Scheduler.getInstance().run();

                

            double forward = DriverJoystick.getRawAxis(1); // logitech gampad left X, positive is forward

            double turn = DriverJoystick.getRawAxis(2); //logitech gampad right X, positive means turn right

            DriverJoystick.arcadeDrive(forward, turn);

        }

Any help would be appreciated... i think once i resolve how ot properly use the Talon SRX CAN then i can keep going... until then i am kinda stuck...

Waz	03-02-2017 12:52

Re: Java Arcade with 3 CIM Gearbox

You should just use two motor controllers to create your RobotDrive, one for the left and one for the right, and not four. Then set up the other two left side motors as followers of the one left side motor you used to create RobotDrive. Do the same for the right side.

You do not show your code where you actually set up any motors to be followers. It is well documented in the manual that was linked in a prior post.

Edit: I am assuming here that all three motors on one side are on the same gearbox.

Hope this helps,
Steve

Coach Seb

03-02-2017 12:57

Re: Java Arcade with 3 CIM Gearbox

do you have an example i could look at?

I though i did... see RobotMap.java up on previous post... i copied directly from Omar github.

Any help would be appreciated...

Coach Seb

03-02-2017 12:58

Re: Java Arcade with 3 CIM Gearbox

yes... using 3 CIM vexpro with Talon SRX...

Waz	06-02-2017 13:03

Re: Java Arcade with 3 CIM Gearbox

See section 9.1 here (http://www.ctr-electronics.com/downl...%20Manual.pdf).

It has the Java code to set up one follower/slave for a master Talon SRX. It is essentially this:

Code:

slaveMotor1.changeControlMode(CANTalon.ControlMode.Follower);

slaveMotor1.set(masterMotor.getDeviceID())

You will just need to set it up for two slaves on each side following the same master.

Code:

slaveMotor2.changeControlMode(CANTalon.ControlMode.Follower);

slaveMotor2.set(masterMotor.getDeviceID())

Then, just use your two masters (one left and one right) to create your RobotDrive object (it has a constructor that just takes one left and one right motor) and you have it.

I hope this helps,
Steve

ozrien

06-02-2017 17:29

Re: Java Arcade with 3 CIM Gearbox

1 Attachment(s)

Quote:

Originally Posted by Coach Seb (Post 1639836)

...
I was trying to use Robotbuilder but gave up because the talon SRX are not available....

The Talon SRX should be in RobotBuilder. Can you confirm this?

Picture attached.

Coach Seb

11-02-2017 08:27

Re: Java Arcade with 3 CIM Gearbox

Omar, Not, RobotBuilder does not have Talon...
We coded everything without Robotbuilder as we could not find a great instruction to update RobotBuilder... We are pretty new and really not comfortable with Java / Eclipse / GitHub and everythign else yet...:ahh: :ahh: :ahh:

ozrien

12-02-2017 23:16

Re: Java Arcade with 3 CIM Gearbox

Quote:

Originally Posted by Coach Seb (Post 1639888)

...Any help would be appreciated... i think once i resolve how ot properly use the Talon SRX CAN then i can keep going... until then i am kinda stuck...

Quote:

Originally Posted by Coach Seb (Post 1643275)

It just occurred to me you never actually described any failure symptoms other than [1] missing-talon-in-robotbuilder.

[2] So I'm guessing your problem is that the code doesn't build?

If [1] and [2], then you likely never installed the CTRE Toolsuite which installs the API for CANTalon, and the RobotBuilder additions for CANTalon. Is that possible?

Coach Seb

13-02-2017 07:58

Re: Java Arcade with 3 CIM Gearbox

finally got it to work with the help of FIRST Help Now this weekend... the code link you provided from Github is working well... but because i am a java newbie, i missed the slave setup from which master to follow....

I though i did download the CTRE suite... obviously i missed a step... will redo tonight.

Thanks!!!

Seb

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