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[WIP] Move examples to allwpilib (Java) (#569)

Browse Source 
* Move examples to allwpilib

* Add checkstyle config to examples project

* Ran wpiformat

* Run checkstyle on examples

* Change maximum line length for examples to 80 chars

This number was chosen based on testing of the number of characters shown by default in Eclipse done by @Kevin-OConnor: 51 chars by default on an E09 @ 1024x600 (which has the welcome window open on the right), 71 with welcome closed, 95 with the right-hand outline pane closed

* Add mavenCentral repository

* Rename subproject & error on deprecated API use

* Remove deprecated API usage
This commit is contained in:
Austin Shalit
2017-10-17 01:30:21 -04:00
committed by Peter Johnson
parent a7e9ac1062
commit 66002d6cac
41 changed files with 2743 additions and 1 deletions
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69
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/OI.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.buttons.JoystickButton;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.Autonomous;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.CloseClaw;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.OpenClaw;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.Pickup;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.Place;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.PrepareToPickup;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.SetElevatorSetpoint;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.SetWristSetpoint;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* This class is the glue that binds the controls on the physical operator
* interface to the commands and command groups that allow control of the robot.
*/
public class OI {
private Joystick m_joystick = new Joystick(0);
public OI() {
// Put Some buttons on the SmartDashboard
SmartDashboard.putData("Elevator Bottom", new SetElevatorSetpoint(0));
SmartDashboard.putData("Elevator Platform", new SetElevatorSetpoint(0.2));
SmartDashboard.putData("Elevator Top", new SetElevatorSetpoint(0.3));
SmartDashboard.putData("Wrist Horizontal", new SetWristSetpoint(0));
SmartDashboard.putData("Raise Wrist", new SetWristSetpoint(-45));
SmartDashboard.putData("Open Claw", new OpenClaw());
SmartDashboard.putData("Close Claw", new CloseClaw());
SmartDashboard.putData("Deliver Soda", new Autonomous());
// Create some buttons
JoystickButton dpadUp = new JoystickButton(m_joystick, 5);
JoystickButton dpadRight = new JoystickButton(m_joystick, 6);
JoystickButton dpadDown = new JoystickButton(m_joystick, 7);
JoystickButton dpadLeft = new JoystickButton(m_joystick, 8);
JoystickButton l2 = new JoystickButton(m_joystick, 9);
JoystickButton r2 = new JoystickButton(m_joystick, 10);
JoystickButton l1 = new JoystickButton(m_joystick, 11);
JoystickButton r1 = new JoystickButton(m_joystick, 12);
// Connect the buttons to commands
dpadUp.whenPressed(new SetElevatorSetpoint(0.2));
dpadDown.whenPressed(new SetElevatorSetpoint(-0.2));
dpadRight.whenPressed(new CloseClaw());
dpadLeft.whenPressed(new OpenClaw());
r1.whenPressed(new PrepareToPickup());
r2.whenPressed(new Pickup());
l1.whenPressed(new Place());
l2.whenPressed(new Autonomous());
}
public Joystick getJoystick() {
return m_joystick;
}
}

