C++ LiveWindow类代码示例

void RobotMap::init() {
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    LiveWindow *lw = LiveWindow::GetInstance();

    chassisLeftFrontMotor.reset(new Talon(0));
    lw->AddActuator("Chassis", "LeftFrontMotor", (Talon&) chassisLeftFrontMotor);
    
    chassisrightFrontMotor.reset(new Talon(1));
    lw->AddActuator("Chassis", "rightFrontMotor", (Talon&) chassisrightFrontMotor);
    
    chassisleftRearMotor.reset(new Talon(2));
    lw->AddActuator("Chassis", "leftRearMotor", (Talon&) chassisleftRearMotor);
    
    chassisrightRearMotor.reset(new Talon(3));
    lw->AddActuator("Chassis", "rightRearMotor", (Talon&) chassisrightRearMotor);
    
    chassisRobotDrive41.reset(new RobotDrive(chassisLeftFrontMotor, chassisleftRearMotor,
              chassisrightFrontMotor, chassisrightRearMotor));
    
    chassisRobotDrive41->SetSafetyEnabled(true);
        chassisRobotDrive41->SetExpiration(0.1);
        chassisRobotDrive41->SetSensitivity(0.5);
        chassisRobotDrive41->SetMaxOutput(1.0);



    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}

    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION
void RobotMap::init() {
	// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
	LiveWindow* lw = LiveWindow::GetInstance();
	driveTrainFrontLeftMotor = new CANJaguar(2);
	
	
	driveTrainCenterLeftMotor = new CANJaguar(3);
	
	
	driveTrainRearLeftMotor = new CANJaguar(9);
	
	
	driveTrainFrontRightMotor = new CANJaguar(10);
	
	
	driveTrainCenterRightMotor = new CANJaguar(6);
	
	
	driveTrainRearRightMotor = new CANJaguar(16);
	
	
	shifterShifterLeftSolenoid = new DoubleSolenoid(1, 3, 4);      
	
	
	shifterShifterRightSolenoid = new DoubleSolenoid(1, 1, 2);      
	
	
	airCompressorCompressorSpike = new Relay(1, 3);
	lw->AddActuator("AirCompressor", "CompressorSpike", airCompressorCompressorSpike);
	
    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}

void RobotMap::init() {
	// The following variables are automatically assigned by
	// robotbuilder and will be updated the next time you export to
	// Java from robot builder. Do not put any code or make any change
	// in the following block or it will be lost on an update. To
	// prevent this subsystem from being automatically updated, delete
	// the following line.
	LiveWindow* lw = LiveWindow::GetInstance();

	DRIVE_LJAGA = new CANJaguar(6);
	
	
	DRIVE_LJAGB = new CANJaguar(7);
	
	
	DRIVE_RJAGA = new CANJaguar(8);
	
	
	DRIVE_RJAGB = new CANJaguar(9);
	
	
	DRIVE_LENC = new Encoder(1, 2, 1, 3, false, Encoder::k4X);
	lw->AddSensor("Drive", "lEnc", DRIVE_LENC);
	DRIVE_LENC->SetDistancePerPulse(1.0);
        DRIVE_LENC->SetPIDSourceParameter(Encoder::kRate);
	DRIVE_RENC = new Encoder(1, 4, 1, 5, false, Encoder::k4X);
	lw->AddSensor("Drive", "rEnc", DRIVE_RENC);
	DRIVE_RENC->SetDistancePerPulse(1.0);
        DRIVE_RENC->SetPIDSourceParameter(Encoder::kRate);
	DRIVE_SHIFTER = new LiveSolenoid(1, 1);
	lw->AddActuator("Drive", "shifter", DRIVE_SHIFTER);
	

