当前位置: 首页>>代码示例>>Java>>正文

Java CANJaguar类代码示例

本文整理汇总了Java中edu.wpi.first.wpilibj.CANJaguar类的典型用法代码示例。如果您正苦于以下问题：Java CANJaguar类的具体用法？Java CANJaguar怎么用？Java CANJaguar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。


CANJaguar类属于edu.wpi.first.wpilibj包，在下文中一共展示了CANJaguar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: initalizeCANJaguar

import edu.wpi.first.wpilibj.CANJaguar; //导入依赖的package包/类
private boolean initalizeCANJaguar() {
//		if (lastCANRetry != -1 && System.currentTimeMillis() - lastCANRetry < 200) {
//			canInitialized = false;
//			return false;
//		}
//		lastCANRetry = System.currentTimeMillis();
//		for (int i = 0; i < 3; i++) {
//			try {
				winch = new CANJaguarSafety(RobotMap.SHOOTER_WINCH_CAN_PORT);
				winch.configEncoderCodesPerRev(360);
				winch.setPositionReference(CANJaguar.PositionReference.kQuadEncoder);
				winch.changeControlMode(CANJaguar.ControlMode.kPercentVbus);
				winch.disableControl();
				initializeWinch();
				if (!winchSafety.isRunning())
					winchSafety.start();
				canInitialized = true;
				return true;
//			} catch (CANTimeoutException e){
//				BlackBoxProtocol.log("CAN-Jaguar initilization failed: " + e.toString());
//			}
//		}
//		canInitialized = false;
//		return false;
	}
开发者ID:Team-2502，项目名称:RobotCode2014，代码行数:26，代码来源:ShooterSubsystem.java

示例2: configSpeedControl

import edu.wpi.first.wpilibj.CANJaguar; //导入依赖的package包/类
private void configSpeedControl(CANJaguar jag) throws CANTimeoutException {
        final int CPR = 360;
        final double ENCODER_FINAL_POS = 0;
        final double VOLTAGE_RAMP = 40;
//        jag.changeControlMode(CANJaguar.ControlMode.kPercentVbus);
//        jag.setSpeedReference(CANJaguar.SpeedReference.kNone);
//        jag.enableControl();
//        jag.configMaxOutputVoltage(10);//ToDo: 
        // PIDs may be required.  Values here:
        //  http://www.chiefdelphi.com/forums/showthread.php?t=91384
        // and here:
        // http://www.chiefdelphi.com/forums/showthread.php?t=89721
        // neither seem correct.
//        jag.setPID(0.4, .005, 0);
        jag.setPID(0.3, 0.005, 0);
        jag.setSpeedReference(CANJaguar.SpeedReference.kQuadEncoder);
        jag.configEncoderCodesPerRev(CPR);
//        jag.setVoltageRampRate(VOLTAGE_RAMP);
        jag.enableControl();

//        System.out.println("Control Mode = " + jag.getControlMode());
    }
开发者ID:Team-4153，项目名称:IterativeEncoderTest，代码行数:23，代码来源:RobotMain.java

示例3: RoboDrive

import edu.wpi.first.wpilibj.CANJaguar; //导入依赖的package包/类
public RoboDrive(){
    
    try {
        //creates the motors
        aLeft = new CANJaguar(RobotMap.LEFT_DRIVE_MOTOR_ALPHA);
        bLeft = new CANJaguar(RobotMap.LEFT_DRIVE_MOTOR_BETA);//, CANJaguar.ControlMode.kSpeed);
        aRight = new CANJaguar(RobotMap.RIGHT_DRIVE_MOTOR_ALPHA);
        bRight = new CANJaguar(RobotMap.RIGHT_DRIVE_MOTOR_BETA);//, CANJaguar.ControlMode.kSpeed);

        //creates the drive train
        roboDrive = new RobotDrive(aLeft, bLeft, aRight, bRight);
        roboDrive.setSafetyEnabled(false);  
        
    } catch(CANTimeoutException ex) {
        ex.printStackTrace();
    }
}
开发者ID:iraiders，项目名称:2014Robot-，代码行数:18，代码来源:RoboDrive.java

示例4: BTCanJaguar

import edu.wpi.first.wpilibj.CANJaguar; //导入依赖的package包/类
private BTCanJaguar(int port, boolean isVoltage, BTDebugger debug)
{
    this.isVoltage = isVoltage;
    this.debug = debug;
    this.port = port;
    setVoltageMode(isVoltage);
    try {
        motor = new CANJaguar(port);
    } catch (CANTimeoutException ex) {
        debug.write(Constants.DebugLocation.BTMotor, Constants.Severity.SEVERE, "ERROR: Motor not initiated at port: "+port);
    }
    catch (Exception e)
    {
        debug.write(Constants.DebugLocation.BTMotor, Constants.Severity.SEVERE, "ERROR: Motor not initiated at port: "+port+" Exception: "+e.toString());
    }
}
开发者ID:saumikn，项目名称:Testbot14-15，代码行数:17，代码来源:BTCanJaguar.java

