Our Crio has a bent/unusable pin in slot 4 and I am wondering if thir is any way we can program the CRIO to use slot 5 instead of slot 4.
We our program in JAVA this year and when I looked thru the sample programs, I did not see any deceleration for the sidecards slot numbers.
Our team is curently talking to NI about either repairing or replacing the Crio, but in the mean time we would like to be able to test/debug the robot.
I know that some classes, when being constructed, can take a parameter specifying the slot their representative component is hooked up to. I.e. new Jaguar(5,1) would construct a Jaguar object referencing the Jaguar hooked up to channel 1 of the digital sidecar attached to slot 5. You’ll have to specify this first parameter for each object you create that references a component attached to that digital sidecar.
The cRIO image supports the digital module in slots 4 and 6.
<R59> requires that you use slot 4 because of the RSL, so you will need to get it repaired, but you should be able to use slot 6 for now.
Is their a way to reference a Jaguar/victor when you are calling RobotDrive(I did not see one in the javadocs)?
There are constructors for RobotDrive that reference SpeedController objects. Jaguar and Victor objects implement SpeedController.
I just had a bent pin in slot 4 this weekend. I moved everything to slot 6, and bent that pin. Turned out that my 9403 module was bending pins after someone abused it a bit. Be careful!
Our team also had a bent module(lucky we only broke our slot 4 instead of slot 6). It sounds like you are going to have to replace your CRIO, we are currently talking to our local sales rep, who is taking a very long time to get back to us, so If I were you I would call my local sales rep as soon as possible seeing as we have less then 4 weeks until we have to ship the robot. (which is not long considering that you will probably have to send away the CRIO,get it back,and program it)
also below I have a copy of our teams current code,(I have not been able to test it yet but it looks like it should work, hopes it helps)
/*----------------------------------------------------------------------------*/
// modified by Team 1743
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.defaultCode;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.Watchdog;
/**
* This "BuiltinDefaultCode" provides the "default code" functionality as used in the "Benchtop Test."
*
* The BuiltinDefaultCode extends the IterativeRobot base class to provide the "default code"
* functionality to confirm the operation and usage of the core control system components, as
* used in the "Benchtop Test" described in Chapter 2 of the 2009 FRC Control System Manual.
*
* This program provides features in the Disabled, Autonomous, and Teleop modes as described
* in the benchtop test directions, including "once-a-second" debugging printouts when disabled,
* a "KITT light show" on the solenoid lights when in autonomous, and elementary driving
* capabilities and "button mapping" of joysticks when teleoperated. This demonstration
* program also shows the use of the user watchdog timer.
*
* This demonstration is not intended to serve as a "starting template" for development of
* robot code for a team, as there are better templates and examples created specifically
* for that purpose. However, teams may find the techniques used in this program to be
* interesting possibilities for use in their own robot code.
*
* The details of the behavior provided by this demonstration are summarized below:
*
* Disabled Mode:
* - Once per second, print (on the console) the number of seconds the robot has been disabled.
*
* Autonomous Mode:
* - Flash the solenoid lights like KITT in Knight Rider
* - Example code (commented out by default) to drive forward at half-speed for 2 seconds
*
* Teleop Mode:
* - Select between two different drive options depending upon Z-location of Joystick1
* - When "Z-Up" (on Joystick1) provide "arcade drive" on Joystick1
* - When "Z-Down" (on Joystick1) provide "tank drive" on Joystick1 and Joystick2
* - Use Joystick buttons (on Joystick1 or Joystick2) to display the button number in binary on
* the solenoid LEDs (Note that this feature can be used to easily "map out" the buttons on a
* Joystick. Note also that if multiple buttons are pressed simultaneously, a "15" is displayed
* on the solenoid LEDs to indicate that multiple buttons are pressed.)