}

    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION
void RobotMap::init() {
	// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
	LiveWindow* lw = LiveWindow::GetInstance();
	drivetrainFrontRight = new Victor(1, 1);
	lw->AddActuator("Drivetrain", "FrontRight", (Victor*) drivetrainFrontRight);
	
	drivetrainRearRight = new Victor(1, 2);
	lw->AddActuator("Drivetrain", "RearRight", (Victor*) drivetrainRearRight);
	
	drivetrainFrontLeft = new Victor(1, 3);
	lw->AddActuator("Drivetrain", "FrontLeft", (Victor*) drivetrainFrontLeft);
	
	drivetrainRearLeft = new Victor(1, 4);
	lw->AddActuator("Drivetrain", "RearLeft", (Victor*) drivetrainRearLeft);
	
	drivetrainHolonomic = new RobotDrive(drivetrainFrontLeft, drivetrainRearLeft,
              drivetrainFrontRight, drivetrainRearRight);
	
	drivetrainHolonomic->SetSafetyEnabled(true);
        drivetrainHolonomic->SetExpiration(0.1);
        drivetrainHolonomic->SetSensitivity(0.5);
        drivetrainHolonomic->SetMaxOutput(1.0);
        drivetrainHolonomic->SetInvertedMotor(RobotDrive::kFrontLeftMotor, true);
        drivetrainHolonomic->SetInvertedMotor(RobotDrive::kRearLeftMotor, true);
    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}

void RobotMap::init() {
	// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
	LiveWindow* lw = LiveWindow::GetInstance();

	drivefrontRightMotor = new Talon(2);
	lw->AddActuator("Drive", "frontRightMotor", (Talon*) drivefrontRightMotor);
	
	drivefrontLeftMotor = new Talon(1);
	lw->AddActuator("Drive", "frontLeftMotor", (Talon*) drivefrontLeftMotor);
	
	drivebackRightMotor = new Talon(3);
	lw->AddActuator("Drive", "backRightMotor", (Talon*) drivebackRightMotor);
	
	drivebackLeftMotor = new Talon(4);
	lw->AddActuator("Drive", "backLeftMotor", (Talon*) drivebackLeftMotor);
	
	drivemecDrive = new RobotDrive(drivefrontLeftMotor, drivebackLeftMotor,
              drivefrontRightMotor, drivebackRightMotor);
	
	drivemecDrive->SetSafetyEnabled(true);
        drivemecDrive->SetExpiration(0.1);
        drivemecDrive->SetSensitivity(0.5);
        drivemecDrive->SetMaxOutput(1.0);


    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}

// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION
void RobotMap::init() {
	
	LiveWindow* lw = LiveWindow::GetInstance();
	driveLSpeed = new Talon(1, 2);
	lw->AddActuator("Drive", "LSpeed", (Talon*) driveLSpeed);
	
	driveRSpeed = new Talon(1, 1);
	lw->AddActuator("Drive", "RSpeed", (Talon*) driveRSpeed);
	
	driveControl = new RobotDrive(driveLSpeed, driveRSpeed);
	
	driveControl->SetSafetyEnabled(true);
        driveControl->SetExpiration(0.1);
        driveControl->SetSensitivity(0.5);
        driveControl->SetMaxOutput(1.0);
        
	driveGyro = new Gyro(1, 1);
	lw->AddSensor("Drive", "Gyro", driveGyro);
	driveGyro->SetSensitivity(0.007);
	driveTurn = new Victor(1, 4);
	//lw->AddActuator("Drive", "Turn", (Victor*) driveTurn);
	
	driveGyroPID = new PIDController(0.03, 0.0, 0.0,/* F: 0.0, */ driveGyro, driveTurn, 0.02);
	lw->AddActuator("Drive", "GyroPID", driveGyroPID);
	driveGyroPID->SetContinuous(false); driveGyroPID->SetAbsoluteTolerance(0.2); 
        driveGyroPID->SetOutputRange(-1.0, 1.0);
	driveLEncoder = new Encoder(1, 2, 1, 3, false, Encoder::k1X);
	lw->AddSensor("Drive", "LEncoder", driveLEncoder);
	driveLEncoder->SetDistancePerPulse(1.0);
        driveLEncoder->SetPIDSourceParameter(Encoder::kDistance);
        driveLEncoder->Start();
	driveREncoder = new Encoder(1, 9, 1, 10, true, Encoder::k1X);
	lw->AddSensor("Drive", "REncoder", driveREncoder);
	driveREncoder->SetDistancePerPulse(1.0);
        driveREncoder->SetPIDSourceParameter(Encoder::kDistance);
        driveREncoder->Start();
	
