Java SmartDashboard.putNumber方法代码示例

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; //导入方法依赖的package包/类
protected void execute() { 
	double turn = 0;
	if(DriveEncoders.getAbsoluteValue() > 0.3) {
		double counts[] = DriveEncoders.getBothValues();
		double percentage = 0;
		
		if(counts[0] > counts[1]) {
			percentage = counts[0] / counts[1];
		} else {
			percentage = counts[1] / counts[0];
		}
		
		turn = -Math.max(-0.2, Math.min(percentage, 0.2));
	} else {
		turn = 0.2;
	}
	Robot.driveTrain.setArcadeDriveCommand(0.5, turn);
	SmartDashboard.putNumber("distanceAuton", DriveEncoders.getAbsoluteValue());
	//SmartDashboard.putNumber("auton stop", (getDistance()) * (DriveEncoders.getAbsoluteValue() - getInitEncoderVal());
}
 

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; //导入方法依赖的package包/类
/**
 * Displays bools for in range for gears and shooting.
 */
@Override
protected void execute() {
    if(Robot.ultrasonic.getDistance()<= RobotMap.gearMax){
        SmartDashboard.putBoolean("Gear Distance", true);
        SmartDashboard.putBoolean("Shooter Distance", false);
    }else if(Robot.ultrasonic.getDistance()<= RobotMap.shootMax && Robot.ultrasonic.getDistance() >= RobotMap.shootMin){
        SmartDashboard.putBoolean("Shooter Distance", true);
        SmartDashboard.putBoolean("Gear Distance", false);
    }else{
        SmartDashboard.putBoolean("Gear Distance", false);
        SmartDashboard.putBoolean("Shooter Distance", false);
    }
    SmartDashboard.putNumber("Distance Forward", Robot.ultrasonic.getDistance());
    SmartDashboard.putNumber("Distance", Robot.driveEncoders.getLeftDistance());
    SmartDashboard.putNumber("Gyro", Robot.gyro.getAngle()-10);
}
 

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; //导入方法依赖的package包/类
@Override
protected void execute() {
    double targetSpeed = .5* 1500;
    Robot.shooter.setSetpoint(targetSpeed);
    SmartDashboard.putNumber("Setpoint Set",targetSpeed);
    Robot.shooter.agitate();


}
 

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; //导入方法依赖的package包/类
@Override
public void sendDataToSmartDashboard() {
  if (pdp != null) {
    SmartDashboard.putNumber("Temperature", pdp.getTemperature());
    //SmartDashboard.putNumber("TotalPower", pdp.getTotalPower());

    // in the past, this has tended to screw up the CAN bus
    // for (int i = 0; i < 16; i++) {
    // SmartDashboard.putNumber("Current_" + i, pdp.getCurrent(i));
    // }
  }
}
 

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; //导入方法依赖的package包/类
public void setMotorPower(double rightPower, double leftPower) {
	motorFrontRight.set(rightPower);
	motorRearRight.set(rightPower);

	motorFrontLeft.set(leftPower);
	motorRearLeft.set(leftPower);

	SmartDashboard.putNumber("Right Encoder Distance: ", encoderRight.getDistance());
	SmartDashboard.putNumber("Left Encoder Distance: ", encoderLeft.getDistance());
}
 

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; //导入方法依赖的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() {
	oi = new OI();
	
	drivetrain = new Drivetrain();

	// chooser.addObject("My Auto", new MyAutoCommand());
	SmartDashboard.putData("Auto mode", chooser);
	SmartDashboard.putNumber("kP", 0.0);
	SmartDashboard.putNumber("kI", 0.0);
	SmartDashboard.putNumber("kD", 0.0);
}
 

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; //导入方法依赖的package包/类
public double angleError() {
	double getAngle = gyro.getAngle();

	// if (getAngle > 180)
	// getAngle += -360.0;

	SmartDashboard.putNumber("Gyro Angle", getAngle);
	return getAngle;
}
 

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; //导入方法依赖的package包/类
/**
 * This function is called periodically during test mode
 */
public void testPeriodic() {
	LiveWindow.run();
	Robot.driveBase.EnableDriveBase();
	Robot.driveBase.DriveAutonomous();
	SmartDashboard.putNumber("AV Distance", RobotMap.AverageDistance);
}
 

