Java CANJaguar.configMaxOutputVoltage方法代码示例

import edu.wpi.first.wpilibj.CANJaguar; //导入方法依赖的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());
    }
 

import edu.wpi.first.wpilibj.CANJaguar; //导入方法依赖的package包/类
SteeringUnit(int steeringCanID, int leftCanID, int rightCanID)  throws CANTimeoutException {
    middle = new CANJaguar(steeringCanID, CANJaguar.ControlMode.kPosition);
    //middle = new CANJaguar(steeringCanID, CANJaguar.ControlMode.kPercentVbus);
    middle.configMaxOutputVoltage(ReboundRumble.MAX_MOTOR_VOLTAGE);
    middle.configPotentiometerTurns(1);
    middle.setPositionReference(CANJaguar.PositionReference.kPotentiometer);
    middle.configNeutralMode(CANJaguar.NeutralMode.kBrake);
    middle.setPID(kProportional, kIntegral, kDifferential);
    left = new Wheel(leftCanID);
    right = new Wheel(rightCanID);
    setpoint = 0.0;
}
 

import edu.wpi.first.wpilibj.CANJaguar; //导入方法依赖的package包/类
public Shooter() throws CANTimeoutException {
    motor = new CANJaguar(Parameters.WheelOneCANJaguarCANID, CANJaguar.ControlMode.kPercentVbus);
    motor.configMaxOutputVoltage(Parameters.MaxMotorOutputVoltage);
    motor.configNeutralMode(CANJaguar.NeutralMode.kBrake);
    discSensor = new DigitalInput(Parameters.DiscInShooterGPIOChannel);
    shooterCockedSensor = new DigitalInput(Parameters.ShooterIsCockedGPIOChannel);
    shooterRetractedSensor = new DigitalInput(Parameters.ShooterIsRetractedGPIOChannel);

}
 

import edu.wpi.first.wpilibj.CANJaguar; //导入方法依赖的package包/类
public Arm(int armCANID) {
//        latchSwitch = new DigitalInput(1,
//                Parameters.latchLimitSwitchGPIOChannel);
//        handOffSwitch = new DigitalInput(1
//                , Parameters.handOffLimitSwitchGPIOChannel);
        try {
            motor = new CANJaguar(armCANID);
            motor.configMaxOutputVoltage(Parameters.MaxMotorOutputVoltage);
            motor.changeControlMode(CANJaguar.ControlMode.kPercentVbus);
            motor.configNeutralMode(CANJaguar.NeutralMode.kBrake);
        } catch (CANTimeoutException ex) {
            ex.printStackTrace();
        }
    }
 

import edu.wpi.first.wpilibj.CANJaguar; //导入方法依赖的package包/类
public ClimbingSystem(RobotTemplate robo)            
{
    try 
    {
        up = new Solenoid(Wiring.CLIMB_SOLENOID_UP);
        down = new Solenoid(Wiring.CLIMB_SOLENOID_DOWN);
        forward = new Solenoid(Wiring.CLIMBING_SOLENOID_FORWARD);
        back = new Solenoid(Wiring.CLIMBING_SOLENOID_BACKWARD);
        home = new DigitalInput(Wiring.CYLINDER_HOME);
        part = new DigitalInput(Wiring.CYLINDER_PART);
        max = new DigitalInput(Wiring.CYLINDER_MAX);
        winch = new CANJaguar(Wiring.WINCH_MOTOR);
        countPart = new Counter(part);
        countPart.setUpSourceEdge(true, false);
        countPart.reset();
        countPart.start();
        winch.configMaxOutputVoltage(6.0);
        forward.set(true);
        back.set(false);
        this.robo = robo;
        time.start();
        typicalCurrent = 0;
        
    } 
    catch (CANTimeoutException ex) 
    {
        ex.printStackTrace();
    }
}
 

import edu.wpi.first.wpilibj.CANJaguar; //导入方法依赖的package包/类
Wheel(int canId) throws CANTimeoutException {
    motorController = new CANJaguar(canId);       
    motorController.configMaxOutputVoltage(ReboundRumble.MAX_MOTOR_VOLTAGE);
    motorController.changeControlMode(CANJaguar.ControlMode.kVoltage);
    motorController.configNeutralMode(CANJaguar.NeutralMode.kBrake);
}
 

import edu.wpi.first.wpilibj.CANJaguar; //导入方法依赖的package包/类
/**
 * Tread 
 * 
 * Constructor 
 * 
 * @param parent - TankDrive that this Tread is part of
 * @param canID - The channel number for the CANJaguar
 * @param gearChannel - The solenoid channel for the gear selector 
 * @throws CANTimeoutException - when communication with the jaguar fails over the CAN bus
 */ 
public Tread(TankDrive parent, int canID, int gearChannel) throws CANTimeoutException 
{
    motor = new CANJaguar(canID, CANJaguar.ControlMode.kPercentVbus);
    motor.configMaxOutputVoltage(Parameters.MaxMotorOutputVoltage);
    motor.configNeutralMode(CANJaguar.NeutralMode.kBrake);
    drive = parent;
    gearShifter = new Solenoid(Parameters.crioRelayModule, gearChannel);
    setGear(Gear.kLow); 
}