Java Solenoid类代码示例

import edu.wpi.first.wpilibj.Solenoid; //导入依赖的package包/类
/**
 * Called when the robot first starts, (only once at power-up).
 */
public void robotInit() {
    //NetworkTable.setTeam(1259); adding the setTeam() method will cause the robot to encounter a thread error
    //NetworkTable.setIPAddress("10.12.59.2");
    operatorInputs = new OperatorInputs();
    drive = new DriveTrain(operatorInputs);
    prefs = Preferences.getInstance();
    pickerPID = new PickerPID();
    shoot = new Shooter(operatorInputs);
    pick = new Picker(operatorInputs, pickerPID, shoot);
    compressor = new Compressor(PRESSURE_SWITCH_CHANNEL, COMPRESSOR_RELAY_CHANNEL);
    colwellContraption1 = new Solenoid(1, 3);
    colwellContraption2 = new Solenoid(1, 4);
    colwellContraption2.set(true);

    this.autoTimer = new Timer();
    drive.leftEncoder.start();
    drive.rightEncoder.start();
    drive.timer.start();
    autoTimer.start();
}
 

import edu.wpi.first.wpilibj.Solenoid; //导入依赖的package包/类
public DriveTrain(OperatorInputs _operatorInputs) {
    this.operatorInputs = _operatorInputs;
    this.leftTalons = new Talon(LEFT_PORT);
    this.rightTalons = new Talon(RIGHT_PORT);
    this.gearShiftLow = new Solenoid(SHIFT_MODULE, SHIFT_PORT_LOW);
    this.gearShiftHigh = new Solenoid(SHIFT_MODULE, SHIFT_PORT_HIGH);
    this.leftEncoder = new Encoder(3, 4);
    this.rightEncoder = new Encoder(5, 6);
    this.timer = new Timer();
    //Start all wheels off
    leftTalons.set(0);
    rightTalons.set(0);
    //Starts in low gear
    gearShiftLow.set(isHighGear);
    gearShiftHigh.set(!isHighGear);
    leftEncoder.setDistancePerPulse(-DISTANCE_PER_PULSE);
    rightEncoder.setDistancePerPulse(DISTANCE_PER_PULSE);

}
 

import edu.wpi.first.wpilibj.Solenoid; //导入依赖的package包/类
/**
 *
 */
public DriveTrain() {
    super("DriveTrain");

    FLeftMotor = new Victor(RobotMap.FLeftMotorPWM);
    FRightMotor = new Victor(RobotMap.FRightMotorPWM);
    BLeftMotor = new Victor(RobotMap.BLeftMotorPWM);
    BRightMotor = new Victor(RobotMap.BRightMotorPWM);
    //MLeftMotor = new Victor(RobotMap.MLeftMotorPWM);
    //MRightMotor = new Victor(RobotMap.MRightMotorPWM);
    drive = new RobotDrive(FLeftMotor, BLeftMotor, FRightMotor, BRightMotor);
    //drive.setInvertedMotor(RobotDrive.MotorType.kFrontRight, true);
    //drive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, true);

    GShiftSolDown = new Solenoid(RobotMap.DriveTrainLowGearSolenoid);
    GShiftSolUp = new Solenoid(RobotMap.DriveTrainHighGearSolenoid);
    display = DriverStationLCD.getInstance();
}
 

import edu.wpi.first.wpilibj.Solenoid; //导入依赖的package包/类
public PneumaticTest(int numDoubleValves) {
    super("PneumaticTestSubsystem");
    
    try {
        m_solenoidExtend = new Solenoid[numDoubleValves];
        m_solenoidRetract = new Solenoid[numDoubleValves];
        m_position = new String[numDoubleValves];
    
        int relayPort = 1;
        int moduleId = 1;
        for (int valveId = 0; valveId < numDoubleValves; valveId++) {
            if (valveId == 4) {
                moduleId = 2;
                relayPort = 1;
            }
            System.out.println("Pneumatic Extend, Valve id = " + valveId +  ", module = " + moduleId +  ", port = " + relayPort);
            m_solenoidExtend[valveId] = new Solenoid(moduleId, relayPort++);
            System.out.println("Pneumatic Retract, Valve id = " + valveId +  ", module = " + moduleId +  ", port = " + relayPort);
            m_solenoidRetract[valveId] = new Solenoid(moduleId, relayPort++);
            m_position[valveId] = PneumaticSubsystem.UNKNOWN;
        }
    } catch (Exception e) {
        System.out.println("Unknown error initializing " + getName() + ".  Message = " + e.getMessage());
    }
}
 

import edu.wpi.first.wpilibj.Solenoid; //导入依赖的package包/类
public void update()
{
    for (int cy = 0; cy < MODULES; cy++)
    {
        for (int cx = 0; cx < CHANNELS; cx++)
        {
            Solenoid s = solenoids[cy][cx];
            if (s == null)
            {
                continue;
            }
            
