Robot.java:
Code:
package org.usfirst.frc.team3871.Trojans2015.robot;
import org.usfirst.frc.team3871.Trojans2015.commands.Autonomous;
import org.usfirst.frc.team3871.Trojans2015.robot.IO;
import org.usfirst.frc.team3871.Trojans2015.subsystems.DriveTrain;
import org.usfirst.frc.team3871.Trojans2015.subsystems.NoodleAndToteSystems;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
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 static Object NoodleAndToteSystem;
public static Autonomous Autonomous;
public static IO io;
public static DriveTrain driveTrain;
public static NoodleAndToteSystems noodleAndToteSystems;
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
* @param Autonomous
*/
public void robotInit(Autonomous Autonomous) {
RobotMap.init();
driveTrain = new DriveTrain();
noodleAndToteSystems = new NoodleAndToteSystems();
// This MUST be here. If the OI creates Commands (which it very likely
// will), constructing it during the construction of CommandBase (from
// which commands extend), subsystems are not guaranteed to be
// yet. Thus, their requires() statements may grab null pointers. Bad
// news. Don't move it.
io = new IO();
// instantiate the command used for the autonomous period
Autonomous = new Autonomous();
}
public void autonomousInit() {
// schedule the autonomous command (example)
if (Autonomous!= null) Autonomous.start();
}
/**
* This function is called periodically during autonomous
*/
public void autonomousPeriodic() {
Scheduler.getInstance().run();
}
public void teleopInit() {
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (Autonomous != null) Autonomous.cancel();
}
/**
* This function is called periodically during operator control
*/
public void teleopPeriodic() {
Scheduler.getInstance().run();
}
/**
* This function called periodically during test mode
*/
public void testPeriodic() {
LiveWindow.run();
}
}
IO.java
Code:
package org.usfirst.frc.team3871.Trojans2015.robot;
//import org.usfirst.frc3871.Trojans3.commands.*;
import org.usfirst.frc.team3871.Trojans2015.commands.Autonomous;
import org.usfirst.frc.team3871.Trojans2015.commands.NoodleBottomSystem;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.buttons.JoystickButton;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
//import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
//import edu.wpi.first.wpilibj.*;
//import edu.wpi.first.wpilibj.Joystick;
//import edu.wpi.first.wpilibj.buttons.*;
/**
* This class is the glue that binds the controls on the physical operator
* interface to the commands and command groups that allow control of the robot.
* @param <Joystick>
* @param <JoystickButton>
* @param <limitSwitch>
*/
public class IO {
//// CREATING BUTTONS
// One type of button is a joystick button which is any button on a joystick.
// You create one by telling it which joystick it's on and which button
// number it is.
// Joystick stick = new Joystick(port);
// Button button = new JoystickButton(stick, buttonNumber);
// Another type of button you can create is a DigitalIOButton, which is
// a button or switch hooked up to the cypress module. These are useful if
// you want to build a customized operator interface.
// Button button = new DigitalIOButton(1);
// There are a few additional built in buttons you can use. Additionally,
// by subclassing Button you can create custom triggers and bind those to
// commands the same as any other Button.
//// TRIGGERING COMMANDS WITH BUTTONS
// Once you have a button, it's trivial to bind it to a button in one of
// three ways:
// Start the command when the button is pressed and let it run the command
// until it is finished as determined by it's isFinished method.
// button.whenPressed(new ExampleCommand());
// Run the command while the button is being held down and interrupt it once
// the button is released.
// button.whileHeld(new ExampleCommand());
// Start the command when the button is released and let it run the command
// until it is finished as determined by it's isFinished method.
