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Java CANTalon类代码示例

本文整理汇总了Java中com.ctre.CANTalon类的典型用法代码示例。如果您正苦于以下问题：Java CANTalon类的具体用法？Java CANTalon怎么用？Java CANTalon使用的例子？那么, 这里精选的类代码示例或许可以为您提供帮助。


CANTalon类属于com.ctre包，在下文中一共展示了CANTalon类的15个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Java代码示例。

示例1: Shooter

import com.ctre.CANTalon; //导入依赖的package包/类
public Shooter() {
	shooterMotor = new CANTalon(RobotMap.SHOOTER_MOTOR);
	feederMotor = new CANTalon(RobotMap.FEEDER_MOTOR);

	this.shooterMotor.setFeedbackDevice(FeedbackDevice.QuadEncoder);
	this.shooterMotor.configEncoderCodesPerRev(12);
	this.shooterMotor.configNominalOutputVoltage(0.0, 0.0);
	this.shooterMotor.configPeakOutputVoltage(12, 0.0);
	this.shooterMotor.enableBrakeMode(false);

	this.shooterMotor.setPID(
			RobotMap.SHOOTER_SPEED_P,
			RobotMap.SHOOTER_SPEED_I,
			RobotMap.SHOOTER_SPEED_D,
			RobotMap.SHOOTER_SPEED_F,
			100,
			48.0,
			0);
	this.shooterMotor.changeControlMode(TalonControlMode.Speed);
	this.shooterMotor.SetVelocityMeasurementPeriod(VelocityMeasurementPeriod.Period_50Ms);
	this.shooterMotor.SetVelocityMeasurementWindow(64);
	
	this.feederMotor.changeControlMode(TalonControlMode.Voltage);
}
开发者ID:2141-Spartonics，项目名称:Spartonics-Code，代码行数:25，代码来源:Shooter.java

示例2: Chassis

import com.ctre.CANTalon; //导入依赖的package包/类
public Chassis() {
    leftMaster = new CANTalon(RobotMap.LEFT_MASTER);
    leftSlave = new CANTalon(RobotMap.LEFT_SLAVE);
    leftSlave.changeControlMode(CANTalon.TalonControlMode.Follower);
    leftSlave.set(leftMaster.getDeviceID());

    rightMaster = new CANTalon(RobotMap.RIGHT_MASTER);
    rightSlave = new CANTalon(RobotMap.RIGHT_SLAVE);
    rightSlave.changeControlMode(CANTalon.TalonControlMode.Follower);
    rightSlave.set(rightMaster.getDeviceID());

    rightMaster.enableBrakeMode(true);
    rightSlave.enableBrakeMode(true);
    leftMaster.enableBrakeMode(true);
    leftSlave.enableBrakeMode(true);
    System.out.println("Chassis sub system init");

    threadInit(() -> {
        SmartDashboard.putNumber("left speed:", leftMaster.get());
        SmartDashboard.putNumber("right speed:", rightMaster.get());
    });
}
开发者ID:FRCteam6414，项目名称:FRC6414program，代码行数:23，代码来源:Chassis.java

示例3: DriveTest

import com.ctre.CANTalon; //导入依赖的package包/类
public DriveTest() {
		
		_leftMain.changeControlMode(CANTalon.TalonControlMode.PercentVbus);
		_leftMain.set(0);
		_rightMain.changeControlMode(CANTalon.TalonControlMode.PercentVbus);
		_rightMain.set(0);
		_left2.changeControlMode(CANTalon.TalonControlMode.PercentVbus);
		_left2.set(0);
		_right2.changeControlMode(CANTalon.TalonControlMode.PercentVbus);
		_right2.set(0);
		_left3.changeControlMode(CANTalon.TalonControlMode.PercentVbus);
		_left3.set(0);
		_right3.changeControlMode(CANTalon.TalonControlMode.PercentVbus);
		_right3.set(0);
		
		_leftMain.setFeedbackDevice(CANTalon.FeedbackDevice.QuadEncoder);
		_rightMain.setFeedbackDevice(CANTalon.FeedbackDevice.QuadEncoder);
		