*
* This code assumes the following connections:
* - Driver Station:
* - USB 1 - The "right" joystick. Used for either "arcade drive" or "right" stick for tank drive
* - USB 2 - The "left" joystick. Used as the "left" stick for tank drive
*
* - Robot:
* - Digital Sidecar 1:
* - PWM 1/3 - Connected to "left" drive motor(s)
* - PWM 2/4 - Connected to "right" drive motor(s)
*
* 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 DefaultRobot extends IterativeRobot {
// Declare variable for the robot drive system
RobotDrive m_robotDrive; // robot will use PWM 1-4 for drive motors
// Declare a variable to use to access the driver station object
DriverStation m_ds; // driver station object
int m_priorPacketNumber; // keep track of the most recent packet number from the DS
int m_dsPacketsReceivedInCurrentSecond; // keep track of the ds packets received in the current second
// Declare variables for the two joysticks being used
Joystick m_rightStick; // joystick 1 (arcade stick or right tank stick)
Joystick m_leftStick; // joystick 2 (tank left stick)
static final int NUM_JOYSTICK_BUTTONS = 16;
boolean] m_rightStickButtonState = new boolean(NUM_JOYSTICK_BUTTONS+1)];
boolean] m_leftStickButtonState = new boolean(NUM_JOYSTICK_BUTTONS+1)];
// Declare variables for each of the eight solenoid outputs
static final int NUM_SOLENOIDS = 8;
Solenoid] m_solenoids = new Solenoid[NUM_SOLENOIDS];
// drive mode selection
static final int UNINITIALIZED_DRIVE = 0;
static final int ARCADE_DRIVE = 1;
static final int TANK_DRIVE = 2;
int m_driveMode;
// Local variables to count the number of periodic loops performed
int m_autoPeriodicLoops;
int m_disabledPeriodicLoops;
int m_telePeriodicLoops;
//creats speed controllers
Victor leftSpeed;
Victor rightSpeed;
/**
* Constructor for this "BuiltinDefaultCode" Class.
*
* The constructor creates all of the objects used for the different inputs and outputs of
* the robot. Essentially, the constructor defines the input/output mapping for the robot,
* providing named objects for each of the robot interfaces.
*/
public DefaultRobot() {
System.out.println("BuiltinDefaultCode Constructor Started
");
leftSpeed = new Victor(6,1);
rightSpeed = new Victor(6,2);
// Create a robot using standard right/left robot drive on PWMS 1, 2, 3, and #4
m_robotDrive = new RobotDrive(leftSpeed,rightSpeed);
// Acquire the Driver Station object
m_ds = DriverStation.getInstance();
m_priorPacketNumber = 0;
m_dsPacketsReceivedInCurrentSecond = 0;
// Define joysticks being used at USB port #1 and USB port #2 on the Drivers Station
m_rightStick = new Joystick(1);
m_leftStick = new Joystick(2);
// Iterate over all the buttons on each joystick, setting state to false for each
int buttonNum = 1; // start counting buttons at button 1
for (buttonNum = 1; buttonNum <= NUM_JOYSTICK_BUTTONS; buttonNum++) {
m_rightStickButtonState[buttonNum] = false;
m_leftStickButtonState[buttonNum] = false;
}
// Iterate over all the solenoids on the robot, constructing each in turn
int solenoidNum = 1; // start counting solenoids at solenoid 1
for (solenoidNum = 0; solenoidNum < NUM_SOLENOIDS; solenoidNum++) {
m_solenoids[solenoidNum] = new Solenoid(solenoidNum + 1);
}
// Set drive mode to uninitialized
m_driveMode = UNINITIALIZED_DRIVE;
// Initialize counters to record the number of loops completed in autonomous and teleop modes
m_autoPeriodicLoops = 0;
m_disabledPeriodicLoops = 0;
m_telePeriodicLoops = 0;
System.out.println("BuiltinDefaultCode Constructor Completed
");
}
/********************************** Init Routines *************************************/
public void robotInit() {
// Actions which would be performed once (and only once) upon initialization of the
// robot would be put here.
System.out.println("RobotInit() completed.
");
}
public void disabledInit() {
m_disabledPeriodicLoops = 0; // Reset the loop counter for disabled mode
ClearSolenoidLEDsKITT();
// Move the cursor down a few, since we'll move it back up in periodic.
//System.out.println("\x1b[2B");
}
public void autonomousInit() {
m_autoPeriodicLoops = 0; // Reset the loop counter for autonomous mode
ClearSolenoidLEDsKITT();
}
public void teleopInit() {
m_telePeriodicLoops = 0; // Reset the loop counter for teleop mode
m_dsPacketsReceivedInCurrentSecond = 0; // Reset the number of dsPackets in current second
m_driveMode = UNINITIALIZED_DRIVE; // Set drive mode to uninitialized
ClearSolenoidLEDsKITT();
}
/********************************** Periodic Routines *************************************/
static int printSec = (int)((Timer.getUsClock() / 1000000.0) + 1.0);
static final int startSec = (int)(Timer.getUsClock() / 1000000.0);
public void disabledPeriodic() {
// feed the user watchdog at every period when disabled
Watchdog.getInstance().feed();
// increment the number of disabled periodic loops completed
m_disabledPeriodicLoops++;
// while disabled, printout the duration of current disabled mode in seconds
if ((Timer.getUsClock() / 1000000.0) > printSec) {
// Move the cursor back to the previous line and clear it.