        pincerPinch = new Relay(1,2);   
	tiltTilt = new Relay(1,3);      
	lw->AddSensor("El Pincho", "Pinch", pincerPinch);
	lw->AddSensor("El Pincho", "Tilt", tiltTilt);
	
	compressorSysComp = new Compressor(1, 1, 1, 4);
	
	
	catapultEncoder = new Encoder(1, 6, 1, 7, false, Encoder::k4X);
	lw->AddSensor("Catapult", "Encoder", catapultEncoder);
	catapultEncoder->SetDistancePerPulse(1.0);
        catapultEncoder->SetPIDSourceParameter(Encoder::kDistance);
        catapultEncoder->Start();
	catapultJag2 = new CANJaguar(2);
	catapultJag3 = new CANJaguar(3);
	
	// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}

int
main(int argc, char **argv)
{
	QApplication app(argc, argv);

	LiveWindow liveWindow;
	liveWindow.show();

	return app.exec();
}

void RobotMap::init() {
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    LiveWindow *lw = LiveWindow::GetInstance();

    controlSSsolenoid1.reset(new Solenoid(1));
    lw->AddActuator("ControlSS", "solenoid1", controlSSsolenoid1);

    controlSSsolenoid1.reset(new Solenoid(2));
    lw->AddActuator("ControlSS", "solenoid2", controlSSsolenoid2);

    controlSSsolenoid1.reset(new Solenoid(3));
    lw->AddActuator("ControlSS", "solenoid3", controlSSsolenoid3);

    controlSSsolenoid1.reset(new Solenoid(4));
    lw->AddActuator("ControlSS", "solenoid4", controlSSsolenoid4);

    controlSSfrontLS.reset(new DigitalInput(0));
    lw->AddSensor("ControlSS", "frontLS", controlSSfrontLS);
    
    controlSSbackLS.reset(new DigitalInput(1));
    lw->AddSensor("ControlSS", "backLS", controlSSbackLS);
    
    controlSSsideLS.reset(new DigitalInput(2));
    lw->AddSensor("ControlSS", "sideLS", controlSSsideLS);

    controlSSpressureGauge.reset(new AnalogInput(1));
    lw->AddSensor("ControlSS", "pressureGauge", controlSSpressureGauge);


    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}

void RobotMap::init() {
	// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
	LiveWindow* lw = LiveWindow::GetInstance();

	moverRightMotor0 = new Jaguar(0);
	lw->AddActuator("Mover", "RightMotor0", (Jaguar*) moverRightMotor0);
	
	moverRightMotor1 = new Jaguar(1);
	lw->AddActuator("Mover", "RightMotor1", (Jaguar*) moverRightMotor1);
	
	moverLeftMotor2 = new Jaguar(2);
	lw->AddActuator("Mover", "LeftMotor2", (Jaguar*) moverLeftMotor2);
	
	moverLeftMotor3 = new Jaguar(3);
	lw->AddActuator("Mover", "LeftMotor3", (Jaguar*) moverLeftMotor3);
	
	moverSpeedSwitch = new DigitalInput(8);
	lw->AddSensor("Mover", "SpeedSwitch", moverSpeedSwitch);
	
	airCannonLeftCannon = new Solenoid(0, 2);
	lw->AddActuator("AirCannon", "LeftCannon", airCannonLeftCannon);
	
	airCannonMiddleCannon = new Solenoid(0, 1);
	lw->AddActuator("AirCannon", "MiddleCannon", airCannonMiddleCannon);
	
	airCannonRightCannon = new Solenoid(0, 0);
	lw->AddActuator("AirCannon", "RightCannon", airCannonRightCannon);
	