111
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Robot.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.Autonomous;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
*/
public class Robot extends IterativeRobot {
Command m_autonomousCommand;
public static DriveTrain m_drivetrain;
public static Elevator m_elevator;
public static Wrist m_wrist;
public static Claw m_claw;
public static OI m_oi;
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
@Override
public void robotInit() {
// Initialize all subsystems
m_drivetrain = new DriveTrain();
m_elevator = new Elevator();
m_wrist = new Wrist();
m_claw = new Claw();
m_oi = new OI();
// instantiate the command used for the autonomous period
m_autonomousCommand = new Autonomous();
// Show what command your subsystem is running on the SmartDashboard
SmartDashboard.putData(m_drivetrain);
SmartDashboard.putData(m_elevator);
SmartDashboard.putData(m_wrist);
SmartDashboard.putData(m_claw);
}
@Override
public void autonomousInit() {
m_autonomousCommand.start(); // schedule the autonomous command (example)
}
/**
* This function is called periodically during autonomous.
*/
@Override
public void autonomousPeriodic() {
Scheduler.getInstance().run();
log();
}
@Override
public void teleopInit() {
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
m_autonomousCommand.cancel();
}
/**
* This function is called periodically during teleoperated mode.
*/
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
log();
}
/**
* This function is called periodically during test mode.
*/
@Override
public void testPeriodic() {
LiveWindow.run();
}
/**
* The log method puts interesting information to the SmartDashboard.
*/
private void log() {
m_wrist.log();
m_elevator.log();
m_drivetrain.log();
m_claw.log();
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Autonomous.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.CommandGroup;
/**
* The main autonomous command to pickup and deliver the soda to the box.
*/
public class Autonomous extends CommandGroup {
public Autonomous() {
addSequential(new PrepareToPickup());
addSequential(new Pickup());
addSequential(new SetDistanceToBox(0.10));
// addSequential(new DriveStraight(4)); // Use Encoders if ultrasonic is
// broken
addSequential(new Place());
addSequential(new SetDistanceToBox(0.60));
// addSequential(new DriveStraight(-2)); // Use Encoders if ultrasonic
// is broken
addParallel(new SetWristSetpoint(-45));
addSequential(new CloseClaw());
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/CloseClaw.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* Closes the claw for one second. Real robots should use sensors, stalling
* motors is BAD!
*/
public class CloseClaw extends Command {
public CloseClaw() {
requires(Robot.m_claw);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
Robot.m_claw.close();
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return Robot.m_claw.isGrabbing();
}
// Called once after isFinished returns true
@Override
protected void end() {
// NOTE: Doesn't stop in simulation due to lower friction causing the
// can to fall out
// + there is no need to worry about stalling the motor or crushing the
// can.
if (!Robot.isSimulation()) {
Robot.m_claw.stop();
}
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.PIDSource;
import edu.wpi.first.wpilibj.PIDSourceType;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* Drive the given distance straight (negative values go backwards). Uses a
* local PID controller to run a simple PID loop that is only enabled while this
* command is running. The input is the averaged values of the left and right
* encoders.
*/
public class DriveStraight extends Command {
private PIDController m_pid;
public DriveStraight(double distance) {
requires(Robot.m_drivetrain);
m_pid = new PIDController(4, 0, 0, new PIDSource() {
PIDSourceType m_sourceType = PIDSourceType.kDisplacement;
@Override
public double pidGet() {
return Robot.m_drivetrain.getDistance();
}
@Override
public void setPIDSourceType(PIDSourceType pidSource) {
m_sourceType = pidSource;
}
@Override
public PIDSourceType getPIDSourceType() {
return m_sourceType;
}
}, d -> Robot.m_drivetrain.drive(d, d));
m_pid.setAbsoluteTolerance(0.01);
m_pid.setSetpoint(distance);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
// Get everything in a safe starting state.
Robot.m_drivetrain.reset();
m_pid.reset();
m_pid.enable();
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return m_pid.onTarget();
}
// Called once after isFinished returns true
@Override
protected void end() {
// Stop PID and the wheels
m_pid.disable();
Robot.m_drivetrain.drive(0, 0);
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/OpenClaw.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.TimedCommand;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* Opens the claw for one second. Real robots should use sensors, stalling
* motors is BAD!
*/
public class OpenClaw extends TimedCommand {
public OpenClaw() {
super(1);
requires(Robot.m_claw);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
Robot.m_claw.open();
}
// Called once after isFinished returns true
@Override
protected void end() {
Robot.m_claw.stop();
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Pickup.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.CommandGroup;
/**
* Pickup a soda can (if one is between the open claws) and get it in a safe
* state to drive around.
*/
public class Pickup extends CommandGroup {
public Pickup() {
addSequential(new CloseClaw());
addParallel(new SetWristSetpoint(-45));
addSequential(new SetElevatorSetpoint(0.25));
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Place.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.CommandGroup;
/**
* Place a held soda can onto the platform.
*/
public class Place extends CommandGroup {
public Place() {
addSequential(new SetElevatorSetpoint(0.25));
addSequential(new SetWristSetpoint(0));
addSequential(new OpenClaw());
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/PrepareToPickup.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.CommandGroup;
/**
* Make sure the robot is in a state to pickup soda cans.
*/
public class PrepareToPickup extends CommandGroup {
public PrepareToPickup() {
addParallel(new OpenClaw());
addParallel(new SetWristSetpoint(0));
addSequential(new SetElevatorSetpoint(0));
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.PIDSource;
import edu.wpi.first.wpilibj.PIDSourceType;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* Drive until the robot is the given distance away from the box. Uses a local
* PID controller to run a simple PID loop that is only enabled while this
* command is running. The input is the averaged values of the left and right
* encoders.
*/
public class SetDistanceToBox extends Command {
private PIDController m_pid;
public SetDistanceToBox(double distance) {
requires(Robot.m_drivetrain);
m_pid = new PIDController(-2, 0, 0, new PIDSource() {
PIDSourceType m_sourceType = PIDSourceType.kDisplacement;
@Override
public double pidGet() {
return Robot.m_drivetrain.getDistanceToObstacle();
}
@Override
public void setPIDSourceType(PIDSourceType pidSource) {
m_sourceType = pidSource;
}
@Override
public PIDSourceType getPIDSourceType() {
return m_sourceType;
}
}, d -> Robot.m_drivetrain.drive(d, d));
m_pid.setAbsoluteTolerance(0.01);
m_pid.setSetpoint(distance);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
// Get everything in a safe starting state.
Robot.m_drivetrain.reset();
m_pid.reset();
m_pid.enable();
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return m_pid.onTarget();
}
// Called once after isFinished returns true
@Override
protected void end() {
// Stop PID and the wheels
m_pid.disable();
Robot.m_drivetrain.drive(0, 0);
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetElevatorSetpoint.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* Move the elevator to a given location. This command finishes when it is
* within the tolerance, but leaves the PID loop running to maintain the
* position. Other commands using the elevator should make sure they disable
* PID!
*/
public class SetElevatorSetpoint extends Command {
private double m_setpoint;
public SetElevatorSetpoint(double setpoint) {
m_setpoint = setpoint;
requires(Robot.m_elevator);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
Robot.m_elevator.enable();
Robot.m_elevator.setSetpoint(m_setpoint);
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return Robot.m_elevator.onTarget();
}
}

38
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetWristSetpoint.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* Move the wrist to a given angle. This command finishes when it is within the
* tolerance, but leaves the PID loop running to maintain the position. Other
* commands using the wrist should make sure they disable PID!
*/
public class SetWristSetpoint extends Command {
private double m_setpoint;
public SetWristSetpoint(double setpoint) {
m_setpoint = setpoint;
requires(Robot.m_wrist);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
Robot.m_wrist.enable();
Robot.m_wrist.setSetpoint(m_setpoint);
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return Robot.m_wrist.onTarget();
}
}

39
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDriveWithJoystick.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* Have the robot drive tank style using the PS3 Joystick until interrupted.
*/
public class TankDriveWithJoystick extends Command {
public TankDriveWithJoystick() {
requires(Robot.m_drivetrain);
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
Robot.m_drivetrain.drive(Robot.m_oi.getJoystick());
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return false; // Runs until interrupted
}
// Called once after isFinished returns true
@Override
protected void end() {
Robot.m_drivetrain.drive(0, 0);
}
}