            SmartDashboard.putBoolean(String.format("%d - %d", cy + 1, cx + 1), s.get());
        }
    }
}
 

import edu.wpi.first.wpilibj.Solenoid; //导入依赖的package包/类
public Drivetrain () {
    leftBackMotor   = new TalonWrapper (RobotMap.Drivetrain.LEFT_BACK_MOTOR_CHANNEL, Constants.Drivetrain.LEFT_BACK_MOTOR_FLIPPED);
    leftMiddleMotor = new TalonWrapper (RobotMap.Drivetrain.LEFT_MIDDLE_MOTOR_CHANNEL, Constants.Drivetrain.LEFT_MIDDLE_MOTOR_FLIPPED);
    leftFrontMotor  = new TalonWrapper (RobotMap.Drivetrain.LEFT_FRONT_MOTOR_CHANNEL, Constants.Drivetrain.LEFT_FRONT_MOTOR_FLIPPED);
    rightBackMotor  = new TalonWrapper (RobotMap.Drivetrain.RIGHT_BACK_MOTOR_CHANNEL, Constants.Drivetrain.RIGHT_BACK_MOTOR_FLIPPED);
    rightMiddleMotor = new TalonWrapper (RobotMap.Drivetrain.RIGHT_MIDDLE_MOTOR_CHANNEL, Constants.Drivetrain.RIGHT_MIDDLE_MOTOR_FLIPPED);
    rightFrontMotor = new TalonWrapper (RobotMap.Drivetrain.RIGHT_FRONT_MOTOR_CHANNEL, Constants.Drivetrain.RIGHT_FRONT_MOTOR_FLIPPED);

    leftEnc  = new EncoderWrapper (RobotMap.Drivetrain.LEFT_ENC_CHANNEL_A, RobotMap.Drivetrain.LEFT_ENC_CHANNEL_B);
    rightEnc = new EncoderWrapper (RobotMap.Drivetrain.RIGHT_ENC_CHANNEL_A, RobotMap.Drivetrain.RIGHT_ENC_CHANNEL_B);

    gyro = new Gyro(RobotMap.Drivetrain.GYRO_CHANNEL);

    shifter = new Solenoid(RobotMap.Drivetrain.SHIFTER_CHANNEL);

    leftTargetSpeed = rightTargetSpeed = leftCurrSpeed = rightCurrSpeed = 0;

    isBusy = false;
    isShifterLocked = false;
}
 

import edu.wpi.first.wpilibj.Solenoid; //导入依赖的package包/类
public Loader()
{
    Conveyor = new Victor(ReboundRumble.LOADER_CONVEYOR_PWM);
    loaderInSolenoid = new Solenoid(ReboundRumble.LOADER_IN_SOLENOID_CHANNEL);
    loaderOutSolenoid = new Solenoid(ReboundRumble.LOADER_OUT_SOLENOID_CHANNEL);
    loaderUpSolenoid = new Solenoid(ReboundRumble.LOADER_UP_SOLENOID_CHANNEL);
    loaderDownSolenoid = new Solenoid(ReboundRumble.LOADER_DOWN_SOLENOID_CHANNEL);
    loaderIn = new DigitalInput(ReboundRumble.LOAD_IN_GPIO_CHANNEL);
    loaderOut = new DigitalInput(ReboundRumble.LOAD_OUT_GPIO_CHANNEL);
    loaderUp = new DigitalInput(ReboundRumble.LOAD_UP_GPIO_CHANNEL);
    loaderDown = new DigitalInput(ReboundRumble.LOAD_DOWN_GPIO_CHANNEL);
    loaderDownSolenoid.set(false);
    loaderUpSolenoid.set(true);
    loaderOutSolenoid.set(false);
    loaderInSolenoid.set(true);
}
 

