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Make Talon the default speed controller for RobotDrive

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Change-Id: I87047e11efb26f5081a3e23dc8f36fa9bb76a88c
This commit is contained in:
Thomas Clark
2014-08-29 13:00:31 -04:00
parent f439adc2a3
commit 3fddee51c2
2 changed files with 17 additions and 17 deletions
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18
wpilibc/wpilibC++Devices/src/RobotDrive.cpp
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@@ -9,7 +9,7 @@
#include "CANJaguar.h" #include "CANJaguar.h"
#include "GenericHID.h" #include "GenericHID.h"
#include "Joystick.h" #include "Joystick.h"
#include "Jaguar.h" #include "Talon.h"
//#include "NetworkCommunication/UsageReporting.h" //#include "NetworkCommunication/UsageReporting.h"
#include "Utility.h" #include "Utility.h"
#include "WPIErrors.h" #include "WPIErrors.h"
@@ -46,15 +46,15 @@ void RobotDrive::InitRobotDrive() {
/** Constructor for RobotDrive with 2 motors specified with channel numbers. /** Constructor for RobotDrive with 2 motors specified with channel numbers.
* Set up parameters for a two wheel drive system where the * Set up parameters for a two wheel drive system where the
* left and right motor pwm channels are specified in the call. * left and right motor pwm channels are specified in the call.
* This call assumes Jaguars for controlling the motors. * This call assumes Talons for controlling the motors.
* @param leftMotorChannel The PWM channel number that drives the left motor. * @param leftMotorChannel The PWM channel number that drives the left motor.
* @param rightMotorChannel The PWM channel number that drives the right motor. * @param rightMotorChannel The PWM channel number that drives the right motor.
*/ */
RobotDrive::RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel) RobotDrive::RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel)
{ {
InitRobotDrive(); InitRobotDrive();
m_rearLeftMotor = new Jaguar(leftMotorChannel); m_rearLeftMotor = new Talon(leftMotorChannel);
m_rearRightMotor = new Jaguar(rightMotorChannel); m_rearRightMotor = new Talon(rightMotorChannel);
for (int32_t i=0; i < kMaxNumberOfMotors; i++) for (int32_t i=0; i < kMaxNumberOfMotors; i++)
{ {
m_invertedMotors[i] = 1; m_invertedMotors[i] = 1;
@@ -67,7 +67,7 @@ RobotDrive::RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel)
* Constructor for RobotDrive with 4 motors specified with channel numbers. * Constructor for RobotDrive with 4 motors specified with channel numbers.
* Set up parameters for a four wheel drive system where all four motor * Set up parameters for a four wheel drive system where all four motor
* pwm channels are specified in the call. * pwm channels are specified in the call.
* This call assumes Jaguars for controlling the motors. * This call assumes Talons for controlling the motors.
* @param frontLeftMotor Front left motor channel number * @param frontLeftMotor Front left motor channel number
* @param rearLeftMotor Rear Left motor channel number * @param rearLeftMotor Rear Left motor channel number
* @param frontRightMotor Front right motor channel number * @param frontRightMotor Front right motor channel number
@@ -77,10 +77,10 @@ RobotDrive::RobotDrive(uint32_t frontLeftMotor, uint32_t rearLeftMotor,
uint32_t frontRightMotor, uint32_t rearRightMotor) uint32_t frontRightMotor, uint32_t rearRightMotor)
{ {
InitRobotDrive(); InitRobotDrive();
m_rearLeftMotor = new Jaguar(rearLeftMotor); m_rearLeftMotor = new Talon(rearLeftMotor);
m_rearRightMotor = new Jaguar(rearRightMotor); m_rearRightMotor = new Talon(rearRightMotor);
m_frontLeftMotor = new Jaguar(frontLeftMotor); m_frontLeftMotor = new Talon(frontLeftMotor);
m_frontRightMotor = new Jaguar(frontRightMotor); m_frontRightMotor = new Talon(frontRightMotor);
for (int32_t i=0; i < kMaxNumberOfMotors; i++) for (int32_t i=0; i < kMaxNumberOfMotors; i++)
{ {
m_invertedMotors[i] = 1; m_invertedMotors[i] = 1;

16
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java
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@@ -79,7 +79,7 @@ public class RobotDrive implements MotorSafety {
/** Constructor for RobotDrive with 2 motors specified with channel numbers. /** Constructor for RobotDrive with 2 motors specified with channel numbers.