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; //导入方法依赖的package包/类
@Override
protected boolean isFinished() {

	if (Math.abs(Robot.driveTrain.getLeftDistance()) >= Math.abs(_distanceL) && 
			Math.abs(Robot.driveTrain.getRightDistance()) >= Math.abs(_distanceR)) {
		table.putBoolean("Forward", false);
		System.err.println("Done drive forward!");
		Robot.driveTrain.percentVbusControl();
		Robot.driveTrain.tankDrive(0, 0);
		_leftSpeed = 0;
		_rightSpeed = 0;
		SmartDashboard.putNumber("LeftEncVelocity", Robot.driveTrain.getLeftSpeedEnc());
		SmartDashboard.putNumber("RightEncVelocity", Robot.driveTrain.getRightSpeedEnc());

		SmartDashboard.putNumber("LeftSpeed", Robot.driveTrain.getLeftSpeed());
		SmartDashboard.putNumber("RightSpeed", Robot.driveTrain.getRightSpeed());		
		table.putNumber("_leftSpeed", _leftSpeed);
		table.putNumber("_rightSpeed", _rightSpeed);
		table.putNumber("_distanceLimitLeft", _distanceL);
		table.putNumber("_distanceLimitRight", _distanceR);
		table.putNumber("_encoderDistanceLeft", Robot.driveTrain.getLeftDistance());
		table.putNumber("_encoderDistanceRight", Robot.driveTrain.getRightDistance());
		return true;
	} else {
		return false;
	}

}
 

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; //导入方法依赖的package包/类
protected void execute() { 
	//currTime = System.currentTimeMillis();
	currRightEnc = DriveEncoders.getRawRightValue();
	currLeftEnc = DriveEncoders.getRawLeftValue();

	/*currRightError = currRightEnc - initRightEnc;
	currLeftError = currLeftEnc - initLeftEnc;
	
	rightDeltaT = iTerm * (currTime - prevTime) * currRightError + (pTerm * (currRightError - prevRightError))/(currTime - prevTime);
	currRightControl = prevRightControl + rightDeltaT;
	
	leftDeltaT = iTerm * (currTime - prevTime) * currLeftError + (pTerm * (currLeftError - prevLeftError))/(currTime - prevTime);
	currLeftControl = prevLeftControl + leftDeltaT;

   	prevTime = currTime;
	prevRightError = currRightError;
	prevLeftError = currLeftError;
	*/
	
	diffCounts = DriveEncoders.getRawEncDifference();
	if (Math.abs(diffCounts) < 20 ){
		Robot.driveTrain.setTankDriveCommand(.6 * speed, .6 * speed);
	}
	else if (diffCounts > 20){	//THIS WAS 50!!!
		//Robot.driveTrain.setTankDriveCommand(.7, .5);
		Robot.driveTrain.setTankDriveCommand(.5 * speed, .6 * speed);  
	}
	else if (diffCounts < -20)
	{
		Robot.driveTrain.setTankDriveCommand(.6 * speed, .5 * speed);
	}

	if (dispCount == 10) {
		System.out.println ("Right: " + currRightEnc + " Left :" + currLeftEnc + " diff: " + diffCounts + " Pixy: " + Robot.pixyValue);
		dispCount = 0;

	}
	else {
		dispCount++;

	}
	
	if (minAccel > NavX.ahrs.getWorldLinearAccelY())
    	minAccel = NavX.ahrs.getWorldLinearAccelY();
    if (maxAccel < NavX.ahrs.getWorldLinearAccelY())
    	maxAccel = NavX.ahrs.getWorldLinearAccelY();
    SmartDashboard.putNumber("Max Accelerometer", maxAccel);
    SmartDashboard.putNumber("Min Accelerometer", minAccel);

	//SmartDashboard.putNumber("distanceAuton", DriveEncoders.getAbsoluteValue());
	//SmartDashboard.putNumber("auton stop", (getDistance()) * (DriveEncoders.getAbsoluteValue() - getInitEncoderVal());
}
 

