Java OI类代码示例

import edu.wpi.first.wpilibj.templates.OI; //导入依赖的package包/类
public static void init() {
    // This MUST be here. If the OI creates Commands (which it very likely
    // will), constructing it during the construction of CommandBase (from
    // which commands extend), subsystems are not guaranteed to be
    // yet. Thus, their requires() statements may grab null pointers. Bad
    // news. Don't move it.
    LogDebugger.log("init command for command base.");
    oi = new OI();
    SmartDashboard.putData(theDrive);
    SmartDashboard.putData(theAccelerometer);
    SmartDashboard.putData(theBling);
    SmartDashboard.putData(theFlinger);
    SmartDashboard.putData(theLifter);
    SmartDashboard.putData(thePizzaBox);
    SmartDashboard.putData(theScooperCollector);
    SmartDashboard.putData(theShifter);
    SmartDashboard.putData(thePizzaBoxTilt);
    

    // Show what command your subsystem is running on the SmartDashboard
    //SmartDashboard.putData(exampleSubsystem);
}
 

import edu.wpi.first.wpilibj.templates.OI; //导入依赖的package包/类
public static void init() {
    // This MUST be here. If the OI creates Commands (which it very likely
    // will), constructing it during the construction of CommandBase (from
    // which commands extend), subsystems are not guaranteed to be
    // yet. Thus, their requires() statements may grab null pointers. Bad
    // news. Don't move it.
    
    driveTrain = new DriveTrain();
    shooter = new Shooter();
    vision = new Vision();

    pitch = new Pitch();
    trigger = new Trigger();
    loader1 = new Loader1();
    loader2 = new Loader2();

    //leave oi at the bottom and apart from the other initialized things
    //if it is initialized before the subsytems, it throws some null pointer exceptions
    //those are not fun
    //please leave it here
    oi = new OI();
    // Show what command your subsystem is running on the SmartDashboard
    SmartDashboard.putData(exampleSubsystem);
}
 

import edu.wpi.first.wpilibj.templates.OI; //导入依赖的package包/类
public static void init() {
    // This MUST be here. If the OI creates Commands (which it very likely
    // will), constructing it during the construction of CommandBase (from
    // which commands extend), subsystems are not guaranteed to be
    // yet. Thus, their requires() statements may grab null pointers. Bad
    // news. Don't move it.
    oi = new OI();

    // Show what command your subsystem is running on the SmartDashboard
    SmartDashboard.putData(exampleSubsystem);
}
 

import edu.wpi.first.wpilibj.templates.OI; //导入依赖的package包/类
/**
 *
 */
public static void init() {
    // This MUST be here. If the OI creates Commands (which it very likely
    // will), constructing it during the construction of CommandBase (from
    // which commands extend), subsystems are not guaranteed to be
    // yet. Thus, their requires() statements may grab null pointers. Bad
    // news. Don't move it.
    oi = new OI();

    // Show what command your subsystem is running on the SmartDashboard
    SmartDashboard.putData(exampleSubsystem);
}
 

import edu.wpi.first.wpilibj.templates.OI; //导入依赖的package包/类
public static void init() {
    // This MUST be here. If the OI creates Commands (which it very likely
    // will), constructing it during the construction of CommandBase (from
    // which commands extend), subsystems are not guaranteed to be
    // yet. Thus, their requires() statements may grab null pointers. Bad
    // news. Don't move it.
    oi = new OI();

    // Show what command your subsystem is running on the SmartDashboard
}
 

import edu.wpi.first.wpilibj.templates.OI; //导入依赖的package包/类
public static void init() {
    // This MUST be here. If the OI creates Commands (which it very likely
    // will), constructing it during the construction of CommandBase (from
    // which commands extend), subsystems are not guaranteed to be
    // yet. Thus, their requires() statements may grab null pointers. Bad
    // news. Don't move it.
    oi = new OI();

    // Show what command your subsystem is running on the SmartDashboard
    // SmartDashboard.putData(exampleSubsystem);
}
 

import edu.wpi.first.wpilibj.templates.OI; //导入依赖的package包/类
protected void execute() {
    System.out.println("LS:"+OI.forkLift.hitByBall());
    if (OI.forkLift.getMode() == ForkLift.MANUAL)
        return;
    switch(mode){
        case DOWN_MODE:
            
            if(OI.forkLift.atLowerStop()){
                OI.forkLift.forkLiftStop();
                mode = WAIT_MODE;
            } else {
                OI.forkLift.lowerForkLift(MOTOR_SPEED_DOWN);
            }
            
        break;
        case WAIT_MODE:
            
             if(OI.forkLift.hitByBall()) {
                 mode = UP_MODE;
             }
            
        break;
        case UP_MODE:
            
            if(OI.forkLift.atUpperStop())
            {
                OI.forkLift.forkLiftStop();
                mode = NULL_MODE;
                OI.forkLift.setMode(ForkLift.MANUAL);
                