}
开发者ID:2729StormRobotics，项目名称:StormRobotics2017，代码行数:20，代码来源:DriveTest.java

示例4: Shooter

import com.ctre.CANTalon; //导入依赖的package包/类
public Shooter(CANTalon m)
{
	flyWheel = m;
	
   	flyWheel.setFeedbackDevice(FeedbackDevice.QuadEncoder);
   	flyWheel.reverseSensor(false);
   	flyWheel.changeControlMode(TalonControlMode.Speed);
   	flyWheel.setF(Config.getSetting("FlyF", 0));
   	flyWheel.setPID(Config.getSetting("FlyP", 13), 
   					Config.getSetting("FlyI", 0.008), 
   					Config.getSetting("FlyD", 100));
   	flyWheel.enableBrakeMode(false);
   	flyWheel.configEncoderCodesPerRev(20);//40 for CIMcoder
   	flyWheel.enable();
   	
   	boilerRPM = Config.getSetting("boilerRPM",2500);
   	rpmThreshold = Config.getSetting("ShooterRPMThreshold", 10);
}
开发者ID:RAR1741，项目名称:RA17_RobotCode，代码行数:19，代码来源:Shooter.java

示例5: SwerveDrive

import com.ctre.CANTalon; //导入依赖的package包/类
public SwerveDrive(CANTalon fr, CANTalon fra, AnalogInput fre, CANTalon fl, CANTalon fla, AnalogInput fle, CANTalon br, CANTalon bra, AnalogInput bre, CANTalon bl, CANTalon bla, AnalogInput ble)
{
	FRM = new SwerveModule(fr, fra, fre, "FR");
	FLM = new SwerveModule(fl, fla, fle, "FL");
	BRM = new SwerveModule(br, bra, bre, "BR");
	BLM = new SwerveModule(bl, bla, ble, "BL");

	length = Config.getSetting("FrameLength",1);
	width = Config.getSetting("FrameWidth",1);
	diameter = Math.sqrt(Math.pow(length,2)+Math.pow(width,2));
	temp = 0.0;
	a = 0.0;b = 0.0;c = 0.0;d = 0.0;
	ws1 = 0.0;ws2 = 0.0;ws3 = 0.0;ws4 = 0.0;
	wa1 = 0.0;wa2 = 0.0;wa3 = 0.0;wa4 = 0.0;
	max = 0.0;
	movecount = 0;
}
开发者ID:RAR1741，项目名称:RA17_RobotCode，代码行数:18，代码来源:SwerveDrive.java

示例6: setShooterPercentVBus

import com.ctre.CANTalon; //导入依赖的package包/类
/**
 * Sets the shooter using percentvbus control. Useful for manual joystick control during testing.
 * 
 * @param percentVbus The percentvbus value, 0.0 to 1.0
 */
public void setShooterPercentVBus(double percentVbus) {
  if (shooterFault) {
    killShooter();
    return;
  }
  if (RobotMap.IS_ROADKILL) {
    return;
  }
  logger.trace(String.format("Setting percentvbus=%f", percentVbus));
  requestedRpm = -1;
  shooterSlave.changeControlMode(CANTalon.TalonControlMode.Follower);
  shooterSlave.set(masterId);
  shooterSlave.enableControl();

  shooterMaster.changeControlMode(CANTalon.TalonControlMode.PercentVbus);
  shooterMaster.set(percentVbus);
  shooterMaster.enableControl();
}
开发者ID:ligerbots，项目名称:Steamworks2017Robot，代码行数:24，代码来源:Shooter.java

示例7: checkEncoder

import com.ctre.CANTalon; //导入依赖的package包/类
private void checkEncoder(CANTalon talon) {
  FeedbackDeviceStatus status = talon.isSensorPresent(getDevice());
  if (status == null) {
    return; // unit testing
  }

  switch (status) {
    case FeedbackStatusPresent:
      logger.info("{}: {} is present", talon.getDescription(), getDevice());
      break;
    case FeedbackStatusNotPresent:
      logger.warn("{}: {} is MISSING", talon.getDescription(), getDevice());
      break;
    case FeedbackStatusUnknown:
      logger.info(
          "{}: encoder is unknown, only CTRE Mag or Pulse-Width Encoder supported",
          talon.getDescription());
      break;
  }
}
开发者ID:strykeforce，项目名称:thirdcoast，代码行数:21，代码来源:Encoder.java

