Java CANTalon.changeControlMode方法代码示例

import edu.wpi.first.wpilibj.CANTalon; //导入方法依赖的package包/类
public static void initialize(){
	climbingWinch = new CANTalon(8); //this value is guessed as of 3/21
	release = new Servo(2); //this value is guessed as of 3/21
	motorLatch = new Servo(3); //this value is guessed as of 3/21
	climbingWinch.changeControlMode(CANTalon.TalonControlMode.PercentVbus);
	climbingWinch.enableBrakeMode(true);
}
 

import edu.wpi.first.wpilibj.CANTalon; //导入方法依赖的package包/类
/**
 * Constructor
 */
private Turret() {
	winch = new CANTalon(TURRET);
	winch.changeControlMode(PERCENT_VBUS_MODE);
	winch.enableBrakeMode(BRAKE_MODE);
	lower = new DigitalInput(0);
	upper = new DigitalInput(1);
	// winch.setFeedbackDevice(FeedbackDevice.CtreMagEncoder_Relative);
}
 

import edu.wpi.first.wpilibj.CANTalon; //导入方法依赖的package包/类
public FlyWheels() {
	left = new CANTalon(RobotMap.LEFT_SHOOTER_MOTOR);
	right = new CANTalon(RobotMap.RIGHT_SHOOTER_MOTOR);
	left.enableBrakeMode(true);
	right.enableBrakeMode(true);
	
	right.changeControlMode(CANTalon.TalonControlMode.Follower);
	right.reverseOutput(true);
	
	pusher = new DoubleSolenoid(RobotMap.PUSHER_OUT_PORT, RobotMap.PUSHER_IN_PORT);

	wheelSwitch = new DigitalInput(RobotMap.FLYWHEEL_ENCODER_SWITCH);
	counter = new Counter(wheelSwitch);
}
 

import edu.wpi.first.wpilibj.CANTalon; //导入方法依赖的package包/类
public Yaw(){
	yaw = new CANTalon(RobotMap.TARGETING_YAW_MOTOR);
	yaw.enableControl();
	yawZero = yaw.getEncPosition();
	
	yaw.changeControlMode(TalonControlMode.Position);
	yaw.setPID(RobotMap.YAW_P, RobotMap.YAW_I, RobotMap.YAW_D);
}
 

import edu.wpi.first.wpilibj.CANTalon; //导入方法依赖的package包/类
public Robot() {
    motor = new CANTalon(1); // Initialize the CanTalonSRX on device 1.

    // This sets the mode of the m_motor. The options are:
    // PercentVbus: basic throttle; no closed-loop.
    // Current: Runs the motor with the specified current if possible.
    // Speed: Runs a PID control loop to keep the motor going at a constant
    //   speed using the specified sensor.
    // Position: Runs a PID control loop to move the motor to a specified move
    //   the motor to a specified sensor position.
    // Voltage: Runs the m_motor at a constant voltage, if possible.
    // Follower: The m_motor will run at the same throttle as the specified
    //   other talon.
    motor.changeControlMode(CANTalon.ControlMode.Position);
    // This command allows you to specify which feedback device to use when doing
    // closed-loop control. The options are:
    // AnalogPot: Basic analog potentiometer
    // QuadEncoder: Quadrature Encoder
    // AnalogEncoder: Analog Encoder
    // EncRising: Counts the rising edges of the QuadA pin (allows use of a
    //   non-quadrature encoder)
    // EncFalling: Same as EncRising, but counts on falling edges.
    motor.setFeedbackDevice(CANTalon.FeedbackDevice.AnalogPot);
    // This sets the basic P, I , and D values (F, Izone, and rampRate can also
    //   be set, but are ignored here).
    // These must all be positive floating point numbers (reverseSensor will
    //   multiply the sensor values by negative one in case your sensor is flipped
    //   relative to your motor).
    // These values are in units of throttle / sensor_units where throttle ranges
    //   from -1023 to +1023 and sensor units are from 0 - 1023 for analog
    //   potentiometers, encoder ticks for encoders, and position / 10ms for
    //   speeds.
    motor.setPID(1.0, 0.0, 0.0);
}
 

import edu.wpi.first.wpilibj.CANTalon; //导入方法依赖的package包/类
public static void init() {
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    driveleftDrive = new CANTalon(3);
    LiveWindow.addActuator("Drive", "leftDrive", driveleftDrive);
    
    driverightDrive = new CANTalon(4);
    LiveWindow.addActuator("Drive", "rightDrive", driverightDrive);
    
    driveRobotDrive21 = new RobotDrive(driveleftDrive, driverightDrive);
    
    driveRobotDrive21.setSafetyEnabled(true);
    driveRobotDrive21.setExpiration(0.1);
    driveRobotDrive21.setSensitivity(0.5);
    driveRobotDrive21.setMaxOutput(1.0);

    armsingleArm = new CANTalon(9);
    
    armsingleArm.changeControlMode(TalonControlMode.PercentVbus);
    armsingleArm.setFeedbackDevice(FeedbackDevice.QuadEncoder);
    /*
	armsingleArm.setPID(.7, 0.000001, 0);
	//armsingleArm.setPosition(0);
	armsingleArm.set(RobotMap.armsingleArm.get()); 
	*/
    
    LiveWindow.addActuator("Arm", "singleArm", armsingleArm);
    LiveWindow.addSensor("Arm", "singleArm", armsingleArm);
    
    intakeMotor = new CANTalon(8);
    //LiveWindow.addActuator("Intake", "intakeMotor", intakeMotor);
    
    shooterrightShooter = new CANTalon(6);
    //LiveWindow.addActuator("Shooter", "rightShooter", shooterrightShooter);
    
    shooterleftShooter = new CANTalon(7);
    //LiveWindow.addActuator("Shooter", "leftShooter", shooterleftShooter);
    
    shootershootPlunger = new CANTalon(11);
    //LiveWindow.addActuator("Shooter", "shootPlunger", shootershootPlunger);
    
    aimscissorLift = new CANTalon(10);
    //LiveWindow.addActuator("Aim", "scissorLift", aimscissorLift);
    

// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}