69
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
/**
* The claw subsystem is a simple system with a motor for opening and closing.
* If using stronger motors, you should probably use a sensor so that the motors
* don't stall.
*/
public class Claw extends Subsystem {
private SpeedController m_motor = new Victor(7);
private DigitalInput m_contact = new DigitalInput(5);
public Claw() {
super();
// Let's show everything on the LiveWindow
LiveWindow.addActuator("Claw", "Motor", (Victor) m_motor);
LiveWindow.addActuator("Claw", "Limit Switch", m_contact);
}
@Override
public void initDefaultCommand() {
}
public void log() {
}
/**
* Set the claw motor to move in the open direction.
*/
public void open() {
m_motor.set(-1);
}
/**
* Set the claw motor to move in the close direction.
*/
public void close() {
m_motor.set(1);
}
/**
* Stops the claw motor from moving.
*/
public void stop() {
m_motor.set(0);
}
/**
* Return true when the robot is grabbing an object hard enough to trigger
* the limit switch.
*/
public boolean isGrabbing() {
return m_contact.get();
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Joystick.AxisType;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.TankDriveWithJoystick;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* The DriveTrain subsystem incorporates the sensors and actuators attached to
* the robots chassis. These include four drive motors, a left and right encoder
* and a gyro.
*/
public class DriveTrain extends Subsystem {
private SpeedController m_leftMotor
= new SpeedControllerGroup(new Spark(0), new Spark(1));
private SpeedController m_rightMotor
= new SpeedControllerGroup(new Spark(2), new Spark(3));
private DifferentialDrive m_drive
= new DifferentialDrive(m_leftMotor, m_rightMotor);
private Encoder m_leftEncoder = new Encoder(1, 2);
private Encoder m_rightEncoder = new Encoder(3, 4);
private AnalogInput m_rangefinder = new AnalogInput(6);
private AnalogGyro m_gyro = new AnalogGyro(1);
public DriveTrain() {
super();
// Encoders may measure differently in the real world and in
// simulation. In this example the robot moves 0.042 barleycorns
// per tick in the real world, but the simulated encoders
// simulate 360 tick encoders. This if statement allows for the
// real robot to handle this difference in devices.
if (Robot.isReal()) {
m_leftEncoder.setDistancePerPulse(0.042);
m_rightEncoder.setDistancePerPulse(0.042);
} else {
// Circumference in ft = 4in/12(in/ft)*PI
m_leftEncoder.setDistancePerPulse((4.0 / 12.0 * Math.PI) / 360.0);
m_rightEncoder.setDistancePerPulse((4.0 / 12.0 * Math.PI) / 360.0);
}
// Let's show the sensors on the LiveWindow
LiveWindow.addSensor("Drive Train", "Left Encoder", m_leftEncoder);
LiveWindow.addSensor("Drive Train", "Right Encoder", m_rightEncoder);
LiveWindow.addSensor("Drive Train", "Rangefinder", m_rangefinder);
LiveWindow.addSensor("Drive Train", "Gyro", m_gyro);
}
/**
* When no other command is running let the operator drive around using the
* PS3 joystick.
*/
@Override
public void initDefaultCommand() {
setDefaultCommand(new TankDriveWithJoystick());
}
/**
* The log method puts interesting information to the SmartDashboard.
*/
public void log() {
SmartDashboard.putNumber("Left Distance", m_leftEncoder.getDistance());
SmartDashboard.putNumber("Right Distance", m_rightEncoder.getDistance());
SmartDashboard.putNumber("Left Speed", m_leftEncoder.getRate());
SmartDashboard.putNumber("Right Speed", m_rightEncoder.getRate());
SmartDashboard.putNumber("Gyro", m_gyro.getAngle());
}
/**
* Tank style driving for the DriveTrain.
*
* @param left
* Speed in range [-1,1]
* @param right
* Speed in range [-1,1]
*/
public void drive(double left, double right) {
m_drive.tankDrive(left, right);
}
/**
* Tank style driving for the DriveTrain.
*
* @param joy The ps3 style joystick to use to drive tank style.
*/
public void drive(Joystick joy) {
drive(-joy.getY(), -joy.getAxis(AxisType.kThrottle));
}
/**
* Get the robot's heading.
*
* @return The robots heading in degrees.
*/
public double getHeading() {
return m_gyro.getAngle();
}
/**
* Reset the robots sensors to the zero states.
*/
public void reset() {
m_gyro.reset();
m_leftEncoder.reset();
m_rightEncoder.reset();
}
/**
* Get the average distance of the encoders since the last reset.
*
* @return The distance driven (average of left and right encoders).
*/
public double getDistance() {
return (m_leftEncoder.getDistance() + m_rightEncoder.getDistance()) / 2;
}
/**
* Get the distance to the obstacle.
*
* @return The distance to the obstacle detected by the rangefinder.
*/
public double getDistanceToObstacle() {
// Really meters in simulation since it's a rangefinder...
return m_rangefinder.getAverageVoltage();
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.command.PIDSubsystem;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.interfaces.Potentiometer;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* The elevator subsystem uses PID to go to a given height. Unfortunately, in
* it's current state PID values for simulation are different than in the real
* world do to minor differences.
*/
public class Elevator extends PIDSubsystem {
private SpeedController m_motor;
private Potentiometer m_pot;
private static final double kP_real = 4;
private static final double kI_real = 0.07;
private static final double kP_simulation = 18;
private static final double kI_simulation = 0.2;
public Elevator() {
super(kP_real, kI_real, 0);
if (Robot.isSimulation()) { // Check for simulation and update PID values
getPIDController().setPID(kP_simulation, kI_simulation, 0, 0);
}
setAbsoluteTolerance(0.005);
m_motor = new Victor(5);
// Conversion value of potentiometer varies between the real world and
// simulation
if (Robot.isReal()) {
m_pot = new AnalogPotentiometer(2, -2.0 / 5);
} else {
m_pot = new AnalogPotentiometer(2); // Defaults to meters
}
// Let's show everything on the LiveWindow
LiveWindow.addActuator("Elevator", "Motor", (Victor) m_motor);
LiveWindow.addSensor("Elevator", "Pot", (AnalogPotentiometer) m_pot);
LiveWindow.addActuator("Elevator", "PID", getPIDController());
}
@Override
public void initDefaultCommand() {
}
/**
* The log method puts interesting information to the SmartDashboard.
*/
public void log() {
SmartDashboard.putData("Wrist Pot", (AnalogPotentiometer) m_pot);
}
/**
* Use the potentiometer as the PID sensor. This method is automatically
* called by the subsystem.
*/
@Override
protected double returnPIDInput() {
return m_pot.get();
}
/**
* Use the motor as the PID output. This method is automatically called by
* the subsystem.
*/
@Override
protected void usePIDOutput(double power) {
m_motor.set(power);
}
}

