本文整理汇总了Java中edu.wpi.first.wpilibj.command.CommandGroup类的典型用法代码示例。如果您正苦于以下问题:Java CommandGroup类的具体用法?Java CommandGroup怎么用?Java CommandGroup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。
CommandGroup类属于edu.wpi.first.wpilibj.command包,在下文中一共展示了CommandGroup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: parseParallelCommand
import edu.wpi.first.wpilibj.command.CommandGroup; //导入依赖的package包/类
/**
* Parses a parallel command (commands separated by '|'
*
* @param args
* The list of arguments
* @return The command group for the parallel command
*/
protected CommandGroup parseParallelCommand(List<String> args)
{
String parallel_line = "";
for (int i = 1; i < args.size(); ++i)
{
parallel_line += args.get(i) + " ";
}
String[] split_commands = parallel_line.split("\\|");
CommandGroup parallelCommands = new CommandGroup();
for (String this_line : split_commands)
{
parseLine(parallelCommands, this_line, true);
}
return parallelCommands;
}
示例2: initialize
import edu.wpi.first.wpilibj.command.CommandGroup; //导入依赖的package包/类
/**
* Calculates distance to travel and proper orientation then creates
* DriveStraightADistance and TurnWithDegrees Commands, adds them to a
* CommandGroup, then starts the CommandGroup.
*/
@Override
protected void initialize()
{
mCommandGroup = new CommandGroup();
mCurrentX = mPositioner.getXPosition();
mCurrentY = mPositioner.getYPosition();
mDriveDistance = Math.sqrt((Math.pow((mFinalXCoor - mCurrentX), 2)) + (Math.pow((mFinalYCoor - mCurrentY), 2)));
mTurnDegrees = Math.toDegrees(Math.atan2((mFinalXCoor - mCurrentX), (mFinalYCoor - mCurrentY)));
mTurnWithDegrees = new TurnWithDegrees(mDriveTrain, mPositioner, mTurnDegrees, mSpeed);
System.out.println(mTurnDegrees);
mDriveStraightADistance = new DriveStraightADistance(mDriveTrain, mPositioner, mDriveDistance, mSpeed);
mCommandGroup.addSequential(mTurnWithDegrees);
mCommandGroup.addSequential(mDriveStraightADistance);
mCommandGroup.start();
}
示例3: buildAnAuton
import edu.wpi.first.wpilibj.command.CommandGroup; //导入依赖的package包/类
public CommandGroup buildAnAuton()
{
CommandGroup cobbledCommandGroup = new CommandGroup();
try
{
mSelectStartPosition.setStartPosition();
mDefenseCommandParser.readFile(mDefenseInFront.getDefensePath()); // Forces a re-read, publish to dashboard
cobbledCommandGroup.addSequential(mPostDefenseCommandParser.readFile(mSelectAutonomous.getSelected()));
}
catch (Exception e)
{
System.err.println("Could not read auton files");
e.printStackTrace();
}
return cobbledCommandGroup;
}
示例4: initialize
import edu.wpi.first.wpilibj.command.CommandGroup; //导入依赖的package包/类
/**
* Init- if statement to decide which low goal to go to; also adds the
* correct GoToXYPath command
*/
@Override
protected void initialize()
{
double mYPosition = Properties2016.sLOW_GOAL_Y.getValue();
double mXPosition = Properties2016.sLOW_GOAL_X.getValue();
if (mPositioner.getXPosition() < 0)
{
mXPosition = -mXPosition;
}
GoToXYPath drive_close_to_goal = new GoToXYPath(mDriveTrain, mPositioner, (mXPosition + 15), (mYPosition - 30), mMaxTurnVel, mMaxTurnAccel,
mMaxDriveVel,
mMaxDriveAccel);
GoToXYPath drive_to_goal = new GoToXYPath(mDriveTrain, mPositioner, mXPosition, mYPosition, mMaxTurnVel, mMaxTurnAccel, mMaxDriveVel, mMaxDriveAccel);
mCommandGroup = new CommandGroup();
mCommandGroup.addSequential(drive_close_to_goal);
mCommandGroup.addSequential(drive_to_goal);
}
示例5: initialize
import edu.wpi.first.wpilibj.command.CommandGroup; //导入依赖的package包/类
/**
* Init- calculates the drive distance and turn degrees, plugs them into a
* path command, and adds it to the command group.