* Set up parameters for a two wheel drive system where the * Set up parameters for a two wheel drive system where the
* left and right motor pwm channels are specified in the call. * left and right motor pwm channels are specified in the call.
* This call assumes Jaguars for controlling the motors. * This call assumes Talons for controlling the motors.
* @param leftMotorChannel The PWM channel number that drives the left motor. * @param leftMotorChannel The PWM channel number that drives the left motor.
* @param rightMotorChannel The PWM channel number that drives the right motor. * @param rightMotorChannel The PWM channel number that drives the right motor.
*/ */
@@ -87,9 +87,9 @@ public class RobotDrive implements MotorSafety {
m_sensitivity = kDefaultSensitivity; m_sensitivity = kDefaultSensitivity;
m_maxOutput = kDefaultMaxOutput; m_maxOutput = kDefaultMaxOutput;
m_frontLeftMotor = null; m_frontLeftMotor = null;
m_rearLeftMotor = new Jaguar(leftMotorChannel); m_rearLeftMotor = new Talon(leftMotorChannel);
m_frontRightMotor = null; m_frontRightMotor = null;
m_rearRightMotor = new Jaguar(rightMotorChannel); m_rearRightMotor = new Talon(rightMotorChannel);
for (int i = 0; i < kMaxNumberOfMotors; i++) { for (int i = 0; i < kMaxNumberOfMotors; i++) {
m_invertedMotors[i] = 1; m_invertedMotors[i] = 1;
} }
@@ -102,7 +102,7 @@ public class RobotDrive implements MotorSafety {
* Constructor for RobotDrive with 4 motors specified with channel numbers. * Constructor for RobotDrive with 4 motors specified with channel numbers.
* Set up parameters for a four wheel drive system where all four motor * Set up parameters for a four wheel drive system where all four motor
* pwm channels are specified in the call. * pwm channels are specified in the call.
* This call assumes Jaguars for controlling the motors. * This call assumes Talons for controlling the motors.
* @param frontLeftMotor Front left motor channel number * @param frontLeftMotor Front left motor channel number
* @param rearLeftMotor Rear Left motor channel number * @param rearLeftMotor Rear Left motor channel number
* @param frontRightMotor Front right motor channel number * @param frontRightMotor Front right motor channel number
@@ -112,10 +112,10 @@ public class RobotDrive implements MotorSafety {
final int frontRightMotor, final int rearRightMotor) { final int frontRightMotor, final int rearRightMotor) {
m_sensitivity = kDefaultSensitivity; m_sensitivity = kDefaultSensitivity;
m_maxOutput = kDefaultMaxOutput; m_maxOutput = kDefaultMaxOutput;
m_rearLeftMotor = new Jaguar(rearLeftMotor); m_rearLeftMotor = new Talon(rearLeftMotor);
m_rearRightMotor = new Jaguar(rearRightMotor); m_rearRightMotor = new Talon(rearRightMotor);
m_frontLeftMotor = new Jaguar(frontLeftMotor); m_frontLeftMotor = new Talon(frontLeftMotor);
m_frontRightMotor = new Jaguar(frontRightMotor); m_frontRightMotor = new Talon(frontRightMotor);
for (int i = 0; i < kMaxNumberOfMotors; i++) { for (int i = 0; i < kMaxNumberOfMotors; i++) {
m_invertedMotors[i] = 1; m_invertedMotors[i] = 1;
} }