                
            }
            else {
                OI.forkLift.liftBall(MOTOR_SPEED_UP);
            }
            
        break;        
    }
}
 

import edu.wpi.first.wpilibj.templates.OI; //导入依赖的package包/类
protected boolean isFinished() {
    if (mode == NULL_MODE) {
        return true;
    }
    if (OI.forkLift.getMode() == ForkLift.MANUAL) {
        return true;
    }
    return OI.stick2.getRawButton(3);
}
 

import edu.wpi.first.wpilibj.templates.OI; //导入依赖的package包/类
public static void driveWithJoystick(Joystick driveStick) {
//          drive.mecanumDrive_Polar(
//                driveStick.getZ(),
//                driveStick.getX(),
//                driveStick.getY()
//                );
        drive.mecanumDrive_Cartesian(
                OI.joyThresh.getX(),
                OI.joyThresh.getZ(),
                OI.joyThresh.getY(),
                0
                );
                
    }
 

import edu.wpi.first.wpilibj.templates.OI; //导入依赖的package包/类
public static void init() {
    // This MUST be here. If the OI creates Commands (which it very likely
    // will), constructing it during the construction of CommandBase (from
    // which commands extend), subsystems are not guaranteed to be
    // yet. Thus, their requires() statements may grab null pointers. Bad
    // news. Don't move it.
    oi = new OI();

    // Show what command your subsystem is running on the SmartDashboard
    SmartDashboard.putData(gearShift);
}
 

import edu.wpi.first.wpilibj.templates.OI; //导入依赖的package包/类
public static void init() {
    // This MUST be here. If the OI creates Commands (which it very likely
    // will), constructing it during the construction of CommandBase (from
    // which commands extend), subsystems are not guaranteed to be
    // yet. Thus, their requires() statements may grab null pointers. Bad
    // news. Don't move it.
    oi = new OI();
    
    // Show what command your subsystem is running on the SmartDashboard
    SmartDashboard.putData(driveTrain);
}
 

import edu.wpi.first.wpilibj.templates.OI; //导入依赖的package包/类
public static void init() {
    // This MUST be here. If the OI creates Commands (which it very likely
    // will), constructing it during the construction of CommandBase (from
    // which commands extend), subsystems are not guaranteed to be
    // yet. Thus, their requires() statements may grab null pointers. Bad
    // news. Don't move it.
    oi = new OI();

    // Show what command your subsystem is running on the SmartDashboard
    SmartDashboard.putData(drivetrain);
}
 

import edu.wpi.first.wpilibj.templates.OI; //导入依赖的package包/类
public static void init() {
    // This MUST be here. If the OI creates Commands (which it very likely
    // will), constructing it during the construction of CommandBase (from
    // which commands extend), subsystems are not guaranteed to be
    // yet. Thus, their requires() statements may grab null pointers. Bad
    // news. Don't move it.
    oi = new OI();

    // Show what command your subsystem is running on the SmartDashboard
    SmartDashboard.putData(driveTrain);
    //SmartDashboard.putData(compressorSystem);
    SmartDashboard.putData(shooterFireControl);
    SmartDashboard.putData(speedBoost);
}
 

import edu.wpi.first.wpilibj.templates.OI; //导入依赖的package包/类
/**
 * Call this command to properly finish initializing the CommandBase.
 * This call is automatically included in the default template.
 */
public static void init() {
    oi = new OI();
    
    // Optional: Logs the currently running command for each subsystem in
    //           the SmartDashboard. This can be useful for debugging.
    SmartDashboard.putData(drivetrain);
    SmartDashboard.putData(elevator);
    SmartDashboard.putData(wrist);
    SmartDashboard.putData(claw);
}
 

import edu.wpi.first.wpilibj.templates.OI; //导入依赖的package包/类
public static void init() {
    // This MUST be here. If the OI creates Commands (which it very likely
    // will), constructing it during the construction of CommandBase (from
    // which commands extend), subsystems are not guaranteed to be
    // yet. Thus, their requires() statements may grab null pointers. Bad
    // news. Don't move it.
    oi = new OI();

    // Show what command your subsystem is running on the SmartDashboard
    SmartDashboard.putData(drive);
}