82
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.command.PIDSubsystem;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.interfaces.Potentiometer;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* The wrist subsystem is like the elevator, but with a rotational joint instead
* of a linear joint.
*/
public class Wrist extends PIDSubsystem {
private SpeedController m_motor;
private Potentiometer m_pot;
private static final double kP_real = 1;
private static final double kP_simulation = 0.05;
public Wrist() {
super(kP_real, 0, 0);
if (Robot.isSimulation()) { // Check for simulation and update PID values
getPIDController().setPID(kP_simulation, 0, 0, 0);
}
setAbsoluteTolerance(2.5);
m_motor = new Victor(6);
// Conversion value of potentiometer varies between the real world and
// simulation
if (Robot.isReal()) {
m_pot = new AnalogPotentiometer(3, -270.0 / 5);
} else {
m_pot = new AnalogPotentiometer(3); // Defaults to degrees
}
// Let's show everything on the LiveWindow
LiveWindow.addActuator("Wrist", "Motor", (Victor) m_motor);
LiveWindow.addSensor("Wrist", "Pot", (AnalogPotentiometer) m_pot);
LiveWindow.addActuator("Wrist", "PID", getPIDController());
}
@Override
public void initDefaultCommand() {
}
/**
* The log method puts interesting information to the SmartDashboard.
*/
public void log() {
SmartDashboard.putData("Wrist Angle", (AnalogPotentiometer) m_pot);
}
/**
* Use the potentiometer as the PID sensor. This method is automatically
* called by the subsystem.
*/
@Override
protected double returnPIDInput() {
return m_pot.get();
}
/**
* Use the motor as the PID output. This method is automatically called by
* the subsystem.
*/
@Override
protected void usePIDOutput(double power) {
m_motor.set(power);
}
}

83
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gettingstarted;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
*/
public class Robot extends IterativeRobot {
private DifferentialDrive m_robotDrive
= new DifferentialDrive(new Spark(0), new Spark(1));
private Joystick m_stick = new Joystick(0);
private Timer m_timer = new Timer();
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
@Override
public void robotInit() {
}
/**
* This function is run once each time the robot enters autonomous mode.
*/
@Override
public void autonomousInit() {
m_timer.reset();
m_timer.start();
}
/**
* This function is called periodically during autonomous.
*/
@Override
public void autonomousPeriodic() {
// Drive for 2 seconds
if (m_timer.get() < 2.0) {
m_robotDrive.arcadeDrive(0.5, 0.0); // drive forwards half speed
} else {
m_robotDrive.stopMotor(); // stop robot
}
}
/**
* This function is called once each time the robot enters teleoperated mode.
*/
@Override
public void teleopInit() {
}
/**
* This function is called periodically during teleoperated mode.
*/
@Override
public void teleopPeriodic() {
m_robotDrive.arcadeDrive(m_stick.getY(), m_stick.getX());
}
/**
* This function is called periodically during test mode.
*/
@Override
public void testPeriodic() {
LiveWindow.run();
}
}

57
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gyro;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
/**
* This is a sample program to demonstrate how to use a gyro sensor to make a
* robot drive straight. This program uses a joystick to drive forwards and
* backwards while the gyro is used for direction keeping.
*/
public class Robot extends IterativeRobot {
private static final double kAngleSetpoint = 0.0;
private static final double kP = 0.005; // propotional turning constant
// gyro calibration constant, may need to be adjusted;
// gyro value of 360 is set to correspond to one full revolution
private static final double kVoltsPerDegreePerSecond = 0.0128;
private static final int kLeftMotorPort = 0;
private static final int kRightMotorPort = 1;
private static final int kGyroPort = 0;
private static final int kJoystickPort = 0;
private DifferentialDrive m_myRobot
= new DifferentialDrive(new Spark(kLeftMotorPort),
new Spark(kRightMotorPort));
private AnalogGyro m_gyro = new AnalogGyro(kGyroPort);
private Joystick m_joystick = new Joystick(kJoystickPort);
@Override
public void robotInit() {
m_gyro.setSensitivity(kVoltsPerDegreePerSecond);
}
/**
* The motor speed is set from the joystick while the RobotDrive turning
* value is assigned from the error between the setpoint and the gyro angle.
*/
@Override
public void teleopPeriodic() {
double turningValue = (kAngleSetpoint - m_gyro.getAngle()) * kP;
// Invert the direction of the turn if we are going backwards
turningValue = Math.copySign(turningValue, m_joystick.getY());
m_myRobot.arcadeDrive(m_joystick.getY(), turningValue);
}
}

