Java AutonomousBooleanConfigFileParameter类代码示例

import com.wildstangs.autonomous.parameters.AutonomousBooleanConfigFileParameter; //导入依赖的package包/类
private void defineConfigValues() {
    StartDrive = new DoubleConfigFileParameter(this.getClass().getName(), WsAutonomousManager.getInstance().getStartPosition().toConfigString() + ".StartDrive", 60.5);
    AngleTurn = new DoubleConfigFileParameter(this.getClass().getName(), WsAutonomousManager.getInstance().getStartPosition().toConfigString() + ".AngleTurn", 90);
    SecondDrive = new DoubleConfigFileParameter(this.getClass().getName(), WsAutonomousManager.getInstance().getStartPosition().toConfigString() + ".SecondDrive", 60.5);
    ThirdDrive = new DoubleConfigFileParameter(this.getClass().getName(), WsAutonomousManager.getInstance().getStartPosition().toConfigString() + ".ThirdDrive", 60.5);
    FourthDrive = new DoubleConfigFileParameter(this.getClass().getName(), WsAutonomousManager.getInstance().getStartPosition().toConfigString() + ".FourthDrive", 60.5);
    FifthDrive = new DoubleConfigFileParameter(this.getClass().getName(), WsAutonomousManager.getInstance().getStartPosition().toConfigString() + ".FifthDrive", 60.5);
    FirstEnterWheelSetPoint = new AutonomousIntegerStartPositionConfigFileParameter("FirstEnterWheelSetPoint", 2800);
    FirstExitWheelSetPoint = new AutonomousIntegerStartPositionConfigFileParameter("FirstExitWheelSetPoint", 3550);
    FirstShooterAngle = new AutonomousBooleanStartPositionConfigFileParameter("FirstShooterAngle", false);
    SecondEnterWheelSetPoint = new AutonomousIntegerConfigFileParameter("FrontPyramid.EnterWheelSetPoint", 2100);
    SecondExitWheelSetPoint = new AutonomousIntegerConfigFileParameter("FrontPyramid.ExitWheelSetPoint", 2750);
    SecondShooterAngle = new AutonomousBooleanConfigFileParameter("FrontPyramid.ShooterAngle", true);
    ThirdFrisbeeDelay = new AutonomousIntegerConfigFileParameter("ThirdFrisbeeDelay", 700);
    AccumulatorDelay = new AutonomousIntegerConfigFileParameter("LowerAccumulatorDelay", 300);
    startPreset = new WsShooter.Preset(FirstEnterWheelSetPoint.getValue(),
            FirstExitWheelSetPoint.getValue(),
            FirstShooterAngle.getValue()
            ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse);
    secondShooterPreset = new WsShooter.Preset(SecondEnterWheelSetPoint.getValue(),
            SecondExitWheelSetPoint.getValue(),
            SecondShooterAngle.getValue()
            ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse);
}
 

import com.wildstangs.autonomous.parameters.AutonomousBooleanConfigFileParameter; //导入依赖的package包/类
private void defineConfigValues() {
    TwistAngle = new DoubleConfigFileParameter(this.getClass().getName(), WsAutonomousManager.getInstance().getStartPosition().toConfigString() + ".TwistAngle", 30);
    FirstDrive = new DoubleConfigFileParameter(this.getClass().getName(), WsAutonomousManager.getInstance().getStartPosition().toConfigString() + ".FirstDrive", 60.5);
    SecondDrive = new DoubleConfigFileParameter(this.getClass().getName(), WsAutonomousManager.getInstance().getStartPosition().toConfigString() + ".SecondDrive", 60.5);
    ThirdDrive = new DoubleConfigFileParameter(this.getClass().getName(), WsAutonomousManager.getInstance().getStartPosition().toConfigString() + ".ThirdDrive", 60.5);