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; //导入方法依赖的package包/类
@Override
protected void execute() {
    SmartDashboard.putNumber("New vision left", Robot.visiontracking.getVisionLeft());
    SmartDashboard.putNumber("New vision right", Robot.visiontracking.getVisionRight());
}
 

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; //导入方法依赖的package包/类
@Override
protected void execute() {
	System.err.println("Execute drive forward distance");
	// Robot.driveTrain.tankDrive(_powerLeft*1.1, _powerRight*1.05);
	//if (!Robot.driveTrain.isDriveTrainPID()) {
	//	Robot.driveTrain.speedControl();
	//}
	Robot.driveTrain.tankDrive(_leftSpeed, _rightSpeed);//negative sign for turning
	SmartDashboard.putNumber("distance traveled",
			Math.max(Robot.driveTrain.getLeftDistance(), Robot.driveTrain.getRightDistance()));
	SmartDashboard.putNumber("Distance", _distanceL);

	// theoretically, this should print out current velocity of both wheels
	SmartDashboard.putNumber("LeftEncVelocity", Robot.driveTrain.getLeftSpeedEnc());
	SmartDashboard.putNumber("RightEncVelocity", Robot.driveTrain.getRightSpeedEnc());

	SmartDashboard.putNumber("LeftSpeed", Robot.driveTrain.getLeftSpeed());
	SmartDashboard.putNumber("RightSpeed", Robot.driveTrain.getRightSpeed());		
	table.putNumber("_leftSpeed", _leftSpeed);
	table.putNumber("_rightSpeed", _rightSpeed);
	table.putNumber("_distanceLimitLeft", _distanceL);
	table.putNumber("_distanceLimitRight", _distanceR);
	table.putNumber("_encoderDistanceLeft", Robot.driveTrain.getLeftDistance());
	table.putNumber("_encoderDistanceRight", Robot.driveTrain.getRightDistance());
	
	if (Math.abs(Robot.driveTrain.getLeftDistance()) >= 0.5*Math.abs(_distanceL)) {
		if (_leftSpeed > 0) {
			_leftSpeed = 0.1;
		}
		if (_leftSpeed < 0) {
			_leftSpeed = -0.1;
		}
	}
	
	if (Math.abs(Robot.driveTrain.getRightDistance()) >= 0.5*Math.abs(_distanceR)) {
		if (_rightSpeed > 0) {
			_rightSpeed = 0.1;
		}
		if (_rightSpeed < 0) {
			_rightSpeed = -0.1;
		}
	}
	
	if (Math.abs(Robot.driveTrain.getLeftDistance()) >= Math.abs(_distanceL)) {
		System.err.println("Done left!");
		_leftSpeed = 0;
	}
	if (Math.abs(Robot.driveTrain.getRightDistance()) >= Math.abs(_distanceR)) {
		System.err.println("Done right!");
		_rightSpeed = 0;
	}

}
 

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; //导入方法依赖的package包/类
@Override
public void log() {
	SmartDashboard.putNumber("Ultrasonic: Left", getDistanceLeft());
	SmartDashboard.putNumber("Ultrasonic: Right", getDistanceRight());
}
 

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; //导入方法依赖的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() {
	// Instantiate subsystems and add to subsystem list (e.g., for logging to dashboard)
	pdp = new PowerDistributionPanel();
	compressor = new Compressor();
	subsystemsList.add(compressor);
	driveTrain = new DriveTrain();
	subsystemsList.add(driveTrain);
	//visionTest = null;
	visionTest = new VisionTest();
	subsystemsList.add(visionTest);
	gate = new Gate();
	subsystemsList.add(gate);
	flapper = new Flapper();
	subsystemsList.add(flapper);
	ballShifter = new BallShifter();
	subsystemsList.add(ballShifter);
	ballShooter = new BallShooter();
	subsystemsList.add(ballShooter);
	intake = new Intake();
	subsystemsList.add(intake);
	climber = new Climber();
	subsystemsList.add(climber);
	ultrasonics = new DoubleUltrasonic();
	subsystemsList.add(ultrasonics);
	navx = new NavX();
	subsystemsList.add(navx);