62
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gyromecanum;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.drive.MecanumDrive;
/**
* This is a sample program that uses mecanum drive with a gyro sensor to
* maintian rotation vectorsin relation to the starting orientation of the robot
* (field-oriented controls).
*/
public class Robot extends IterativeRobot {
// gyro calibration constant, may need to be adjusted;
// gyro value of 360 is set to correspond to one full revolution
private static final double kVoltsPerDegreePerSecond = 0.0128;
private static final int kFrontLeftChannel = 0;
private static final int kRearLeftChannel = 1;
private static final int kFrontRightChannel = 2;
private static final int kRearRightChannel = 3;
private static final int kGyroPort = 0;
private static final int kJoystickPort = 0;
private MecanumDrive m_robotDrive;
private AnalogGyro m_gyro = new AnalogGyro(kGyroPort);
private Joystick m_joystick = new Joystick(kJoystickPort);
@Override
public void robotInit() {
Spark frontLeft = new Spark(kFrontLeftChannel);
Spark rearLeft = new Spark(kRearLeftChannel);
Spark frontRight = new Spark(kFrontRightChannel);
Spark rearRight = new Spark(kRearRightChannel);
// Invert the left side motors.
// You may need to change or remove this to match your robot.
frontLeft.setInverted(true);
rearLeft.setInverted(true);
m_robotDrive = new MecanumDrive(frontLeft, rearLeft, frontRight, rearRight);
m_gyro.setSensitivity(kVoltsPerDegreePerSecond);
}
/**
* Mecanum drive is used with the gyro angle as an input.
*/
@Override
public void teleopPeriodic() {
m_robotDrive.driveCartesian(m_joystick.getX(), m_joystick.getY(),
m_joystick.getZ(), m_gyro.getAngle());
}
}

55
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java Executable file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.mecanumdrive;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.drive.MecanumDrive;
/**
* This is a demo program showing how to use Mecanum control with the RobotDrive
* class.
*/
public class Robot extends IterativeRobot {
private static final int kFrontLeftChannel = 2;
private static final int kRearLeftChannel = 3;
private static final int kFrontRightChannel = 1;
private static final int kRearRightChannel = 0;
private static final int kJoystickChannel = 0;
private MecanumDrive m_robotDrive;
private Joystick m_stick;
@Override
public void robotInit() {
Spark frontLeft = new Spark(kFrontLeftChannel);
Spark rearLeft = new Spark(kRearLeftChannel);
Spark frontRight = new Spark(kFrontRightChannel);
Spark rearRight = new Spark(kRearRightChannel);
// Invert the left side motors.
// You may need to change or remove this to match your robot.
frontLeft.setInverted(true);
rearLeft.setInverted(true);
m_robotDrive = new MecanumDrive(frontLeft, rearLeft, frontRight, rearRight);
m_stick = new Joystick(kJoystickChannel);
}
@Override
public void teleopPeriodic() {
// Use the joystick X axis for lateral movement, Y axis for forward
// movement, and Z axis for rotation.
m_robotDrive.driveCartesian(m_stick.getX(), m_stick.getY(),
m_stick.getZ(), 0.0);
}
}

41
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java Executable file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.motorcontrol;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.Spark;
/**
* This sample program shows how to control a motor using a joystick. In the
* operator control part of the program, the joystick is read and the value is
* written to the motor.
*
* <p>Joystick analog values range from -1 to 1 and speed controller inputs also
* range from -1 to 1 making it easy to work together.
*/
public class Robot extends IterativeRobot {
private static final int kMotorPort = 0;
private static final int kJoystickPort = 0;
private SpeedController m_motor;
private Joystick m_joystick;
@Override
public void robotInit() {
m_motor = new Spark(kMotorPort);
m_joystick = new Joystick(kJoystickPort);
}
@Override
public void teleopPeriodic() {
m_motor.set(m_joystick.getY());
}
}

76
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.potentiometerpid;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.Joystick;
/**
* This is a sample program to demonstrate how to use a soft potentiometer and a
* PID controller to reach and maintain position setpoints on an elevator
* mechanism.
*/
public class Robot extends IterativeRobot {
private static final int kPotChannel = 1;
private static final int kMotorChannel = 7;
private static final int kJoystickChannel = 0;
// bottom, middle, and top elevator setpoints
private static final double[] kSetPoints = {1.0, 2.6, 4.3};
// proportional, integral, and derivative speed constants; motor inverted
// DANGER: when tuning PID constants, high/inappropriate values for kP, kI,
// and kD may cause dangerous, uncontrollable, or undesired behavior!
// these may need to be positive for a non-inverted motor
private static final double kP = -5.0;
private static final double kI = -0.02;
private static final double kD = -2.0;
private PIDController m_pidController;
private AnalogInput m_potentiometer;
private SpeedController m_elevatorMotor;
private Joystick m_joystick;
private int m_index = 0;
private boolean m_previousButtonValue = false;
@Override
public void robotInit() {
m_potentiometer = new AnalogInput(kPotChannel);
m_elevatorMotor = new Spark(kMotorChannel);
m_joystick = new Joystick(kJoystickChannel);
m_pidController
= new PIDController(kP, kI, kD, m_potentiometer, m_elevatorMotor);
m_pidController.setInputRange(0, 5);
}
@Override
public void teleopInit() {
m_pidController.enable();
}
@Override
public void teleopPeriodic() {
// when the button is pressed once, the selected elevator setpoint
// is incremented
boolean currentButtonValue = m_joystick.getTrigger();
if (currentButtonValue && !m_previousButtonValue) {
// index of the elevator setpoint wraps around.
m_index = (m_index + 1) % kSetPoints.length;
}
m_previousButtonValue = currentButtonValue;
m_pidController.setSetpoint(kSetPoints[m_index]);
}
}

36
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java Executable file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.tankdrive;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
/**
* This is a demo program showing the use of the RobotDrive class, specifically
* it contains the code necessary to operate a robot with tank drive.
*/
public class Robot extends IterativeRobot {
private DifferentialDrive m_myRobot;
private Joystick m_leftStick;
private Joystick m_rightStick;
@Override
public void robotInit() {
m_myRobot = new DifferentialDrive(new Spark(0), new Spark(1));
m_leftStick = new Joystick(0);
m_rightStick = new Joystick(1);
}
@Override
public void teleopPeriodic() {
m_myRobot.tankDrive(m_leftStick.getY(), m_rightStick.getY());
}
}