*/
@Override
protected void initialize()
{
mCurrentX = mPositioner.getXPosition();
double ChangeInX = mFinalXCoor - mCurrentX;
mCurrentY = mPositioner.getYPosition();
double ChangeInY = mFinalYCoor - mCurrentY;
mDriveDistance = Math.sqrt((Math.pow((ChangeInX), 2)) + (Math.pow((ChangeInY), 2)));
mTurnDegrees = Math.toDegrees(Math.atan2((ChangeInX), (ChangeInY)));
mTurnPathConfig = new PathConfig(mTurnDegrees, mMaxTurnVel, mMaxTurnAccel, .02);
mTurnSetpointIterator = new StaticSetpointIterator(mTurnPathConfig);
mDriveTurnPath = new DriveTurnPath(mDriveTrain, mPositioner, mTurnSetpointIterator);
mDrivePathConfig = new PathConfig(mDriveDistance, mMaxDriveVel, mMaxDriveAccel, .02);
mDriveSetpointIterator = new StaticSetpointIterator(mDrivePathConfig);
mDriveStraightPath = new DriveStraightPath(mDriveTrain, mPositioner, mDriveSetpointIterator);
mCommandGroup = new CommandGroup();
mCommandGroup.addSequential(mDriveTurnPath);
mCommandGroup.addSequential(mDriveStraightPath);
}
示例6: driveAndPrepareToShoot
import edu.wpi.first.wpilibj.command.CommandGroup; //导入依赖的package包/类
private static CommandGroup driveAndPrepareToShoot(boolean checkHot, double driveDistance, double timeToFinish, double timeout) {
CommandGroup driveAndCheckGoal = new CommandGroup("driveAndCheck");
driveAndCheckGoal.addSequential(driveForwardRotate(0, 0));
driveAndCheckGoal.addParallel(setFingerPosition(ClawFingerSubsystem.DOWN));
driveAndCheckGoal.addParallel(new SetClawWinchSolenoid(true));
CommandGroup setClawPosition = new CommandGroup();
// check the hot goal after .5 seconds
if (checkHot) {
driveAndCheckGoal.addSequential(new WaitCommand(500));
driveAndCheckGoal.addSequential(new HotVisionWaitCommand());
timeToFinish += 4.8;
}
final double minDriveSpeed = .7;
ChangeableBoolean driveFinishedChecker = new ChangeableBoolean(false);
driveAndCheckGoal.addParallel(new DriveSetDistanceWithPIDCommand(driveDistance, minDriveSpeed, driveFinishedChecker));
driveAndCheckGoal.addSequential(new SetClawPosition(ClawPivotSubsystem.BACKWARD_SHOOT, driveFinishedChecker, timeToFinish), timeout);
return driveAndCheckGoal;
}
示例7: autonomousInit
import edu.wpi.first.wpilibj.command.CommandGroup; //导入依赖的package包/类
public void autonomousInit() {
setBrakeMode(true);
// schedule the autonomous command (example)
//next two lines of code work for now, but we'll probably want to replace them with a more
//elegant way of selecting the auton mode we want from the smart dashboard
DriveEncoders.intializeEncoders();
RobotMap.driveTrainRightFront.setPosition(0);
RobotMap.driveTrainLeftFront.setPosition(0);
System.out.print(auto.getSelected());
autonomousCommand = (CommandGroup)new AutonCommandGroup (ParseInput.takeInput((String)auto.getSelected()));
if (autonomousCommand != null) autonomousCommand.start();
}
示例8: autonomousInit
import edu.wpi.first.wpilibj.command.CommandGroup; //导入依赖的package包/类
public void autonomousInit() {
RobotMap.lightRing.set(Relay.Value.kOn);
RobotMap.winchMotor.enableBrakeMode(true);
if (recordedAuton) {
oi.gamepad.loadVirtualGamepad(recordedID);
oi.gamepad.startVirtualGamepad();
} else {
// schedule the autonomous command (example)
autonomousCommand = (CommandGroup) new ConstructedAutonomous(ParseInput.takeInput((String)auto_Movement.getSelected(),
(boolean)auto_Reverse.getSelected(), (int)auto_isHighGoal.getSelected()));
if(autonomousCommand != null)
autonomousCommand.start();
}