    FirstEnterWheelSetPoint = new AutonomousIntegerStartPositionConfigFileParameter("FirstEnterWheelSetPoint", 2800);
    FirstExitWheelSetPoint = new AutonomousIntegerStartPositionConfigFileParameter("FirstExitWheelSetPoint", 3550);
    FirstShooterAngle = new AutonomousBooleanStartPositionConfigFileParameter("FirstShooterAngle", false);
    SecondEnterWheelSetPoint = new AutonomousIntegerConfigFileParameter("FrontPyramid.EnterWheelSetPoint", 2100);
    SecondExitWheelSetPoint = new AutonomousIntegerConfigFileParameter("FrontPyramid.ExitWheelSetPoint", 2750);
    SecondShooterAngle = new AutonomousBooleanConfigFileParameter("FrontPyramid.ShooterAngle", true);
    ThirdFrisbeeDelay = new AutonomousIntegerConfigFileParameter("ThirdFrisbeeDelay", 700);
    FunnelatorLoadDelay = new AutonomousIntegerConfigFileParameter("FunnelatorLoadDelay", 300);

    
    firstShooterPreset = new WsShooter.Preset(FirstEnterWheelSetPoint.getValue(),
            FirstExitWheelSetPoint.getValue(),
            FirstShooterAngle.getValue()
            ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse);
    secondShooterPreset = new WsShooter.Preset(SecondEnterWheelSetPoint.getValue(),
            SecondExitWheelSetPoint.getValue(),
            SecondShooterAngle.getValue()
            ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse);
}
 

import com.wildstangs.autonomous.parameters.AutonomousBooleanConfigFileParameter; //导入依赖的package包/类
private void defineConfigValues() {
    FirstDrive = new DoubleConfigFileParameter(this.getClass().getName(), WsAutonomousManager.getInstance().getStartPosition().toConfigString() + ".FirstDrive", 60.5);
    SecondDrive = new DoubleConfigFileParameter(this.getClass().getName(), WsAutonomousManager.getInstance().getStartPosition().toConfigString() + ".SecondDrive", 60.5);
    ThirdDrive = new DoubleConfigFileParameter(this.getClass().getName(), WsAutonomousManager.getInstance().getStartPosition().toConfigString() + ".ThirdDrive", 60.5);

    FirstEnterWheelSetPoint = new AutonomousIntegerStartPositionConfigFileParameter("FirstEnterWheelSetPoint", 2800);
    FirstExitWheelSetPoint = new AutonomousIntegerStartPositionConfigFileParameter("FirstExitWheelSetPoint", 3550);
    FirstShooterAngle = new AutonomousBooleanStartPositionConfigFileParameter("FirstShooterAngle", false);
    SecondEnterWheelSetPoint = new AutonomousIntegerConfigFileParameter("FrontPyramid.EnterWheelSetPoint", 2100);
    SecondExitWheelSetPoint = new AutonomousIntegerConfigFileParameter("FrontPyramid.ExitWheelSetPoint", 2750);
    SecondShooterAngle = new AutonomousBooleanConfigFileParameter("FrontPyramid.ShooterAngle", true);
    ThirdFrisbeeDelay = new AutonomousIntegerConfigFileParameter("ThirdFrisbeeDelay", 700);
    FunnelatorLoadDelay = new AutonomousIntegerConfigFileParameter("FunnelatorLoadDelay", 300);

    firstShooterPreset = new WsShooter.Preset(FirstEnterWheelSetPoint.getValue(),
            FirstExitWheelSetPoint.getValue(),
            FirstShooterAngle.getValue()
            ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse);
    secondShooterPreset = new WsShooter.Preset(SecondEnterWheelSetPoint.getValue(),
            SecondExitWheelSetPoint.getValue(),
            SecondShooterAngle.getValue()
            ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse);
}
 

import com.wildstangs.autonomous.parameters.AutonomousBooleanConfigFileParameter; //导入依赖的package包/类
private void defineConfigValues() {
    firstDrive = new AutonomousDoubleConfigFileParameter("ShootSeven.FirstDrive", 27);
    secondDrive = new AutonomousDoubleConfigFileParameter("ShootSeven.SecondDrive", 109);
    thirdDrive = new AutonomousDoubleConfigFileParameter("ShootSeven.ThirdDrive", -58);
    firstEnterWheelSetPoint = new AutonomousIntegerStartPositionConfigFileParameter("FirstEnterWheelSetPoint", 2800);
    firstExitWheelSetPoint = new AutonomousIntegerStartPositionConfigFileParameter("FirstExitWheelSetPoint", 3550);
    firstShooterAngle = new AutonomousBooleanStartPositionConfigFileParameter("FirstShooterAngle", false);
    secondEnterWheelSetPoint = new AutonomousIntegerConfigFileParameter("FrontPyramid.EnterWheelSetPoint", 2100);
    secondExitWheelSetPoint = new AutonomousIntegerConfigFileParameter("FrontPyramid.ExitWheelSetPoint", 2750);
    secondShooterAngle = new AutonomousBooleanConfigFileParameter("FrontPyramid.ShooterAngle", true);
    thirdFrisbeeDelay = new AutonomousIntegerConfigFileParameter("ThirdFrisbeeDelay", 700);
    accumulatorDelay = new AutonomousIntegerConfigFileParameter("LowerAccumulatorDelay", 300);