//System.out.println("\x1b[1A\x1b[2K");
System.out.println("Disabled seconds: " + (printSec - startSec) + "
");
printSec++;
}
}
public void autonomousPeriodic() {
// feed the user watchdog at every period when in autonomous
Watchdog.getInstance().feed();
m_autoPeriodicLoops++;
// generate KITT-style LED display on the solenoids
SolenoidLEDsKITT( m_autoPeriodicLoops );
/* the below code (if uncommented) would drive the robot forward at half speed
* for two seconds. This code is provided as an example of how to drive the
* robot in autonomous mode, but is not enabled in the default code in order
* to prevent an unsuspecting team from having their robot drive autonomously!
*/
/* below code commented out for safety
if (m_autoPeriodicLoops == 1) {
// When on the first periodic loop in autonomous mode, start driving forwards at half speed
m_robotDrive->Drive(0.5, 0.0); // drive forwards at half speed
}
if (m_autoPeriodicLoops == (2 * GetLoopsPerSec())) {
// After 2 seconds, stop the robot
m_robotDrive->Drive(0.0, 0.0); // stop robot
}
*/
}
public void teleopPeriodic() {
// feed the user watchdog at every period when in autonomous
Watchdog.getInstance().feed();
// increment the number of teleop periodic loops completed
m_telePeriodicLoops++;
/*
* No longer needed since periodic loops are now synchronized with incoming packets.
if (m_ds->GetPacketNumber() != m_priorPacketNumber) {
*/
/*
* Code placed in here will be called only when a new packet of information
* has been received by the Driver Station. Any code which needs new information
* from the DS should go in here
*/
m_dsPacketsReceivedInCurrentSecond++; // increment DS packets received
// put Driver Station-dependent code here
// Demonstrate the use of the Joystick buttons
Solenoid[] firstGroup = new Solenoid[4];
Solenoid] secondGroup = new Solenoid[4];
for (int i = 0; i < 4; i++) {
firstGroup* = m_solenoids*;
secondGroup* = m_solenoids*;
}
DemonstrateJoystickButtons(m_rightStick, m_rightStickButtonState, "Right Stick", firstGroup);
DemonstrateJoystickButtons(m_leftStick, m_leftStickButtonState, "Left Stick ", secondGroup);
// determine if tank or arcade mode, based upon position of "Z" wheel on kit joystick
if (m_rightStick.getZ() <= 0) { // Logitech Attack3 has z-polarity reversed; up is negative
// use arcade drive
m_robotDrive.arcadeDrive(m_rightStick,false); // drive with arcade style (use right stick)
if (m_driveMode != ARCADE_DRIVE) {
// if newly entered arcade drive, print out a message
System.out.println("Arcade Drive
");
m_driveMode = ARCADE_DRIVE;
}
} else {
// use tank drive
m_robotDrive.tankDrive(m_leftStick, m_rightStick); // drive with tank style
if (m_driveMode != TANK_DRIVE) {
// if newly entered tank drive, print out a message
System.out.println("Tank Drive
");
m_driveMode = TANK_DRIVE;
}
}
/*
} // if (m_ds->GetPacketNumber()...
*/
}
/**
* Clear KITT-style LED display on the solenoids
*
* Clear the solenoid LEDs used for a KITT-style LED display.
*/
public void ClearSolenoidLEDsKITT() {
// Iterate over all the solenoids on the robot, clearing each in turn
int solenoidNum = 1; // start counting solenoids at solenoid 1
for (solenoidNum = 0; solenoidNum < NUM_SOLENOIDS; solenoidNum++) {
m_solenoids[solenoidNum].set(false);
}
}
/**
* Generate KITT-style LED display on the solenoids
*
* This method expects to be called during each periodic loop, with the argument being the
* loop number for the current loop.
*
* The goal here is to generate a KITT-style LED display. (See http://en.wikipedia.org/wiki/KITT )
* However, since the solenoid module has two scan bars, we can have ours go in opposite directions!
* The scan bar is written to have a period of one second with six different positions.