示例8: testConfigurations

import com.ctre.CANTalon; //导入依赖的package包/类
/**
 * Test that CANTalon outputs are being configured correctly
 * TODO: Not all accounted for
 */
@Test
public void testConfigurations() throws Exception {
	CANTalonOutput testOutput = new CANTalonOutput();
	testOutput.gains = Gains.dericaPosition;
	// Test vbus configuration
	testOutput.setPercentVBus(0.5);
	assertThat("Percent vbus setpoint incorrect", testOutput.getSetpoint(), equalTo(0.5));
	assertThat("Percent vbus control mode incorrect", testOutput.getControlMode(), equalTo(CANTalon.TalonControlMode.PercentVbus));
	testOutput = new CANTalonOutput();

	// Test position configuration w/o factory used
	testOutput.setPosition(10, Gains.dericaPosition);
	assertThat("Position setpoint incorrect", testOutput.getSetpoint(), equalTo(10.0));
	assertThat("Position control mode incorrect", testOutput.getControlMode(), equalTo(CANTalon.TalonControlMode.Position));
	// TODO: test the PIDF izone ramprate
	testOutput = new CANTalonOutput();
	// Test position configuration w/o factory used
}
开发者ID:team8，项目名称:FRC-2017-Public，代码行数:23，代码来源:CANTalonOutputTest.java

示例9: execute

import com.ctre.CANTalon; //导入依赖的package包/类
protected void execute() {
 	
 	double t_delta;
 	
 	if(onTime)
 		nextDouble = scanner.nextDouble();
 	
 	t_delta = nextDouble - timer.get();
 	
 	if (t_delta <= 0) {
 		for(CANTalon t : Robot.drivetrain.getTalons()) {
	t.set(scanner.nextDouble());
}
 	
 		onTime = true;
 	} else {
 		onTime = false;
 	}
 	
 }
开发者ID:frc2879，项目名称:2017-newcomen，代码行数:21，代码来源:PlayMacro.java

示例10: createTalon

import com.ctre.CANTalon; //导入依赖的package包/类
/**
 * Create a wrapped {@link CANTalon} with appropriate default values.
 *
 * @param id the device ID of the CANTalon to create
 * @return the wrapped CANTalon
 * @see Wrapper
 */
@NotNull
private CANTalon createTalon(int id) {
  CANTalon talon = wrapperFactory.createWrapper(id, CONTROL_FRAME_MS);
  StatusFrameRate.DEFAULT.configure(talon);
  talon.changeControlMode(TalonControlMode.Voltage);
  talon.clearIAccum();
  talon.ClearIaccum();
  talon.clearMotionProfileHasUnderrun();
  talon.clearMotionProfileTrajectories();
  talon.clearStickyFaults();
  talon.enableZeroSensorPositionOnForwardLimit(false);
  talon.enableZeroSensorPositionOnIndex(false, false);
  talon.enableZeroSensorPositionOnReverseLimit(false);
  talon.reverseOutput(false);
  talon.reverseSensor(false);
  talon.setAnalogPosition(0);
  talon.setPosition(0);
  talon.setProfile(0);
  talon.setPulseWidthPosition(0);
  if (!seen.add(talon)) {
    throw new IllegalStateException("creating an already-existing talon");
  }
  logger.info("added {} to seen Set", talon);
  return talon;
}
开发者ID:strykeforce，项目名称:thirdcoast，代码行数:33，代码来源:TalonFactory.java