    startPreset = new WsShooter.Preset(firstEnterWheelSetPoint.getValue(),
            firstExitWheelSetPoint.getValue(),
            firstShooterAngle.getValue()
            ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse);
    secondShooterPreset = new WsShooter.Preset(secondEnterWheelSetPoint.getValue(),
            secondExitWheelSetPoint.getValue(),
            secondShooterAngle.getValue()
            ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse);
}
 

import com.wildstangs.autonomous.parameters.AutonomousBooleanConfigFileParameter; //导入依赖的package包/类
private void defineConfigValues() {
    firstDrive = new AutonomousDoubleConfigFileParameter("ShootSeven.FirstDrive", 27);
    secondDrive = new AutonomousDoubleConfigFileParameter("ShootSeven.SecondDrive", 109);
    thirdDrive = new AutonomousDoubleConfigFileParameter("ShootSeven.ThirdDrive", -58);
    thirdDriveHeading = new AutonomousDoubleConfigFileParameter("ShootSeven.ThirdDriveHeading", 0.22);
    firstEnterWheelSetPoint = new AutonomousIntegerStartPositionConfigFileParameter("FirstEnterWheelSetPoint", 2800);
    firstExitWheelSetPoint = new AutonomousIntegerStartPositionConfigFileParameter("FirstExitWheelSetPoint", 3550);
    firstShooterAngle = new AutonomousBooleanStartPositionConfigFileParameter("FirstShooterAngle", false);
    secondEnterWheelSetPoint = new AutonomousIntegerConfigFileParameter("FrontPyramid.EnterWheelSetPoint", 2100);
    secondExitWheelSetPoint = new AutonomousIntegerConfigFileParameter("FrontPyramid.ExitWheelSetPoint", 2750);
    secondShooterAngle = new AutonomousBooleanConfigFileParameter("FrontPyramid.ShooterAngle", true);
    accumulatorDelay = new AutonomousIntegerConfigFileParameter("LowerAccumulatorDelay", 300);
    
    startPreset = new WsShooter.Preset(firstEnterWheelSetPoint.getValue(),
            firstExitWheelSetPoint.getValue(),
            firstShooterAngle.getValue()
            ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse);
    secondShooterPreset = new WsShooter.Preset(secondEnterWheelSetPoint.getValue(),
            secondExitWheelSetPoint.getValue(),
            secondShooterAngle.getValue()
            ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse);
}
 