    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}

    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION
void RobotMap::init() {
	// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
	LiveWindow* lw = LiveWindow::GetInstance();
	shooterShooterMotor = new Jaguar(1, 1);
	lw->AddActuator("Shooter", "ShooterMotor", (Jaguar*) shooterShooterMotor);
	
	feederFeederMotor = new Jaguar(1, 2);
	lw->AddActuator("Feeder", "FeederMotor", (Jaguar*) feederFeederMotor);
	
    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}

/**
 * Start a competition.
 * This code needs to track the order of the field starting to ensure that everything happens
 * in the right order. Repeatedly run the correct method, either Autonomous or OperatorControl
 * or Test when the robot is enabled. After running the correct method, wait for some state to
 * change, either the other mode starts or the robot is disabled. Then go back and wait for the
 * robot to be enabled again.
 */
void SampleRobot::StartCompetition()
{
	LiveWindow *lw = LiveWindow::GetInstance();

	SmartDashboard::init();
	NetworkTable::GetTable("LiveWindow")->GetSubTable("~STATUS~")->PutBoolean("LW Enabled", false);

	RobotMain();

	if (!m_robotMainOverridden)
	{
		// first and one-time initialization
		lw->SetEnabled(false);
		RobotInit();

		while (true)
		{
			if (IsDisabled())
			{
				m_ds.InDisabled(true);
				Disabled();
				m_ds.InDisabled(false);
				while (IsDisabled()) sleep(1); //m_ds.WaitForData();
			}
			else if (IsAutonomous())
			{
				m_ds.InAutonomous(true);
				Autonomous();
				m_ds.InAutonomous(false);
				while (IsAutonomous() && IsEnabled()) sleep(1); //m_ds.WaitForData();
			}
            else if (IsTest())
            {
              lw->SetEnabled(true);
              m_ds.InTest(true);
              Test();
              m_ds.InTest(false);
              while (IsTest() && IsEnabled()) sleep(1); //m_ds.WaitForData();
              lw->SetEnabled(false);
            }
			else
			{
				m_ds.InOperatorControl(true);
				OperatorControl();
				m_ds.InOperatorControl(false);
				while (IsOperatorControl() && IsEnabled()) sleep(1); //m_ds.WaitForData();
			}
		}
	}
}

    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION
void RobotMap::init() {
	// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
	LiveWindow* lw = LiveWindow::GetInstance();
	driveTrainRightMotor = new Jaguar(1, 2);
	lw->AddActuator("DriveTrain", "RightMotor", (Jaguar*) driveTrainRightMotor);
	
	driveTrainLeftMotor = new Jaguar(1, 1);
	lw->AddActuator("DriveTrain", "LeftMotor", (Jaguar*) driveTrainLeftMotor);
	
	driveTrainRobotDrive21 = new RobotDrive(driveTrainLeftMotor, driveTrainRightMotor);
	
	driveTrainRobotDrive21->SetSafetyEnabled(true);
        driveTrainRobotDrive21->SetExpiration(0.1);
        driveTrainRobotDrive21->SetSensitivity(0.5);
        driveTrainRobotDrive21->SetMaxOutput(1.0);
        driveTrainRobotDrive21->SetInvertedMotor(RobotDrive::kRearLeftMotor, true);
        driveTrainRobotDrive21->SetInvertedMotor(RobotDrive::kRearRightMotor, true);        
	shootingWheelShootingWheelController = new Talon(1, 3);
	lw->AddActuator("ShootingWheel", "ShootingWheelController", (Talon*) shootingWheelShootingWheelController);
	
	loaderLoaderController = new Talon(1, 4);
	lw->AddActuator("Loader", "LoaderController", (Talon*) loaderLoaderController);
	
	loaderReadySwitch = new DigitalInput(1, 1);
	lw->AddSensor("Loader", "ReadySwitch", loaderReadySwitch);
	
	loaderEndSwitch = new DigitalInput(1, 2);
	lw->AddSensor("Loader", "EndSwitch", loaderEndSwitch);
	
	trackLifterTrackLifterController = new Talon(1, 5);
	lw->AddActuator("TrackLifter", "TrackLifterController", (Talon*) trackLifterTrackLifterController);
	