示例11: onTarget

import com.ctre.CANTalon; //导入依赖的package包/类
@Override
	public boolean onTarget() {
		if (mCachedState == null) {
			return false;
		}
		double positionTolerance = (Constants.kRobotName == Constants.RobotName.DERICA) ? Constants2016.kAcceptableDrivePositionError : Constants.kAcceptableDrivePositionError;
		double velocityTolerance = (Constants.kRobotName == Constants.RobotName.DERICA) ? Constants2016.kAcceptableDriveVelocityError : Constants.kAcceptableDriveVelocityError;
		// Motion magic is not PID so ignore whether talon closed loop error is around
		if (mSignal.leftMotor.getControlMode() == CANTalon.TalonControlMode.MotionMagic) {
			return (Math.abs(mCachedState.drivePose.leftEnc - mSignal.leftMotor.getSetpoint()) < positionTolerance) &&
					(Math.abs(mCachedState.drivePose.leftSpeed) < velocityTolerance) &&
					(Math.abs(mCachedState.drivePose.rightEnc - mSignal.rightMotor.getSetpoint()) < positionTolerance) &&
					(Math.abs(mCachedState.drivePose.rightSpeed) < velocityTolerance);
		}
		if (!mCachedState.drivePose.leftError.isPresent() || !mCachedState.drivePose.rightError.isPresent()) {
//			System.err.println("Talon closed loop error not found!");
			return false;
		}
		return (Math.abs(mCachedState.drivePose.leftError.get()) < positionTolerance) &&
				(Math.abs(mCachedState.drivePose.rightError.get()) < positionTolerance && 
				Math.abs(mCachedState.drivePose.leftSpeed) < velocityTolerance &&
				Math.abs(mCachedState.drivePose.rightSpeed) < velocityTolerance);
	}
开发者ID:team8，项目名称:FRC-2017-Public，代码行数:24，代码来源:CANTalonDriveController.java

示例12: Winch

import com.ctre.CANTalon; //导入依赖的package包/类
public Winch() {
	winchMotor = new CANTalon(RobotMap.WINCH_MOTOR);
	winchBrake = new DoubleSolenoid(RobotMap.WINCH_STOPPER_CHANNEL_A, RobotMap.WINCH_STOPPER_CHANNEL_B);

	this.winchMotor.enableBrakeMode(false);
	this.winchMotor.changeControlMode(TalonControlMode.Voltage);
	this.putBrakeOff();
}
开发者ID:2141-Spartonics，项目名称:Spartonics-Code，代码行数:9，代码来源:Winch.java

示例13: CANTalonOutput

import com.ctre.CANTalon; //导入依赖的package包/类
public CANTalonOutput(CANTalon.TalonControlMode controlMode, Gains gains, double setpoint) {
	this.controlMode = controlMode;
	this.setpoint = setpoint;
	profile = 0;
	this.gains = gains;
	
	accel = 0;
	cruiseVel = 0;
}
开发者ID:team8，项目名称:FRC-2017-Public，代码行数:10，代码来源:CANTalonOutput.java

示例14: Drivetrain

import com.ctre.CANTalon; //导入依赖的package包/类
public Drivetrain() {
	//TODO: Init Gyro gyro = new Gyro();
	pidOutput = new DrivetrainOutput(this);
	pidInput = new GyroInput(gyro);
	controller = new PIDController(0.0,0.0,0.0, pidInput, pidOutput);

	//super(Kp, Ki, Kd);
	leftFrontMotor = new CANTalon(RobotMap.LEFT_FRONT_MOTOR_PORT);
	rightFrontMotor = new CANTalon(RobotMap.RIGHT_FRONT_MOTOR_PORT);
	leftBackMotor = new CANTalon(RobotMap.LEFT_BACK_MOTOR_PORT);
	rightBackMotor = new CANTalon(RobotMap.RIGHT_BACK_MOTOR_PORT);
	//Assume the team does not have encoders if they do not have a mobility auton command.
	robotDrive = new RobotDrive(leftBackMotor, leftFrontMotor, rightBackMotor, rightFrontMotor);
}
开发者ID:Team694，项目名称:DriveStraightBot，代码行数:15，代码来源:Drivetrain.java

示例15: getCANTalon

import com.ctre.CANTalon; //导入依赖的package包/类
/**
 * Checks if the CAN Device is a Talon
 * 
 * @return talon object if type ID is 1; if not returns null
 */
public CANTalon getCANTalon ()
{
    if (typeId == 1)
        {
        return talon;
        }
    return null;
}
开发者ID:FIRST-Team-339，项目名称:2017，代码行数:14，代码来源:CANObject.java


注：本文中的com.ctre.CANTalon类示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。