Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Added Mecanum drive sample program

Browse Source 
Change-Id: I0538c21116cd6c8836f76b6d4446b83d8723a20f
This commit is contained in:
Brad Miller
2014-10-05 15:59:40 -04:00
parent 6089722c4f
commit 2f26361398
4 changed files with 139 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

53
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/MecanumDrive/src/org/usfirst/frc/team190/robot/Robot.java Executable file
View File

@@ -0,0 +1,53 @@
package org.usfirst.frc.team190.robot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.RobotDrive.MotorType;
import edu.wpi.first.wpilibj.SampleRobot;
import edu.wpi.first.wpilibj.Timer;
/**
* This is a demo program showing how to use Mecanum control with the RobotDrive class.
*/
public class Robot extends SampleRobot {
RobotDrive robotDrive;
Joystick stick;
// Channels for the wheels
final int frontLeftChannel = 2;
final int rearLeftChannel = 3;
final int frontRightChannel = 1;
final int rearRightChannel = 0;
// The channel on the driver station that the joystick is connected to
final int joystickChannel = 0;
public Robot() {
robotDrive.setExpiration(0.1);
robotDrive = new RobotDrive(frontLeftChannel, rearLeftChannel, frontRightChannel, rearRightChannel);
robotDrive.setInvertedMotor(MotorType.kFrontLeft, true); // invert the left side motors
robotDrive.setInvertedMotor(MotorType.kRearLeft, true); // you may need to change or remove this to match your robot
stick = new Joystick(joystickChannel);
}
/**
* Runs the motors with Mecanum drive.
*/
public void operatorControl() {
robotDrive.setSafetyEnabled(true);
while (isOperatorControl()) {
// Use the joystick X axis for lateral movement, Y axis for forward movement, and Z axis for rotation.
// This sample does not use field-oriented drive, so the gyro input is set to zero.
robotDrive.mecanumDrive_Cartesian(stick.getX(), stick.getY(), stick.getZ(), 0);
Timer.delay(0.005); // wait 5ms to avoid hogging CPU cycles
}
}
}

19
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/examples.xml
View File

@@ -116,6 +116,25 @@
</files>
</example>
<example>
<name>Mecanum Drive</name>
<description>Demonstrate the use of the RobotDrive class doing teleop driving with Mecanum steering</description>
<tags>
<tag>Actuators</tag>
<tag>Complete List</tag>
<tag>Joystick</tag>
<tag>Robot and Motor</tag>
<tag>Safety</tag>
</tags>
<packages>
<package>src/$package-dir</package>
</packages>
<files>
<file source="examples/MecanumDrive/src/org/usfirst/frc/team190/robot/Robot.java"
destination="src/$package-dir/Robot.java"></file>
</files>
</example>
<example>
<name>Motor Controller</name>