import com.wildstangs.autonomous.parameters.AutonomousBooleanConfigFileParameter; //导入依赖的package包/类
private void defineConfigValues() {
    firstDrive = new AutonomousDoubleConfigFileParameter("ShootSeven.FirstDrive", 27);
    secondDrive = new AutonomousDoubleConfigFileParameter("ShootSeven.SecondDrive", 109);
    thirdDrive = new AutonomousDoubleConfigFileParameter("ShootSeven.ThirdDrive", -58);
    firstEnterWheelSetPoint = new AutonomousIntegerStartPositionConfigFileParameter("FirstEnterWheelSetPoint", 2800);
    firstExitWheelSetPoint = new AutonomousIntegerStartPositionConfigFileParameter("FirstExitWheelSetPoint", 3550);
    firstShooterAngle = new AutonomousBooleanStartPositionConfigFileParameter("FirstShooterAngle", false);
    secondEnterWheelSetPoint = new IntegerConfigFileParameter(this.getClass().getName(), WsAutonomousManager.getInstance().getStartPosition().toConfigString() + ".SecondEnterWheelSetPoint", 2200);
    secondExitWheelSetPoint = new IntegerConfigFileParameter(this.getClass().getName(), WsAutonomousManager.getInstance().getStartPosition().toConfigString() + ".SecondExitWheelSetPoint", 2850);
    secondShooterAngle = new BooleanConfigFileParameter(this.getClass().getName(), WsAutonomousManager.getInstance().getStartPosition().toConfigString() + ".SecondShooterAngle", true);
    thirdEnterWheelSetPoint = new AutonomousIntegerConfigFileParameter("FrontPyramid.EnterWheelSetPoint", 2100);
    thirdExitWheelSetPoint = new AutonomousIntegerConfigFileParameter("FrontPyramid.ExitWheelSetPoint", 2750);
    thirdShooterAngle = new AutonomousBooleanConfigFileParameter("FrontPyramid.ShooterAngle", true);
    thirdFrisbeeDelay = new AutonomousIntegerConfigFileParameter("ThirdFrisbeeDelay", 700);
    accumulatorDelay = new AutonomousIntegerConfigFileParameter("LowerAccumulatorDelay", 300);
    
    startPreset = new WsShooter.Preset(firstEnterWheelSetPoint.getValue(),
            firstExitWheelSetPoint.getValue(),
            firstShooterAngle.getValue()
            ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse);
    secondShooterPreset = new WsShooter.Preset(secondEnterWheelSetPoint.getValue(),
            secondExitWheelSetPoint.getValue(),
            secondShooterAngle.getValue()
            ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse);
    thirdShooterPreset = new WsShooter.Preset(thirdEnterWheelSetPoint.getValue(),
            thirdExitWheelSetPoint.getValue(),
            thirdShooterAngle.getValue()
            ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse);
    
}
 

import com.wildstangs.autonomous.parameters.AutonomousBooleanConfigFileParameter; //导入依赖的package包/类
public WsDriveBase(String name) {
    super(name);

    WHEEL_DIAMETER_config = new DoubleConfigFileParameter(this.getClass().getName(), "wheel_diameter", 6);
    TICKS_PER_ROTATION_config = new DoubleConfigFileParameter(this.getClass().getName(), "ticks_per_rotation", 360.0);
    THROTTLE_LOW_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "throttle_low_gear_accel_factor", 0.250);
    HEADING_LOW_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "heading_low_gear_accel_factor", 0.500);
    THROTTLE_HIGH_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "throttle_high_gear_accel_factor", 0.125);
    HEADING_HIGH_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "heading_high_gear_accel_factor", 0.250);
    MAX_HIGH_GEAR_PERCENT_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_high_gear_percent", 0.80);
    ENCODER_GEAR_RATIO_config = new DoubleConfigFileParameter(this.getClass().getName(), "encoder_gear_ratio", 7.5);
    DEADBAND_config = new DoubleConfigFileParameter(this.getClass().getName(), "deadband", 0.05);
    SLOW_TURN_FORWARD_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "slow_turn_forward_speed", 0.16);
    SLOW_TURN_BACKWARD_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "slow_turn_backward_speed", -0.19);
    FEED_FORWARD_VELOCITY_CONSTANT_config = new DoubleConfigFileParameter(this.getClass().getName(), "feed_forward_velocity_constant", 1.00);
    FEED_FORWARD_ACCELERATION_CONSTANT_config = new DoubleConfigFileParameter(this.getClass().getName(), "feed_forward_acceleration_constant", 0.00018);
    MAX_ACCELERATION_DRIVE_PROFILE_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_acceleration_drive_profile", 600.0);
    MAX_SPEED_INCHES_LOWGEAR_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_speed_inches_lowgear", 90.0);
    DECELERATION_VELOCITY_THRESHOLD_config = new DoubleConfigFileParameter(this.getClass().getName(), "deceleration_velocity_threshold", 48.0);
    DECELERATION_MOTOR_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "deceleration_motor_speed", 0.3);
    STOPPING_DISTANCE_AT_MAX_SPEED_LOWGEAR_config = new DoubleConfigFileParameter(this.getClass().getName(), "stopping_distance_at_max_speed_lowgear", 10.0);
    DRIVE_OFFSET_config = new AutonomousDoubleConfigFileParameter("DriveOffset", 1.00);
    USE_LEFT_SIDE_FOR_OFFSET_config = new AutonomousBooleanConfigFileParameter("UseLeftDriveForOffset", true);
    QUICK_TURN_CAP_config = new DoubleConfigFileParameter(this.getClass().getName(), "quick_turn_cap", 10.0);
    QUICK_TURN_ANTITURBO_config = new DoubleConfigFileParameter(this.getClass().getName(), "quick_turn_antiturbo", 10.0);