*/
public void SolenoidLEDsKITT(int numloops) {
final int NUM_KITT_POSITIONS = 6;
int numloop_within_second = numloops % GetLoopsPerSec();
if (numloop_within_second == 0) {
// position 1; solenoids 1 and 8 on
m_solenoids[1].set(true); m_solenoids[8].set(true);
m_solenoids[2].set(false); m_solenoids[7].set(false);
} else if (numloop_within_second == (GetLoopsPerSec() / NUM_KITT_POSITIONS)) {
// position 2; solenoids 2 and 7 on
m_solenoids[2].set(true); m_solenoids[7].set(true);
m_solenoids[1].set(false); m_solenoids[8].set(false);
} else if (numloop_within_second == (GetLoopsPerSec() * 2 / NUM_KITT_POSITIONS)) {
// position 3; solenoids 3 and 6 on
m_solenoids[3].set(true); m_solenoids[6].set(true);
m_solenoids[2].set(false); m_solenoids[7].set(false);
} else if (numloop_within_second == (GetLoopsPerSec() * 3 / NUM_KITT_POSITIONS)) {
// position 4; solenoids 4 and 5 on
m_solenoids[4].set(true); m_solenoids[5].set(true);
m_solenoids[3].set(false); m_solenoids[6].set(false);
} else if (numloop_within_second == (GetLoopsPerSec() * 4 / NUM_KITT_POSITIONS)) {
// position 5; solenoids 3 and 6 on
m_solenoids[3].set(true); m_solenoids[6].set(true);
m_solenoids[4].set(false); m_solenoids[5].set(false);
} else if (numloop_within_second == (GetLoopsPerSec() * 5 / NUM_KITT_POSITIONS)) {
// position 6; solenoids 2 and 7 on
m_solenoids[2].set(true); m_solenoids[7].set(true);
m_solenoids[3].set(false); m_solenoids[6].set(false);
}
}
int GetLoopsPerSec() {
return 10000;
}
/**
* Demonstrate handling of joystick buttons
*
* This method expects to be called during each periodic loop, providing the following
* capabilities:
* - Print out a message when a button is initially pressed
* - Solenoid LEDs light up according to joystick buttons:
* - When no buttons pressed, clear the solenoid LEDs
* - When only one button is pressed, show the button number (in binary) via the solenoid LEDs
* - When more than one button is pressed, show "15" (in binary) via the solenoid LEDs
*/
public void DemonstrateJoystickButtons(Joystick currStick,
boolean] buttonPreviouslyPressed,
String stickString,
Solenoid solenoids]) {
int buttonNum = 1; // start counting buttons at button 1
boolean outputGenerated = false; // flag for whether or not output is generated for a button
int numOfButtonPressed = 0; // 0 if no buttons pressed, -1 if multiple buttons pressed
/* Iterate over all the buttons on the joystick, checking to see if each is pressed
* If a button is pressed, check to see if it is newly pressed; if so, print out a
* message on the console
*/
for (buttonNum = 1; buttonNum <= NUM_JOYSTICK_BUTTONS; buttonNum++) {
if (currStick.getRawButton(buttonNum)) {
// the current button is pressed, now act accordingly...
if (!buttonPreviouslyPressed[buttonNum]) {
// button newly pressed; print out a message
if (!outputGenerated) {
// print out a heading if no other button pressed this cycle
outputGenerated = true;
System.out.println("%s button pressed:" + stickString);
}
System.out.println(" " + buttonNum);
}
// remember that this button is pressed for the next iteration
buttonPreviouslyPressed[buttonNum] = true;
// set numOfButtonPressed appropriately
if (numOfButtonPressed == 0) {
// no button pressed yet this time through, set the number correctly
numOfButtonPressed = buttonNum;
} else {
// another button (or buttons) must have already been pressed, set appropriately
numOfButtonPressed = -1;
}
} else {
buttonPreviouslyPressed[buttonNum] = false;
}
}
// after iterating through all the buttons, add a newline to output if needed
if (outputGenerated) {
System.out.println("
");
}
if (numOfButtonPressed == -1) {
// multiple buttons were pressed, display as if button 15 was pressed
DisplayBinaryNumberOnSolenoidLEDs(15, solenoids);
} else {
// display the number of the button pressed on the solenoids;
// note that if no button was pressed (0), the solenoid display will be cleared (set to 0)
DisplayBinaryNumberOnSolenoidLEDs(numOfButtonPressed, solenoids);
}
}
/**
* Display a given four-bit value in binary on the given solenoid LEDs
*/
void DisplayBinaryNumberOnSolenoidLEDs(int displayNumber, Solenoid] solenoids) {
if (displayNumber > 15) {
// if the number to display is larger than can be displayed in 4 LEDs, display 0 instead
displayNumber = 0;
}
solenoids[3].set( (displayNumber & 1) != 0);
solenoids[2].set( (displayNumber & 2) != 0);
solenoids[1].set( (displayNumber & 4) != 0);
solenoids[0].set( (displayNumber & 8) != 0);
}
}
Good Idea putting this on here Trevor, I was just looking to see if there was anything… Did you mean to say slot 6 instead of 4
When you construct it, you can pass in Jaguars that were constructed for slot 6…
Jaguar left = new Jaguar(6, 1);
Jaguar right = new Jaguar(6, 2);
RobotDrive drive = new RobotDrive(left, right);
-Joe
The reason you can’t use only slot 6 is the Robot Signal Light only works on slot 4.