    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}

void RobotMap::init() {
	// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
	LiveWindow* lw = LiveWindow::GetInstance();

	driveLeftFront = new Talon(1);
	lw->AddActuator("Drive", "Left Front", (Talon*) driveLeftFront);
	
	driveLeftRear = new Talon(2);
	lw->AddActuator("Drive", "Left Rear", (Talon*) driveLeftRear);
	
	driveRightFront = new Talon(3);
	lw->AddActuator("Drive", "Right Front", (Talon*) driveRightFront);
	
	driveRightRear = new Talon(4);
	lw->AddActuator("Drive", "Right Rear", (Talon*) driveRightRear);
	
	driveRobotDrive41 = new RobotDrive(driveLeftFront, driveLeftRear,
              driveRightFront, driveRightRear);
	
	driveRobotDrive41->SetSafetyEnabled(true);
        driveRobotDrive41->SetExpiration(0.1);
        driveRobotDrive41->SetSensitivity(0.5);
        driveRobotDrive41->SetMaxOutput(1.0);

	grabberGrabberPnuematicCylinder = new DoubleSolenoid(0, 0, 1);      
	lw->AddActuator("Grabber", "Grabber Pnuematic Cylinder", grabberGrabberPnuematicCylinder);
	
	elevatorLifterEncoder = new Encoder(0, 1, false, Encoder::k4X);
	lw->AddSensor("Elevator", "Lifter Encoder", elevatorLifterEncoder);
	elevatorLifterEncoder->SetDistancePerPulse(1.0);
        elevatorLifterEncoder->SetPIDSourceParameter(Encoder::kDistance);
	elevatorLifterMotor = new Talon(0);
	lw->AddActuator("Elevator", "LifterMotor", (Talon*) elevatorLifterMotor);
	
	elevatorUpperLimitSwitch = new DigitalInput(2);
	lw->AddSensor("Elevator", "Upper Limit Switch", elevatorUpperLimitSwitch);
	
	elevatorLowerLimitSwitch = new DigitalInput(3);
	lw->AddSensor("Elevator", "Lower Limit Switch", elevatorLowerLimitSwitch);
	


    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}

void RobotMap::init() {
	// /home/lvuser/wpilib-preferences.ini

    std::string robotType = Preferences::GetInstance()->GetString("RobotType");

	// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
	LiveWindow* lw = LiveWindow::GetInstance();
	// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS

	forwardDriveForwardLeftTalon = new CANTalon(Preferences::GetInstance()->GetInt("ForwardDrive::LeftTalon::CANID"));
	forwardDriveForwardRightTalon = new CANTalon(Preferences::GetInstance()->GetInt("ForwardDrive::RightTalon::CANID"));
	strafingDriveStrafeRightTalon = new CANTalon(Preferences::GetInstance()->GetInt("StrafingDrive::RightTalon::CANID"));
	strafingDriveStrafeLeftTalon = new CANTalon(Preferences::GetInstance()->GetInt("StrafingDrive::LeftTalon::CANID"));
	elevatorLiftLiftTalon = new CANTalon(Preferences::GetInstance()->GetInt("ElevatorLift::LiftTalon::CANID"));

	forwardDriveForwardLeftTalon->SetPosition(0);
	forwardDriveForwardRightTalon->SetPosition(0);
	strafingDriveStrafeRightTalon->SetPosition(0);
	strafingDriveStrafeLeftTalon->SetPosition(0);

	liftGrabberLiftGrabberSolenoid = new Solenoid(Preferences::GetInstance()->GetInt("LiftGrabber::PCMID"),
			Preferences::GetInstance()->GetInt("LiftGrabber::Solenoid"));
	lw->AddActuator("LiftGrabber", "LiftGrabberSolenoid", liftGrabberLiftGrabberSolenoid);
	
	spinnersSpinnerRightTalon = new CANTalon(Preferences::GetInstance()->GetInt("Spinners::RightTalon::CANID"));
	spinnersSpinnerLeftTalon = new CANTalon(Preferences::GetInstance()->GetInt("Spinners::LeftTalon::CANID"));
	