// button.whenReleased(new ExampleCommand());
public Joystick rightJoystick;
public JoystickButton NoodleBottomMotorsOn;
public JoystickButton NoodleTopMotorsOn;
public Joystick ArmUpDown;
public Joystick leftJoystick;
public DigitalInput limitSwitch1;
public DigitalInput limitSwitch2;
public DigitalInput limitSwitch3;
public DigitalInput limitSwitch4;
public IO() {
rightJoystick = new Joystick(1);
leftJoystick = new Joystick(2);
NoodleBottomMotorsOn = new JoystickButton(rightJoystick, 3);
NoodleBottomMotorsOn.whileHeld(new NoodleBottomSystem());
NoodleTopMotorsOn = new JoystickButton(rightJoystick, 2);
ArmUpDown = new Joystick(1);
limitSwitch1 = new DigitalInput(1);
limitSwitch2 = new DigitalInput(2);
limitSwitch3 = new DigitalInput(3);
limitSwitch4 = new DigitalInput(4);
// SmartDashboard Buttons
SmartDashboard.putData("Autonomous", (Sendable) new Autonomous());
SmartDashboard.putData("Drive With Joysticks", (Sendable) new org.usfirst.frc.team3871.Trojans2015.commands.DriveWithJoysticks());
SmartDashboard.putData("Noodle Bottom Motors On", (Sendable) new org.usfirst.frc.team3871.Trojans2015.commands.NoodleBottomSystem());
SmartDashboard.putData("Noodle Top Motors On", (Sendable) new org.usfirst.frc.team3871.Trojans2015.commands.NoodleTopSystem());
SmartDashboard.putData("Arm Up", (Sendable) new org.usfirst.frc.team3871.Trojans2015.commands.ArmUp());
}
public Joystick getrightJoystick() {
return rightJoystick;
}
/**
*
* @return
*/
public Joystick getleftJoystick() {
return leftJoystick;
}
}
RobotMap.java
Code:
package org.usfirst.frc.team3871.Trojans2015.robot;
import edu.wpi.first.wpilibj.*;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
/**
* The RobotMap is a mapping from the ports sensors and actuators are wired into
* to a variable name. This provides flexibility changing wiring, makes checking
* the wiring easier and significantly reduces the number of magic numbers
* floating around.
*/
public class RobotMap {
public static SpeedController driveTrainFrontRightMotor;
public static SpeedController driveTrainFrontLeftMotor;
public static RobotDrive driveTrainRobotDrive41;
public static SpeedController toteLiftSystemArmMotor;
public static SpeedController noodleWheel1SystemMotor;
public static SpeedController noodleWheel2SystemMotor;
public static SpeedController noodleWheel3SystemMotor;
public static RobotDrive noodleBottomSystemMotor;
public static RobotDrive noodleTopSystemMotor;
public static SpeedController ArmMotor;
public static void init() {
driveTrainFrontRightMotor = new Talon(1);
LiveWindow.addActuator("Drive Train", "Front Right Motor", (Talon) driveTrainFrontRightMotor);
driveTrainFrontLeftMotor = new Talon(2);
LiveWindow.addActuator("Drive Train", "Front Left Motor", (Talon) driveTrainFrontLeftMotor);
noodleWheel1SystemMotor = new Talon(3);
LiveWindow.addActuator("NoodleAndToteSystem", "Wheel 1 System", (Talon) noodleWheel1SystemMotor);
noodleWheel2SystemMotor = new Jaguar(4);
LiveWindow.addActuator("NoodleAndToteSystem", "Wheel 2 System", (Jaguar) noodleWheel2SystemMotor);
noodleWheel3SystemMotor = new Jaguar(5);
LiveWindow.addActuator("NoodleAndToteSystem", "Wheel 3 System", (Jaguar) noodleWheel3SystemMotor);
ArmMotor = new Talon(6);
LiveWindow.addActuator("NoodleAndToteSystem", "Tote Lift System", (Talon) ArmMotor);
driveTrainRobotDrive41 = new RobotDrive(driveTrainFrontLeftMotor,
driveTrainFrontRightMotor);
driveTrainRobotDrive41.setSafetyEnabled(true);
driveTrainRobotDrive41.setExpiration(0.1);
driveTrainRobotDrive41.setSensitivity(0.5);
driveTrainRobotDrive41.setMaxOutput(1.0);
}
}
Build Properties
# Project specific information
package=org.usfirst.frc.team3871.robot
robot.class=${package}.Robot
simula/worlds/Geation.world.file=/usr/share/frcsimrsBotDemo.world