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#1
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Issue with Mecanum Test Code
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: Code:
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);
}
}
Code:
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);
}
}
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#2
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Re: Issue with Mecanum Test Code
Please look at my post on your other thread. You aren't reading the actual joystick values, but instead you are reading static enums.
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#3
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Re: Issue with Mecanum Test Code
Okay ill try that ASAP and let you know if it works
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#4
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Re: Issue with Mecanum Test Code
Okay so I changed it to this:
Code:
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(
(stick.getLeftJoyX()+stick.getLeftJoyY())/2,
(stick.getLeftJoyY()-stick.getLeftJoyX())/2,
-(stick.getLeftJoyY()-stick.getLeftJoyX())/2,
-(stick.getLeftJoyX()+stick.getLeftJoyY())/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);
}
}
THANKS! |
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#5
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Re: Issue with Mecanum Test Code
I recommend using the RobotDrive class. It will handle taking joystick inputs and directly changing them into motor outputs.
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#6
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Re: Issue with Mecanum Test Code
Okay so I changed it to this:
Code:
package org.usfirst.frc.team4623.robot;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.RobotDrive;
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 {
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);
RobotDrive drive = new RobotDrive(0, 1, 2, 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() {
drive.mecanumDrive_Polar(stick.getLeftJoyY(), stick.getLeftJoyX(), 0);
}
/**
* 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);
}
}
Code:
ERROR Unhandled exception instantiating robot org.usfirst.frc.team4623.robot.Robot edu.wpi.first.wpilibj.util.AllocationException: PWM channel 1 is already allocated at [edu.wpi.first.wpilibj.PWM.initPWM(PWM.java:126), edu.wpi.first.wpilibj.PWM.<init>(PWM.java:145), edu.wpi.first.wpilibj.SafePWM.<init>(SafePWM.java:33), edu.wpi.first.wpilibj.Talon.<init>(Talon.java:49), edu.wpi.first.wpilibj.RobotDrive.<init>(RobotDrive.java:115), org.usfirst.frc.team4623.robot.Robot.<init>(Robot.java:26), sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method), sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62), sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45), java.lang.reflect.Constructor.newInstance(Constructor.java:408), java.lang.Class.newInstance(Class.java:433), edu.wpi.first.wpilibj.RobotBase.main(RobotBase.java:197)] |
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#7
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Re: Issue with Mecanum Test Code
The other thing is is that we have cartesian but I can't seem to be able to import cartesian in Eclipse
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#8
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Re: Issue with Mecanum Test Code
Quote:
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#9
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Re: Issue with Mecanum Test Code
It would help to describe what you've tried and what the error messages are.
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#10
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Re: Issue with Mecanum Test Code
Quote:
RobotDrive has two constructors. One, which you are currently using in your code, takes in integers for the PWM channels of the motor controllers. The other takes in SpeedController objects for the motor controllers. Both do so in this order: frontLeftMotor rearLeftMotor frontRightMotor rearRightMotor If you want control over the motor controllers elsewhere I recommend passing those into the constructor rather than just the PWM channels |
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#11
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Re: Issue with Mecanum Test Code
Okay I have been working tons on this and put up a new post with new code that should work but doesn't
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