}
示例9: createNewCommandGroup
import edu.wpi.first.wpilibj.command.CommandGroup; //导入依赖的package包/类
/**
* Specialization wrapper for a command group. Simply will print out that
* the command group has finished
*
* @param aName
* Name of the command group
* @return The newly created command group
*/
protected CommandGroup createNewCommandGroup(String aName)
{
return new CommandGroup(aName)
{
@Override
protected void end()
{
super.end();
System.out.println("Command group '" + aName + "' finished!");
}
};
}
示例10: parseLine
import edu.wpi.first.wpilibj.command.CommandGroup; //导入依赖的package包/类
/**
* Interprets a line as a Command and adds it to mCommands
*
* @param aLine
* Line of text
* @param b
*/
protected void parseLine(CommandGroup aGroup, String aLine, boolean aAddParallel)
{
aLine = aLine.trim();
if (aLine.isEmpty() || aLine.startsWith(mCommentStart))
{
return;
}
StringTokenizer tokenizer = new StringTokenizer(aLine, mDelimiter);
List<String> args = new ArrayList<>();
while (tokenizer.hasMoreElements())
{
args.add(tokenizer.nextToken());
}
Command newCommand = parseCommand(args);
if (newCommand == null)
{
mSuccess = false;
}
else
{
if (aAddParallel)
{
aGroup.addParallel(newCommand);
}
else
{
aGroup.addSequential(newCommand);
}
}
}
示例11: readFile
import edu.wpi.first.wpilibj.command.CommandGroup; //导入依赖的package包/类
/**
* Reads the given file into autonomous commands
*
* @param aFilePath
* The path to the file to read
* @return The constructed command group to run
*/
public CommandGroup readFile(String aFilePath)
{
initReading();
CommandGroup output = createNewCommandGroup(aFilePath);
String fileContents = "";
File file = new File(aFilePath);
if (file.exists())
{
try
{
BufferedReader br = new BufferedReader(new FileReader(aFilePath));
String line;
while ((line = br.readLine()) != null)
{
this.parseLine(output, line, false);
fileContents += line + "\n";
}
br.close();
}
catch (Exception e)
{
e.printStackTrace();
}
}
else
{
addError("File " + aFilePath + " not found!");
}
publishParsingResults(fileContents);
return output;
}
示例12: createAutonMode
import edu.wpi.first.wpilibj.command.CommandGroup; //导入依赖的package包/类
public CommandGroup createAutonMode()
{
File selectedFile = mAutonModeChooser.getSelected();
if (selectedFile != null)
{
setPosition();
return mCommandParser.readFile(selectedFile.toString());
}
return null;
}
示例13: readFile
import edu.wpi.first.wpilibj.command.CommandGroup; //导入依赖的package包/类
@Override
public CommandGroup readFile(String aFilePath)
{
if (aFilePath == null)
{
aFilePath = "NOT FOUND!";
}
mAutonTable.putString(SmartDashBoardNames.sAUTON_FILENAME, aFilePath);
return super.readFile(aFilePath);
}
示例14: execute
import edu.wpi.first.wpilibj.command.CommandGroup; //导入依赖的package包/类
@Override
protected void execute() {
double xRate = 0;
double yRate = 0;
double zRate = 0;
CommandGroup group = getGroup();
if (group instanceof DriveStraightCommand) {
xRate = ((DriveStraightCommand) group).getxRate();
yRate = ((DriveStraightCommand) group).getyRate();
zRate = ((DriveStraightCommand) group).getzRate();
}
Robot.driveSubsystem.mecanumDrive(xRate, -yRate, zRate, 0);
}
示例15: usePIDOutput
import edu.wpi.first.wpilibj.command.CommandGroup; //导入依赖的package包/类
@Override
protected void usePIDOutput(double output) {
CommandGroup group = getGroup();
if (group instanceof DriveStraightCommand) {
((DriveStraightCommand) group).setyRate(output);
}
}