    //Anti-Turbo button
    registerForJoystickButtonNotification(WsJoystickButtonEnum.DRIVER_BUTTON_8);
    //Turbo button
    registerForJoystickButtonNotification(WsJoystickButtonEnum.DRIVER_BUTTON_7);
    //Shifter Button
    registerForJoystickButtonNotification(WsJoystickButtonEnum.DRIVER_BUTTON_6);
    //Left/right slow turn buttons
    registerForJoystickButtonNotification(WsJoystickButtonEnum.DRIVER_BUTTON_1);
    registerForJoystickButtonNotification(WsJoystickButtonEnum.DRIVER_BUTTON_3);

    //Initialize the drive base encoders
    leftDriveEncoder = new Encoder(2, 3, true, EncodingType.k4X);
    leftDriveEncoder.reset();
    leftDriveEncoder.start();
    rightDriveEncoder = new Encoder(4, 5, false, EncodingType.k4X);
    rightDriveEncoder.reset();
    rightDriveEncoder.start();

    //Initialize the gyro
    //@TODO: Get the correct port
    driveHeadingGyro = new Gyro(1);

    //Initialize the PIDs
    driveDistancePidInput = new WsDriveBaseDistancePidInput();
    driveDistancePidOutput = new WsDriveBaseDistancePidOutput();
    driveDistancePid = new WsPidController(driveDistancePidInput, driveDistancePidOutput, "WsDriveBaseDistancePid");

    driveHeadingPidInput = new WsDriveBaseHeadingPidInput();
    driveHeadingPidOutput = new WsDriveBaseHeadingPidOutput();
    driveHeadingPid = new WsPidController(driveHeadingPidInput, driveHeadingPidOutput, "WsDriveBaseHeadingPid");

    driveSpeedPidInput = new WsDriveBaseSpeedPidInput();
    driveSpeedPidOutput = new WsDriveBaseSpeedPidOutput();
    driveSpeedPid = new WsSpeedPidController(driveSpeedPidInput, driveSpeedPidOutput, "WsDriveBaseSpeedPid");
    continuousAccelerationFilter = new ContinuousAccelFilter(0, 0, 0);
    init();
}
 

import com.wildstangs.autonomous.parameters.AutonomousBooleanConfigFileParameter; //导入依赖的package包/类
public DriveBase(String name) {
    super(name);