	brakeBrakeSolenoid = new Solenoid(Preferences::GetInstance()->GetInt("Brake::PCMID"),
			Preferences::GetInstance()->GetInt("Brake::BrakeSolenoid"));
	lw->AddActuator("Brake", "BrakeSolenoid", brakeBrakeSolenoid);
	
	canBurglerCanBurglerRightSolenoid = new DoubleSolenoid(Preferences::GetInstance()->GetInt("RightCanBurgler::PCMID"),
			Preferences::GetInstance()->GetInt("RightCanBurgler::CanBurglerForwardSolenoid"),
			Preferences::GetInstance()->GetInt("RightCanBurgler::CanBurglerReverseSolenoid"));
	lw->AddActuator("CanBurgler", "CanBurglerRightSolenoid", canBurglerCanBurglerRightSolenoid);

	canBurglerCanBurglerLeftSolenoid = new DoubleSolenoid(Preferences::GetInstance()->GetInt("LeftCanBurgler::PCMID"),
			Preferences::GetInstance()->GetInt("LeftCanBurgler::CanBurglerForwardSolenoid"),
			Preferences::GetInstance()->GetInt("LeftCanBurgler::CanBurglerReverseSolenoid"));
	lw->AddActuator("CanBurgler", "CanBurglerLeftSolenoid", canBurglerCanBurglerLeftSolenoid);


	pneumaticsCompressor = new Compressor(Preferences::GetInstance()->GetInt("Compressor::PCMID"));
}

void RobotMap::init() {
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    LiveWindow *lw = LiveWindow::GetInstance();

    driveLeftDrive.reset(new CANTalon(5));
    lw->AddActuator("Drive", "LeftDrive", driveLeftDrive);
    
    driveRightDrive.reset(new CANTalon(3));
    lw->AddActuator("Drive", "RightDrive", driveRightDrive);
    
    driveTankDrive.reset(new RobotDrive(driveLeftDrive, driveRightDrive));
    
    driveTankDrive->SetSafetyEnabled(true);
        driveTankDrive->SetExpiration(0.1);
        driveTankDrive->SetSensitivity(0.5);
        driveTankDrive->SetMaxOutput(1.0);

    shooterSystemLeftShooterTalonLeft.reset(new CANTalon(2));
    lw->AddActuator("ShooterSystemLeft", "ShooterTalonLeft", shooterSystemLeftShooterTalonLeft);
    
    shooterSystemLeftQuadEncShooterLeft.reset(new Encoder(9, 8, false, Encoder::k4X));
    lw->AddSensor("ShooterSystemLeft", "QuadEncShooterLeft", shooterSystemLeftQuadEncShooterLeft);
    shooterSystemLeftQuadEncShooterLeft->SetDistancePerPulse(1.0);
    shooterSystemLeftQuadEncShooterLeft->SetPIDSourceType(PIDSourceType::kRate);
    intakeSubsystemIntakeTalon.reset(new CANTalon(1));
    lw->AddActuator("IntakeSubsystem", "IntakeTalon", intakeSubsystemIntakeTalon);
    
    shooterSystemRightShooterTalonRight.reset(new CANTalon(4));
    lw->AddActuator("ShooterSystemRight", "ShooterTalonRight", shooterSystemRightShooterTalonRight);
    
    shooterSystemRightQuadEncShooterRight.reset(new Encoder(7, 6, false, Encoder::k4X));
    lw->AddSensor("ShooterSystemRight", "QuadEncShooterRight", shooterSystemRightQuadEncShooterRight);
    shooterSystemRightQuadEncShooterRight->SetDistancePerPulse(1.0);
    shooterSystemRightQuadEncShooterRight->SetPIDSourceType(PIDSourceType::kRate);

    intakeSubsystemServoLeft.reset(new Servo(0));
       lw->AddActuator("IntakeSubsystem", "ServoLeft", intakeSubsystemServoLeft);

       intakeSubsystemServoRight.reset(new Servo(1));
       lw->AddActuator("IntakeSubsystem", "ServoRight", intakeSubsystemServoRight);

    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}