53
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.ultrasonic;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
/**
* This is a sample program demonstrating how to use an ultrasonic sensor and
* proportional control to maintain a set distance from an object.
*/
public class Robot extends IterativeRobot {
// distance in inches the robot wants to stay from an object
private static final double kHoldDistance = 12.0;
// factor to convert sensor values to a distance in inches
private static final double kValueToInches = 0.125;
// proportional speed constant
private static final double kP = 0.05;
private static final int kLeftMotorPort = 0;
private static final int kRightMotorPort = 1;
private static final int kUltrasonicPort = 0;
private AnalogInput m_ultrasonic = new AnalogInput(kUltrasonicPort);
private DifferentialDrive m_robotDrive
= new DifferentialDrive(new Spark(kLeftMotorPort),
new Spark(kRightMotorPort));
/**
* Tells the robot to drive to a set distance (in inches) from an object
* using proportional control.
*/
public void teleopPeriodic() {
// sensor returns a value from 0-4095 that is scaled to inches
double currentDistance = m_ultrasonic.getValue() * kValueToInches;
// convert distance error to a motor speed
double currentSpeed = (kHoldDistance - currentDistance) * kP;
// drive robot
m_robotDrive.arcadeDrive(currentSpeed, 0);
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.ultrasonicpid;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.PIDOutput;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
/**
* This is a sample program to demonstrate the use of a PIDController with an
* ultrasonic sensor to reach and maintain a set distance from an object.
*/
public class Robot extends IterativeRobot {
// distance in inches the robot wants to stay from an object
private static final double kHoldDistance = 12.0;
// maximum distance in inches we expect the robot to see
private static final double kMaxDistance = 24.0;
// factor to convert sensor values to a distance in inches
private static final double kValueToInches = 0.125;
// proportional speed constant
private static final double kP = 7.0;
// integral speed constant
private static final double kI = 0.018;
// derivative speed constant
private static final double kD = 1.5;
private static final int kLeftMotorPort = 0;
private static final int kRightMotorPort = 1;
private static final int kUltrasonicPort = 0;
private AnalogInput m_ultrasonic = new AnalogInput(kUltrasonicPort);
private DifferentialDrive m_robotDrive
= new DifferentialDrive(new Spark(kLeftMotorPort),
new Spark(kRightMotorPort));
private PIDController m_pidController
= new PIDController(kP, kI, kD, m_ultrasonic, new MyPidOutput());
/**
* Drives the robot a set distance from an object using PID control and the
* ultrasonic sensor.
*/
@Override
public void teleopInit() {
// Set expected range to 0-24 inches; e.g. at 24 inches from object go
// full forward, at 0 inches from object go full backward.
m_pidController.setInputRange(0, kMaxDistance * kValueToInches);
// Set setpoint of the pid controller
m_pidController.setSetpoint(kHoldDistance * kValueToInches);
m_pidController.enable(); // begin PID control
}
private class MyPidOutput implements PIDOutput {
@Override
public void pidWrite(double output) {
m_robotDrive.arcadeDrive(output, 0);
}
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/vision/axiscamera/Robot.java Executable file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.vision.axiscamera;
import edu.wpi.cscore.AxisCamera;
import edu.wpi.cscore.CvSink;
import edu.wpi.cscore.CvSource;
import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.IterativeRobot;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.opencv.core.Scalar;
import org.opencv.imgproc.Imgproc;
/**
* This is a demo program showing the use of OpenCV to do vision processing. The
* image is acquired from the Axis camera, then a rectangle is put on the image
* and sent to the dashboard. OpenCV has many methods for different types of
* processing.
*/
public class Robot extends IterativeRobot {
Thread m_visionThread;
@Override
public void robotInit() {
m_visionThread = new Thread(() -> {
// Get the Axis camera from CameraServer
AxisCamera camera
= CameraServer.getInstance().addAxisCamera("axis-camera.local");
// Set the resolution
camera.setResolution(640, 480);
// Get a CvSink. This will capture Mats from the camera
CvSink cvSink = CameraServer.getInstance().getVideo();
// Setup a CvSource. This will send images back to the Dashboard
CvSource outputStream
= CameraServer.getInstance().putVideo("Rectangle", 640, 480);
// Mats are very memory expensive. Lets reuse this Mat.
Mat mat = new Mat();
// This cannot be 'true'. The program will never exit if it is. This
// lets the robot stop this thread when restarting robot code or
// deploying.
while (!Thread.interrupted()) {
// Tell the CvSink to grab a frame from the camera and put it
// in the source mat. If there is an error notify the output.
if (cvSink.grabFrame(mat) == 0) {
// Send the output the error.
outputStream.notifyError(cvSink.getError());
// skip the rest of the current iteration
continue;
}
// Put a rectangle on the image
Imgproc.rectangle(mat, new Point(100, 100), new Point(400, 400),
new Scalar(255, 255, 255), 5);
// Give the output stream a new image to display
outputStream.putFrame(mat);
}
});
m_visionThread.setDaemon(true);
m_visionThread.start();
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/vision/intermediatevision/Robot.java Executable file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.vision.intermediatevision;
import edu.wpi.cscore.CvSink;
import edu.wpi.cscore.CvSource;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.IterativeRobot;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.opencv.core.Scalar;
import org.opencv.imgproc.Imgproc;
/**
* This is a demo program showing the use of OpenCV to do vision processing. The
* image is acquired from the USB camera, then a rectangle is put on the image
* and sent to the dashboard. OpenCV has many methods for different types of
* processing.
*/
public class Robot extends IterativeRobot {
Thread m_visionThread;
@Override
public void robotInit() {
m_visionThread = new Thread(() -> {
// Get the UsbCamera from CameraServer
UsbCamera camera = CameraServer.getInstance().startAutomaticCapture();
// Set the resolution
camera.setResolution(640, 480);
// Get a CvSink. This will capture Mats from the camera
CvSink cvSink = CameraServer.getInstance().getVideo();
// Setup a CvSource. This will send images back to the Dashboard
CvSource outputStream
= CameraServer.getInstance().putVideo("Rectangle", 640, 480);
// Mats are very memory expensive. Lets reuse this Mat.
Mat mat = new Mat();
// This cannot be 'true'. The program will never exit if it is. This
// lets the robot stop this thread when restarting robot code or
// deploying.
while (!Thread.interrupted()) {
// Tell the CvSink to grab a frame from the camera and put it
// in the source mat. If there is an error notify the output.
if (cvSink.grabFrame(mat) == 0) {
// Send the output the error.
outputStream.notifyError(cvSink.getError());
// skip the rest of the current iteration
continue;
}
// Put a rectangle on the image
Imgproc.rectangle(mat, new Point(100, 100), new Point(400, 400),
new Scalar(255, 255, 255), 5);
// Give the output stream a new image to display
outputStream.putFrame(mat);
}
});
m_visionThread.setDaemon(true);
m_visionThread.start();
}
}