示例5: init

import edu.wpi.first.wpilibj.CANJaguar; //导入依赖的package包/类
public void init() {
    if(!hasInit) {
        left = new Victor(HardwareDefines.RIGHT_LOADER_VICTOR);
        try {
            right = new CANJaguar(HardwareDefines.LEFT_LOADER_JAG);
        }
        catch(CANTimeoutException e) {
            System.out.println("Could not instantiate left loader jag!");
        }
        hasInit = true;
    }
    else {
        System.out.println("The loader subsystem has already "
                                        + "been initialized!");
        return;
    }
}
开发者ID:alexbrinister，项目名称:Nashoba-Robotics2014，代码行数:18，代码来源:Loader.java

示例6: Puncher

import edu.wpi.first.wpilibj.CANJaguar; //导入依赖的package包/类
private Puncher() 
{
    try 
    {
        winch = new CANJaguar(RobotMap.WINCH_JAG);
        winch.configPotentiometerTurns(1);
        winch.setPositionReference(CANJaguar.PositionReference.kPotentiometer);
        winch.setSafetyEnabled(false);
        setWinchLimit(.95f);
    } 
    catch (CANTimeoutException ex) 
    {
        reportCANException(ex);
    }
    dogEar = new DoubleSolenoid(RobotMap.DOG_EAR_SOLENOID_DEPLOY, RobotMap.DOG_EAR_SOLENOID_UNDEPLOY);
    dogEar.set(Value.kReverse);
}
开发者ID:Nashoba-Robotics，项目名称:NR-2014-CMD，代码行数:18，代码来源:Puncher.java

示例7: SlingShot

import edu.wpi.first.wpilibj.CANJaguar; //导入依赖的package包/类
public SlingShot()
    {
        try
        {
            shooterPull = new CANJaguar(ReboundRumble.SHOOTER_PULL_CAN_ID);
            shooterPull.changeControlMode(CANJaguar.ControlMode.kPercentVbus);
            shooterPull.configNeutralMode(CANJaguar.NeutralMode.kBrake);
            elevation = new CANJaguar(ReboundRumble.ELEVATION_CAN_ID);
            SetElevationPositionControl();
        } catch (CANTimeoutException ex)
        {
        }
        trigger = new Relay(ReboundRumble.SHOOTER_TRIGGER_RELAY_CHANNEL);
//        loadPosition = new DigitalInput(ReboundRumble.LOAD_POSITON_LIMIT_SWITCH);
//        slingMagnet = new Relay(ReboundRumble.SLING_ELECTROMAGNET_RELAY_CHANNEL);
        //  ballSensor = new DigitalInput(ReboundRumble.SHOOTER_BALL_SENSOR_GPIO_CHANNEL);
        settingForce = false;
    }
开发者ID:FIRST-FRC-Team-2028，项目名称:2012，代码行数:19，代码来源:SlingShot.java

示例8: BTMotor

import edu.wpi.first.wpilibj.CANJaguar; //导入依赖的package包/类
public BTMotor(int port, boolean isCan)
{
    isCANBus = isCan;
    if (isCANBus)
    {
        //int maxTries = 0;
        //while(CANMotor == null && maxTries < 10)
        //{
            try{
                CANMotor = new CANJaguar(port);
            }
            catch(Exception CANTimeoutException){
                Log.log("Error initialising CANJaguar");
            }
        //}
        //if (maxTries >= 10)
            //Log.log("CANJaguar(" + port + ") failed to initialize.");
    }
    else
    {
        PWMMotor = new Jaguar(port);
    }
}
开发者ID:IpFruion，项目名称:RobotBlueTwilight2013，代码行数:24，代码来源:BTMotor.java

示例9: instanciate

import edu.wpi.first.wpilibj.CANJaguar; //导入依赖的package包/类
public void instanciate(int port, boolean isCan, boolean isVoltage)
{
    isCANBus = isCan;
    portNum = port;
    voltage = isVoltage;
    if (isCANBus) {
        try{
            CANMotor = new CANJaguar(port);
            if (isVoltage)
            {
                setVoltageControlMode();
            }
            successJag = true;
        }
        catch(Exception CANTimeoutException){
            System.out.println("Error initialising CANJaguar at port: " +port);
        }
    }
    else
    {
        PWMMotor = new Jaguar(port);
    }
}
开发者ID:IpFruion，项目名称:RobotBlueTwilight2013，代码行数:24，代码来源:BTMotor.java

示例10: ShooterMotorControl

import edu.wpi.first.wpilibj.CANJaguar; //导入依赖的package包/类
public ShooterMotorControl() {
    super("ShooterControl", Kp, Ki, Kd);
    Encoder topEncoder = new Encoder(RobotMap.topEncoderChannelA, RobotMap.topEncoderChannelB);
    Encoder bottomEncoder = new Encoder(RobotMap.bottomEncoderChannelA, RobotMap.bottomEncoderChannelB);
            
    try {
                    shooterJagTop = new CANJaguar(RobotMap.shooterJagTopID);
                    shooterJagBottom = new CANJaguar(RobotMap.shooterJagBottomID);
    } catch (CANTimeoutException e) {
        e.printStackTrace();
    }
    // Use these to get going:
    // setSetpoint() -  Sets where the PID controller should move the system
    //                  to
    // enable() - Enables the PID controller.
    enable();
}
开发者ID:DECABotz-3186，项目名称:frc-3186，代码行数:18，代码来源:ShooterMotorControl.java