	// Autonomous
	chooser.addObject("AutoDriveToPeg", new AutoDriveToPeg(108));
	chooser.addObject("Auto Place Gear Turn Right", new AutoPlaceGear(108, 60));
	chooser.addObject("Auto Place Gear Straight", new AutoPlaceGear(108, 0));
	chooser.addObject("Auto Place Gear Turn Left", new AutoPlaceGear(108, -60));
	chooser.addObject("Auto Turn using Vision", new AutoTurnByVision(0));
	chooser.addObject("Auto Turn To Peg", new AutoTurnToPeg());
	chooser.addObject("Auto Drive Distance", new AutoDriveDistance(108, 10000));
	chooser.addDefault("None", new AutoNone());
	SmartDashboard.putData("Auto Mode", chooser);

	// Preferences
	Preferences prefs = Preferences.getInstance();
	boolean driveMode = prefs.getBoolean("Drive Mode", RobotPreferences.DRIVE_MODE_DEFAULT);
	SmartDashboard.putBoolean("Prefs: Drive Mode", driveMode);
	SmartDashboard.putNumber("Prefs: Drive Kp", prefs.getDouble("Drive Kp", RobotPreferences.DRIVE_KP_DEFAULT));
	SmartDashboard.putNumber("Prefs: Drive Ki", prefs.getDouble("Drive Ki", RobotPreferences.DRIVE_KI_DEFAULT));
	SmartDashboard.putNumber("Prefs: Drive Kd", prefs.getDouble("Drive Kd", RobotPreferences.DRIVE_KD_DEFAULT));
	SmartDashboard.putNumber("Prefs: Vision Kp", prefs.getDouble("Vision Kp", RobotPreferences.VISION_KP_DEFAULT));
	SmartDashboard.putNumber("Prefs: Vision Ki", prefs.getDouble("Vision Ki", RobotPreferences.VISION_KI_DEFAULT));
	SmartDashboard.putNumber("Prefs: Vision Kd", prefs.getDouble("Vision Kd", RobotPreferences.VISION_KD_DEFAULT));
	SmartDashboard.putNumber("Prefs: Vision Update Delay", prefs.getLong("Vision Update Delay", RobotPreferences.VISION_UPDATE_DELAY_DEFAULT));
	SmartDashboard.putNumber("Prefs: Turn To Peg Angle", prefs.getDouble("Turn To Peg Angle", RobotPreferences.TURN_TO_PEG_ANGLE_DEFAULT));
	SmartDashboard.putNumber("Prefs: Vision Time Limit", prefs.getDouble("Auto Vision Time Limit", RobotPreferences.VISION_TIME_DEFAULT));

	//Instantiate after all subsystems and preferences - or the world will die
	//We don't want that, do we?
	oi = new OI(driveMode);

	//TODO uncomment to see subsystems on dashboard
	//addSubsystemsToDashboard(subsystemsList);
	ArrayList<LoggableSubsystem> tempList = new ArrayList<LoggableSubsystem>();
	tempList.add(driveTrain);
	addSubsystemsToDashboard(tempList);
}
 

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; //导入方法依赖的package包/类
@Override
public void autonomousPeriodic() {
	
		//SENSORS
        nvYaw = navx.getAngle();
        talon1 = pdp.getCurrent(1);
       
        //CONFIGURATION VARIABLES
        SmartDashboard.putNumber("CURRENT AUTO STATE", state);
        SmartDashboard.putNumber("CURRENT2_T1", talon1);
        System.out.println("QUADRATURE" + encLeftDrive.get());
        System.out.println("QUADRATURERight" + encRightDrive.get());
        
        switch(autoSelected)
        {
        case 1:
        {
                centreRed();
                break;
        }
        case 2:
        {
                centreBlue();
                break;
        }
        case 3:
        {
                boilerRed();
                break;
        }
        case 4:
        {
                boilerBlue();
                break;
        }
        case 5:
        {
                retRed();
                break;
        }
        case 6:
        {
                retBlue();
                break;
        }
        case 7:
        {
                testAutonomous();
                break;
        }
        default:
        {
                //Put default auto code here
                break;
        }
    }
}