import edu.wpi.first.wpilibj.Solenoid; //导入依赖的package包/类
public SystemShooter() {
    super();
    wheel1 = new Victor(5); // Both bots: 5
    wheel2 = new Victor(6); // Both bots: 6

    cockOn = new Solenoid(4); //competition: 4 / practice: 1
    cockOff = new Solenoid(3); //competition: 3 / practice: 2
    fireOn = new Solenoid(6); // competition: 6 / practice: 5
    fireOff = new Solenoid(5); // competition: 5 / practice 6
    gateUp = new Solenoid(1); // competition: 1 / practice 3
    gateDown = new Solenoid(2); // competition: 2 / practice 4

    autoShoot = false;
    isShootingAngle = true;
    
    frisbeesShot = 0;
    
    enteringLoop = false;
    
    cockTime = WiredCats2415.textReader.getValue("cockTime");
    gatesDownTime = WiredCats2415.textReader.getValue("gatesDownTime");
    fireTime = WiredCats2415.textReader.getValue("fireTime");
    
    System.out.println("[WiredCats] Initialized System Shooter");
}
 

import edu.wpi.first.wpilibj.Solenoid; //导入依赖的package包/类
public DriveTrain() {
    mjGauche = JoystickDevice.GetTankDriveGauche();
    mjDroite = JoystickDevice.GetTankDriveDroite();
    mDriveTrain = new RobotDrive(PwmDevice.mMoteurGaucheAvant,
            PwmDevice.mMoteurGaucheArriere,
            PwmDevice.mMoteurDroiteAvant,
            PwmDevice.mMoteurDroiteArriere);


    msTransmissionHi = new Solenoid(SolenoidDevice.mTransmissionHi);
    msTransmissionLow = new Solenoid(SolenoidDevice.mTransmissionLow);
    meTransmissionGauche = new Encoder(DigitalDevice.mTransmissionGaucheEncodeurA,
            DigitalDevice.mTransmissionGaucheEncodeurB);
    mfMoteurGauche = new FiltrePasseBas(25);
    meTransmissionDroite = new Encoder(DigitalDevice.mTransmissionDroiteEncodeurA,
            DigitalDevice.mTransmissionDroiteEncodeurB);
    mfMoteurDroite = new FiltrePasseBas(25);

    msTransmissionHi.set(false);
    msTransmissionLow.set(true);
}
 

import edu.wpi.first.wpilibj.Solenoid; //导入依赖的package包/类
public void update()
{
    for (int cy = 0; cy < modules; cy++)
    {
        for (int cx = 0; cx < channels; cx++)
        {
            Solenoid s = solenoids[cy][cx];
            if (s == null)
            {
                continue;
            }

            labels[cy][cx].setText(String.format("%d - %d : %s", cy + 1, cx + 1, s.get()));
        }
    }
    solenoidWindow.invalidate();
    solenoidWindow.validate();
}
 

import edu.wpi.first.wpilibj.Solenoid; //导入依赖的package包/类
public void reset() {
	for (int i = 0; i < motors.length; i++) {
		if (motors[i] == null) {
			continue;
		}
		if (motors[i] instanceof CANTalon) {
			((CANTalon) motors[i]).delete();
		} else if (motors[i] instanceof Victor) {
			((Victor) motors[i]).free();
		}
	}
	motors = new SpeedController[64];
	
	for (int i = 0; i < solenoids.length; i++) {
		if (solenoids[i] == null) {
			continue;
		}
		solenoids[i].free();
	}
	solenoids = new Solenoid[64];

	for (int i = 0; i < relays.length; i++) {
		if (relays[i] == null) {
			continue;
		}
		relays[i].free();
	}
	relays = new Relay[64];

	for (int i = 0; i < analogInputs.length; i++) {
		if (analogInputs[i] == null) {
			continue;
		}
		analogInputs[i].free();
	}
	analogInputs = new AnalogInput[64];
	
	if (compressor != null)
	compressor.free();
}
 

import edu.wpi.first.wpilibj.Solenoid; //导入依赖的package包/类
public void robotInit() {

        frontLeft = new VictorSP(0);
        backLeft = new VictorSP(1);       
        frontRight = new VictorSP(2);
        backRight = new VictorSP(3);
        intakeMotor = new VictorSP(4);
        compressor = new Compressor(0);
        intakeSolenoid = new Solenoid(0);