示例11: configSpeedControl

import edu.wpi.first.wpilibj.CANJaguar; //导入依赖的package包/类
private void configSpeedControl(CANJaguar jag) throws CANTimeoutException {
        final int CPR = 360;
        final double ENCODER_FINAL_POS = 0;
        final double VOLTAGE_RAMP = 40;
                jag.changeControlMode(CANJaguar.ControlMode.kPercentVbus);
                        jag.setSpeedReference(CANJaguar.SpeedReference.kNone);
                        jag.enableControl();
                        jag.configMaxOutputVoltage(10);//ToDo: 
        // PIDs may be required.  Values here:
        //  http://www.chiefdelphi.com/forums/showthread.php?t=91384
        // and here:
        // http://www.chiefdelphi.com/forums/showthread.php?t=89721
        // neither seem correct.
//        jag.setPID(0.4, .005, 0);
        /*jag.setPID(1, 0, 0);
        jag.changeControlMode(CANJaguar.ControlMode.kSpeed);
        jag.setSpeedReference(CANJaguar.SpeedReference.kQuadEncoder);
        jag.configEncoderCodesPerRev(CPR);
//        jag.setVoltageRampRate(VOLTAGE_RAMP);
        jag.enableControl();*/

//        System.out.println("Control Mode = " + jag.getControlMode());
    }
开发者ID:Team-4153，项目名称:mecanumCommand，代码行数:24，代码来源:Chassis.java

示例12: initEncoder

import edu.wpi.first.wpilibj.CANJaguar; //导入依赖的package包/类
private void initEncoder(){
    try {
        jaguar.configEncoderCodesPerRev(ticsPerRev); // Config encoder tics per rev
        
        // Set speed or position reference
        switch(controlMode.value){
            case ControlMode.kPosition_val:
                jaguar.setPositionReference(CANJaguar.PositionReference.kQuadEncoder);
                break;
            case ControlMode.kSpeed_val:
                jaguar.setSpeedReference(CANJaguar.SpeedReference.kQuadEncoder);
                break;
            default:
                break;
        }
    } catch (CANTimeoutException ex) {
        ex.printStackTrace();
    }
}
开发者ID:FRC79，项目名称:CK_16_Java，代码行数:20，代码来源:CANJagQuadEncoder.java

示例13: DriveTrain

import edu.wpi.first.wpilibj.CANJaguar; //导入依赖的package包/类
public DriveTrain(){
    try{
        leftFront = new CANJaguar(1);
        leftRear = new CANJaguar(2);
        rightFront = new CANJaguar(4);
        rightRear = new CANJaguar(3);
    }catch(Exception e){
        System.out.println(e);
        System.out.println(leftFront);
        System.out.println(leftRear);
        System.out.println(rightFront);
        System.out.println(rightRear);
    }
    
    drive = new RobotDrive(leftFront, leftRear, rightFront, rightRear);
    gyro.reset();
    gyro.setSensitivity(0.007);
}
开发者ID:tglem89，项目名称:2013-code-v2，代码行数:19，代码来源:DriveTrain.java

示例14: setSpeed

import edu.wpi.first.wpilibj.CANJaguar; //导入依赖的package包/类
public void setSpeed(double rpm) throws CANTimeoutException {
     
    //Right now, we're using voltage control mode 
    // guess voltage to rpm relationship
    double voltage = rpm / 0;

    //Check to see if 'rpm' works
    if ((firstShootingMotor.getControlMode() == CANJaguar.ControlMode.kVoltage)
            && (secondShootingMotor.getControlMode() == CANJaguar.ControlMode.kVoltage)) {
        firstShootingMotor.setX(voltage);
    } else {
        firstShootingMotor.setX(rpm);

        secondShootingMotor.setX(rpm);

    }

}
开发者ID:inceptus，项目名称:Robot2013，代码行数:19，代码来源:Shooter.java

示例15: Drive

import edu.wpi.first.wpilibj.CANJaguar; //导入依赖的package包/类
public Drive(){
    
    try {
        
        //Setup the drive motors
        leftFront = new CANJaguar(1);
        rightFront = new CANJaguar(2);
        leftRear = new CANJaguar(3);
        rightRear = new CANJaguar(4);

        //Setup the Drive
        robotDrive = new RobotDrive(leftFront, leftRear, rightFront, rightRear);
        
    } catch (CANTimeoutException ex) {
        ex.printStackTrace();
    }

}
开发者ID:inceptus，项目名称:Robot2013，代码行数:19，代码来源:Drive.java


注：本文中的edu.wpi.first.wpilibj.CANJaguar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。