    WHEEL_DIAMETER_config = new DoubleConfigFileParameter(this.getClass().getName(), "wheel_diameter", 6);
    TICKS_PER_ROTATION_config = new DoubleConfigFileParameter(this.getClass().getName(), "ticks_per_rotation", 360.0);
    THROTTLE_LOW_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "throttle_low_gear_accel_factor", 0.250);
    HEADING_LOW_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "heading_low_gear_accel_factor", 0.500);
    THROTTLE_HIGH_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "throttle_high_gear_accel_factor", 0.125);
    HEADING_HIGH_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "heading_high_gear_accel_factor", 0.250);
    MAX_HIGH_GEAR_PERCENT_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_high_gear_percent", 0.80);
    ENCODER_GEAR_RATIO_config = new DoubleConfigFileParameter(this.getClass().getName(), "encoder_gear_ratio", 7.5);
    DEADBAND_config = new DoubleConfigFileParameter(this.getClass().getName(), "deadband", 0.05);
    SLOW_TURN_FORWARD_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "slow_turn_forward_speed", 0.16);
    SLOW_TURN_BACKWARD_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "slow_turn_backward_speed", -0.19);
    FEED_FORWARD_VELOCITY_CONSTANT_config = new DoubleConfigFileParameter(this.getClass().getName(), "feed_forward_velocity_constant", 1.00);
    FEED_FORWARD_ACCELERATION_CONSTANT_config = new DoubleConfigFileParameter(this.getClass().getName(), "feed_forward_acceleration_constant", 0.00018);
    MAX_ACCELERATION_DRIVE_PROFILE_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_acceleration_drive_profile", 600.0);
    MAX_SPEED_INCHES_LOWGEAR_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_speed_inches_lowgear", 90.0);
    DECELERATION_VELOCITY_THRESHOLD_config = new DoubleConfigFileParameter(this.getClass().getName(), "deceleration_velocity_threshold", 48.0);
    DECELERATION_MOTOR_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "deceleration_motor_speed", 0.3);
    STOPPING_DISTANCE_AT_MAX_SPEED_LOWGEAR_config = new DoubleConfigFileParameter(this.getClass().getName(), "stopping_distance_at_max_speed_lowgear", 10.0);
    DRIVE_OFFSET_config = new AutonomousDoubleConfigFileParameter("DriveOffset", 1.00);
    USE_LEFT_SIDE_FOR_OFFSET_config = new AutonomousBooleanConfigFileParameter("UseLeftDriveForOffset", true);
    QUICK_TURN_CAP_config = new DoubleConfigFileParameter(this.getClass().getName(), "quick_turn_cap", 10.0);
    QUICK_TURN_ANTITURBO_config = new DoubleConfigFileParameter(this.getClass().getName(), "quick_turn_antiturbo", 10.0);

    //Anti-Turbo button
    registerForJoystickButtonNotification(JoystickButtonEnum.DRIVER_BUTTON_8);
    //Turbo button
    registerForJoystickButtonNotification(JoystickButtonEnum.DRIVER_BUTTON_7);
    //Shifter Button
    registerForJoystickButtonNotification(JoystickButtonEnum.DRIVER_BUTTON_6);

    //Initialize the drive base encoders
    leftDriveEncoder = new Encoder(2, 3, true, EncodingType.k4X);
    leftDriveEncoder.reset();
    leftDriveEncoder.start();
    rightDriveEncoder = new Encoder(4, 5, false, EncodingType.k4X);
    rightDriveEncoder.reset();
    rightDriveEncoder.start();

    //Initialize the gyro
    //@TODO: Get the correct port
    driveHeadingGyro = new Gyro(1);

    continuousAccelerationFilter = new ContinuousAccelFilter(0, 0, 0);
    driveSpeedPidInput = new DriveBaseSpeedPidInput();
    driveSpeedPidOutput = new DriveBaseSpeedPidOutput();
    driveSpeedPid = new SpeedPidController(driveSpeedPidInput, driveSpeedPidOutput, "DriveBaseSpeedPid");
    init();
}
 

import com.wildstangs.autonomous.parameters.AutonomousBooleanConfigFileParameter; //导入依赖的package包/类
public WsDriveBase(String name) {
    super(name);