26
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/vision/quickvision/Robot.java Executable file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.vision.quickvision;
import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.IterativeRobot;
/**
* Uses the CameraServer class to automatically capture video from a USB webcam
* and send it to the FRC dashboard without doing any vision processing. This
* is the easiest way to get camera images to the dashboard. Just add this to
* the robotInit() method in your program.
*/
public class Robot extends IterativeRobot {
@Override
public void robotInit() {
CameraServer.getInstance().startAutomaticCapture();
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/OI.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.commandbased;
/**
* This class is the glue that binds the controls on the physical operator
* interface to the commands and command groups that allow control of the robot.
*/
public class OI {
//// CREATING BUTTONS
// One type of button is a joystick button which is any button on a
//// joystick.
// You create one by telling it which joystick it's on and which button
// number it is.
// Joystick stick = new Joystick(port);
// Button button = new JoystickButton(stick, buttonNumber);
// There are a few additional built in buttons you can use. Additionally,
// by subclassing Button you can create custom triggers and bind those to
// commands the same as any other Button.
//// TRIGGERING COMMANDS WITH BUTTONS
// Once you have a button, it's trivial to bind it to a button in one of
// three ways:
// Start the command when the button is pressed and let it run the command
// until it is finished as determined by it's isFinished method.
// button.whenPressed(new ExampleCommand());
// Run the command while the button is being held down and interrupt it once
// the button is released.
// button.whileHeld(new ExampleCommand());
// Start the command when the button is released and let it run the command
// until it is finished as determined by it's isFinished method.
// button.whenReleased(new ExampleCommand());
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.commandbased;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.templates.commandbased.commands.ExampleCommand;
import edu.wpi.first.wpilibj.templates.commandbased.subsystems.ExampleSubsystem;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the build.properties file in the
* project.
*/
public class Robot extends IterativeRobot {
public static final ExampleSubsystem kExampleSubsystem
= new ExampleSubsystem();
public static OI m_oi;
Command m_autonomousCommand;
SendableChooser<Command> m_chooser = new SendableChooser<>();
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
@Override
public void robotInit() {
m_oi = new OI();
m_chooser.addDefault("Default Auto", new ExampleCommand());
// chooser.addObject("My Auto", new MyAutoCommand());
SmartDashboard.putData("Auto mode", m_chooser);
}
/**
* This function is called once each time the robot enters Disabled mode.
* You can use it to reset any subsystem information you want to clear when
* the robot is disabled.
*/
@Override
public void disabledInit() {
}
@Override
public void disabledPeriodic() {
Scheduler.getInstance().run();
}
/**
* This autonomous (along with the chooser code above) shows how to select
* between different autonomous modes using the dashboard. The sendable
* chooser code works with the Java SmartDashboard. If you prefer the
* LabVIEW Dashboard, remove all of the chooser code and uncomment the
* getString code to get the auto name from the text box below the Gyro
*
* <p>You can add additional auto modes by adding additional commands to the
* chooser code above (like the commented example) or additional comparisons
* to the switch structure below with additional strings & commands.
*/
@Override
public void autonomousInit() {
m_autonomousCommand = m_chooser.getSelected();
/*
* String autoSelected = SmartDashboard.getString("Auto Selector",
* "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
* = new MyAutoCommand(); break; case "Default Auto": default:
* autonomousCommand = new ExampleCommand(); break; }
*/
// schedule the autonomous command (example)
if (m_autonomousCommand != null) {
m_autonomousCommand.start();
}
}
/**
* This function is called periodically during autonomous.
*/
@Override
public void autonomousPeriodic() {
Scheduler.getInstance().run();
}
@Override
public void teleopInit() {
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (m_autonomousCommand != null) {
m_autonomousCommand.cancel();
}
}
/**
* This function is called periodically during operator control.
*/
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
}
/**
* This function is called periodically during test mode.
*/
@Override
public void testPeriodic() {
LiveWindow.run();
}
}

26
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotMap.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.commandbased;
/**
* The RobotMap is a mapping from the ports sensors and actuators are wired into
* to a variable name. This provides flexibility changing wiring, makes checking
* the wiring easier and significantly reduces the number of magic numbers
* floating around.
*/
public class RobotMap {
// For example to map the left and right motors, you could define the
// following variables to use with your drivetrain subsystem.
// public static int leftMotor = 1;
// public static int rightMotor = 2;
// If you are using multiple modules, make sure to define both the port
// number and the module. For example you with a rangefinder:
// public static int rangefinderPort = 1;
// public static int rangefinderModule = 1;
}

48
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.commandbased.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.templates.commandbased.Robot;
/**
* An example command. You can replace me with your own command.
*/
public class ExampleCommand extends Command {
public ExampleCommand() {
// Use requires() here to declare subsystem dependencies
requires(Robot.kExampleSubsystem);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return false;
}
// Called once after isFinished returns true
@Override
protected void end() {
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {
}
}

23
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.commandbased.subsystems;
import edu.wpi.first.wpilibj.command.Subsystem;
/**
* An example subsystem. You can replace me with your own Subsystem.
*/
public class ExampleSubsystem extends Subsystem {
// Put methods for controlling this subsystem
// here. Call these from Commands.
public void initDefaultCommand() {
// Set the default command for a subsystem here.
// setDefaultCommand(new MySpecialCommand());
}
}