        
        driveTrain = new RobotDrive(frontLeft, backLeft, frontRight, backRight);
        
        driveTrain.setSafetyEnabled(false);
        driveTrain.setExpiration(0.1);
        driveTrain.setSensitivity(0.5);
        driveTrain.setInvertedMotor(RobotDrive.MotorType.kFrontLeft, false);
        driveTrain.setInvertedMotor(RobotDrive.MotorType.kRearLeft, false);
        driveTrain.setInvertedMotor(RobotDrive.MotorType.kFrontRight, false);
        driveTrain.setInvertedMotor(RobotDrive.MotorType.kRearRight, false);
        
    	XboxController = new Joystick(2);

        rightJoystick = new Joystick(1);
        
        leftJoystick = new Joystick(0);
	}
 

import edu.wpi.first.wpilibj.Solenoid; //导入依赖的package包/类
/**
 * This function is run when the robot is first started up and should be
 * used for any initialization code.
 */
public void robotInit()
{
    // PWM's
    mTestMotor1 = new Talon(0);
    mTestMotor2 = new Jaguar(1);
    mServo = new Servo(2);

    // Digital IO
    mDigitalOutput = new DigitalOutput(0);
    mRightEncoder = new Encoder(4, 5);
    mLeftEncoder = new Encoder(1, 2);
    mUltrasonic = new Ultrasonic(7, 6);

    // Analog IO
    mAnalogGryo = new AnalogGyro(0);
    mPotentiometer = new AnalogPotentiometer(1);

    // Solenoid
    mSolenoid = new Solenoid(0);

    // Relay
    mRelay = new Relay(0);

    // Joysticks
    mJoystick1 = new Joystick(0);
    mJoystick2 = new XboxController(1);

    // SPI
    mSpiGryo = new ADXRS450_Gyro();

    // Utilities
    mTimer = new Timer();
    mPDP = new PowerDistributionPanel();

    Preferences.getInstance().putDouble("Motor One Speed", .5);
}
 

import edu.wpi.first.wpilibj.Solenoid; //导入依赖的package包/类
public SnobotShooter(SpeedController aShooterMotor, Solenoid aShooterSolenoid, OperatorJoystick aShooterJoystick)
{
	mShooterJoystick = aShooterJoystick;
	mShooterSolenoid = aShooterSolenoid;
	mShooterMotor = aShooterMotor;
       mIncreaseSpeedButton = new LatchedButton();
       mDecreaseSpeedButton = new LatchedButton();
}
 

import edu.wpi.first.wpilibj.Solenoid; //导入依赖的package包/类
/**
 * This function is run when the robot is first started up and should be used for any initialization code.
 */
@Override
public void robotInit()
{
    // UI
    mShooterJoystick = new Joystick(PortMap.sOPERATOR_JOYSTICK_PORT);
    mDriveJoystick = new Joystick(PortMap.sDRIVER_JOYSTICK_PORT);
    mDriverController = new DriverJoystick(mDriveJoystick);
    mOperatorController = new OperatorJoystick(mShooterJoystick);

	//Shooter
    mShooterMotor = new Talon(PortMap.sSHOOTER_MOTOR);
    mShooterSolenoid = new Solenoid(PortMap.sSHOOTER_PISTON);
    mShooter = new SnobotShooter(mShooterMotor, mShooterSolenoid, mOperatorController);
	
	//Drive Train
    mLeftMotor = new Talon(PortMap.sLEFT_DRIVE_MOTOR);
    mRightMotor = new Talon(PortMap.sRIGHT_DRIVE_MOTOR);
    mDriveTrain = new SnobotDriveTrain(mLeftMotor, mRightMotor, mDriverController);
	
    // Intake
    mUpperIntakeMotor = new Talon(PortMap.sUPPER_INTAKE_MOTOR);
    mLowerIntakeMotor = new Talon(PortMap.sLOWER_INTAKE_MOTOR);
    mIntake = new SnobotIntake(mLowerIntakeMotor, mUpperIntakeMotor, mOperatorController);

    addModule(mDriveTrain);
    addModule(mShooter);
    addModule(mIntake);

    initializeLogHeaders();

    // Now all the preferences should be loaded, make sure they are all
    // saved
    PropertyManager.saveIfUpdated();
}