    WHEEL_DIAMETER_config = new DoubleConfigFileParameter(this.getClass().getName(), "wheel_diameter", 6);
    TICKS_PER_ROTATION_config = new DoubleConfigFileParameter(this.getClass().getName(), "ticks_per_rotation", 360.0);
    THROTTLE_LOW_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "throttle_low_gear_accel_factor", 0.250);
    HEADING_LOW_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "heading_low_gear_accel_factor", 0.500);
    THROTTLE_HIGH_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "throttle_high_gear_accel_factor", 0.125);
    HEADING_HIGH_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "heading_high_gear_accel_factor", 0.250);
    MAX_HIGH_GEAR_PERCENT_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_high_gear_percent", 0.80);
    ENCODER_GEAR_RATIO_config = new DoubleConfigFileParameter(this.getClass().getName(), "encoder_gear_ratio", 7.5);
    DEADBAND_config = new DoubleConfigFileParameter(this.getClass().getName(), "deadband", 0.05);
    SLOW_TURN_FORWARD_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "slow_turn_forward_speed", 0.16);
    SLOW_TURN_BACKWARD_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "slow_turn_backward_speed", -0.19);
    FEED_FORWARD_VELOCITY_CONSTANT_config = new DoubleConfigFileParameter(this.getClass().getName(), "feed_forward_velocity_constant", 1.00);
    FEED_FORWARD_ACCELERATION_CONSTANT_config = new DoubleConfigFileParameter(this.getClass().getName(), "feed_forward_acceleration_constant", 0.00018);
    MAX_ACCELERATION_DRIVE_PROFILE_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_acceleration_drive_profile", 600.0);
    MAX_SPEED_INCHES_LOWGEAR_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_speed_inches_lowgear", 90.0);
    DECELERATION_VELOCITY_THRESHOLD_config = new DoubleConfigFileParameter(this.getClass().getName(), "deceleration_velocity_threshold", 48.0);
    DECELERATION_MOTOR_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "deceleration_motor_speed", 0.3);
    STOPPING_DISTANCE_AT_MAX_SPEED_LOWGEAR_config = new DoubleConfigFileParameter(this.getClass().getName(), "stopping_distance_at_max_speed_lowgear", 10.0);
    DRIVE_OFFSET_config = new AutonomousDoubleConfigFileParameter("DriveOffset", 1.00);
    USE_LEFT_SIDE_FOR_OFFSET_config = new AutonomousBooleanConfigFileParameter("UseLeftDriveForOffset", true);
    QUICK_TURN_CAP_config = new DoubleConfigFileParameter(this.getClass().getName(), "quick_turn_cap", 10.0);
    QUICK_TURN_ANTITURBO_config = new DoubleConfigFileParameter(this.getClass().getName(), "quick_turn_antiturbo", 10.0);

    //Anti-Turbo button
    Subject subject = WsInputManager.getInstance().getOiInput(WsInputManager.DRIVER_JOYSTICK).getSubject(WsDriverJoystickButtonEnum.BUTTON8);
    subject.attach(this);
    //Turbo button
    subject = WsInputManager.getInstance().getOiInput(WsInputManager.DRIVER_JOYSTICK).getSubject(WsDriverJoystickButtonEnum.BUTTON7);
    subject.attach(this);
    //Shifter Button
    subject = WsInputManager.getInstance().getOiInput(WsInputManager.DRIVER_JOYSTICK).getSubject(WsDriverJoystickButtonEnum.BUTTON6);
    subject.attach(this);
    //Left/right slow turn buttons
    subject = WsInputManager.getInstance().getOiInput(WsInputManager.DRIVER_JOYSTICK).getSubject(WsDriverJoystickButtonEnum.BUTTON1);
    subject.attach(this);
    subject = WsInputManager.getInstance().getOiInput(WsInputManager.DRIVER_JOYSTICK).getSubject(WsDriverJoystickButtonEnum.BUTTON3);
    subject.attach(this);

    //Initialize the drive base encoders
    leftDriveEncoder = new Encoder(2, 3, true, EncodingType.k4X);
    leftDriveEncoder.reset();
    leftDriveEncoder.start();
    rightDriveEncoder = new Encoder(4, 5, false, EncodingType.k4X);
    rightDriveEncoder.reset();
    rightDriveEncoder.start();

    //Initialize the gyro
    //@TODO: Get the correct port
    driveHeadingGyro = new Gyro(1);

    //Initialize the PIDs
    driveDistancePidInput = new WsDriveBaseDistancePidInput();
    driveDistancePidOutput = new WsDriveBaseDistancePidOutput();
    driveDistancePid = new WsPidController(driveDistancePidInput, driveDistancePidOutput, "WsDriveBaseDistancePid");

    driveHeadingPidInput = new WsDriveBaseHeadingPidInput();
    driveHeadingPidOutput = new WsDriveBaseHeadingPidOutput();
    driveHeadingPid = new WsPidController(driveHeadingPidInput, driveHeadingPidOutput, "WsDriveBaseHeadingPid");
    
    driveSpeedPidInput = new WsDriveBaseSpeedPidInput();
    driveSpeedPidOutput = new WsDriveBaseSpeedPidOutput();
    driveSpeedPid = new WsSpeedPidController(driveSpeedPidInput, driveSpeedPidOutput, "WsDriveBaseSpeedPid");
    continuousAccelerationFilter = new ContinuousAccelFilter(0, 0, 0); 
    init();
}