87
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/iterative/Robot.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.iterative;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the build.properties file in the
* project.
*/
public class Robot extends IterativeRobot {
private static final String kDefaultAuto = "Default";
private static final String kCustomAuto = "My Auto";
private String m_autoSelected;
private SendableChooser<String> m_chooser = new SendableChooser<>();
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
@Override
public void robotInit() {
m_chooser.addDefault("Default Auto", kDefaultAuto);
m_chooser.addObject("My Auto", kCustomAuto);
SmartDashboard.putData("Auto choices", m_chooser);
}
/**
* This autonomous (along with the chooser code above) shows how to select
* between different autonomous modes using the dashboard. The sendable
* chooser code works with the Java SmartDashboard. If you prefer the
* LabVIEW Dashboard, remove all of the chooser code and uncomment the
* getString line to get the auto name from the text box below the Gyro
*
* <p>You can add additional auto modes by adding additional comparisons to
* the switch structure below with additional strings. If using the
* SendableChooser make sure to add them to the chooser code above as well.
*/
@Override
public void autonomousInit() {
m_autoSelected = m_chooser.getSelected();
// autoSelected = SmartDashboard.getString("Auto Selector",
// defaultAuto);
System.out.println("Auto selected: " + m_autoSelected);
}
/**
* This function is called periodically during autonomous.
*/
@Override
public void autonomousPeriodic() {
switch (m_autoSelected) {
case kCustomAuto:
// Put custom auto code here
break;
case kDefaultAuto:
default:
// Put default auto code here
break;
}
}
/**
* This function is called periodically during operator control.
*/
@Override
public void teleopPeriodic() {
}
/**
* This function is called periodically during test mode.
*/
@Override
public void testPeriodic() {
}
}

146
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Robot.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.sample;
import edu.wpi.first.wpilibj.SampleRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* This is a demo program showing the use of the RobotDrive class. The
* SampleRobot class is the base of a robot application that will automatically
* call your Autonomous and OperatorControl methods at the right time as
* controlled by the switches on the driver station or the field controls.
*
* <p>The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the SampleRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the build.properties file in the
* project.
*
* <p>WARNING: While it may look like a good choice to use for your code if
* you're inexperienced, don't. Unless you know what you are doing, complex code
* will be much more difficult under this system. Use IterativeRobot or
* Command-Based instead if you're new.
*/
public class Robot extends SampleRobot {
private static final String kDefaultAuto = "Default";
private static final String kCustomAuto = "My Auto";
private DifferentialDrive m_robotDrive
= new DifferentialDrive(new Spark(0), new Spark(1));
private Joystick m_stick = new Joystick(0);
private SendableChooser<String> m_chooser = new SendableChooser<>();
public Robot() {
m_robotDrive.setExpiration(0.1);
}
@Override
public void robotInit() {
m_chooser.addDefault("Default Auto", kDefaultAuto);
m_chooser.addObject("My Auto", kCustomAuto);
SmartDashboard.putData("Auto modes", m_chooser);
}
/**
* This autonomous (along with the chooser code above) shows how to select
* between different autonomous modes using the dashboard. The sendable
* chooser code works with the Java SmartDashboard. If you prefer the
* LabVIEW Dashboard, remove all of the chooser code and uncomment the
* getString line to get the auto name from the text box below the Gyro
*
* <p>You can add additional auto modes by adding additional comparisons to
* the if-else structure below with additional strings. If using the
* SendableChooser make sure to add them to the chooser code above as well.
*
* <p>If you wanted to run a similar autonomous mode with an IterativeRobot
* you would write:
*
* <blockquote><pre>{@code
* Timer timer = new Timer();
*
* // This function is run once each time the robot enters autonomous mode
* public void autonomousInit() {
* timer.reset();
* timer.start();
* }
*
* // This function is called periodically during autonomous
* public void autonomousPeriodic() {
* // Drive for 2 seconds
* if (timer.get() < 2.0) {
* myRobot.drive(-0.5, 0.0); // drive forwards half speed
* } else if (timer.get() < 5.0) {
* myRobot.drive(-1.0, 0.0); // drive forwards full speed
* } else {
* myRobot.drive(0.0, 0.0); // stop robot
* }
* }
* }</pre></blockquote>
*/
@Override
public void autonomous() {
String autoSelected = m_chooser.getSelected();
// String autoSelected = SmartDashboard.getString("Auto Selector",
// defaultAuto);
System.out.println("Auto selected: " + autoSelected);
switch (autoSelected) {
case kCustomAuto:
m_robotDrive.setSafetyEnabled(false);
m_robotDrive.arcadeDrive(-0.5, 1.0); // spin at half speed
Timer.delay(2.0); // for 2 seconds
m_robotDrive.arcadeDrive(0.0, 0.0); // stop robot
break;
case kDefaultAuto:
default:
m_robotDrive.setSafetyEnabled(false);
m_robotDrive.arcadeDrive(-0.5, 0.0); // drive forwards
Timer.delay(2.0); // for 2 seconds
m_robotDrive.arcadeDrive(0.0, 0.0); // stop robot
break;
}
}
/**
* Runs the motors with arcade steering.
*
* <p>If you wanted to run a similar teleoperated mode with an IterativeRobot
* you would write:
*
* <blockquote><pre>{@code
* // This function is called periodically during operator control
* public void teleopPeriodic() {
* myRobot.arcadeDrive(stick);
* }
* }</pre></blockquote>
*/
@Override
public void operatorControl() {
m_robotDrive.setSafetyEnabled(true);
while (isOperatorControl() && isEnabled()) {
// drive arcade style
m_robotDrive.arcadeDrive(m_stick.getX(), m_stick.getY());
// wait for a motor update time
Timer.delay(0.005);
}
}
/**
* Runs during test mode.
*/
@Override
public void test() {
}
}