If you change your main robot class, change the parameter type. + */ + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } +} diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java new file mode 100644 index 0000000000..6150e6ef8c --- /dev/null +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java @@ -0,0 +1,43 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2017-2019 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.canpdp; + +import edu.wpi.first.wpilibj.PowerDistributionPanel; +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + +/** + * This is a sample program showing how to retrieve information from the Power Distribution Panel + * via CAN. The information will be displayed under variables through the SmartDashboard. + */ +public class Robot extends TimedRobot { + private static final int kPDPId = 0; + + private final PowerDistributionPanel m_pdp = new PowerDistributionPanel(kPDPId); + + @Override + public void robotPeriodic() { + /* + * Get the current going through channel 7, in Amperes. The PDP returns the + * current in increments of 0.125A. At low currents + * the current readings tend to be less accurate. + */ + SmartDashboard.putNumber("Current Channel 7", m_pdp.getCurrent(7)); + + /* + * Get the voltage going into the PDP, in Volts. + * The PDP returns the voltage in increments of 0.05 Volts. + */ + SmartDashboard.putNumber("Voltage", m_pdp.getVoltage()); + + /* + * Retrieves the temperature of the PDP, in degrees Celsius. + */ + SmartDashboard.putNumber("Temprature", m_pdp.getTemperature()); + } +} diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Main.java new file mode 100644 index 0000000000..da0be79bc4 --- /dev/null +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Main.java @@ -0,0 +1,29 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 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.encoder; + +import edu.wpi.first.wpilibj.RobotBase; + +/** + * Do NOT add any static variables to this class, or any initialization at all. + * Unless you know what you are doing, do not modify this file except to + * change the parameter class to the startRobot call. + */ +public final class Main { + private Main() { + } + + /** + * Main initialization function. Do not perform any initialization here. + * + *
If you change your main robot class, change the parameter type. + */ + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } +} diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Robot.java new file mode 100644 index 0000000000..4bb26ea112 --- /dev/null +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Robot.java @@ -0,0 +1,74 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2017-2019 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.encoder; + +import edu.wpi.first.wpilibj.CounterBase; +import edu.wpi.first.wpilibj.Encoder; +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + +/** + * Sample program displaying the value of a quadrature encoder on the SmartDashboard. Quadrature + * Encoders are digital sensors which can detect the amount the encoder has rotated since starting + * as well as the direction in which the encoder shaft is rotating. However, encoders can not tell + * you the absolute position of the encoder shaft (ie, it considers where it starts to be the zero + * position, no matter where it starts), and so can only tell you how much the encoder has rotated + * since starting. Depending on the precision of an encoder, it will have fewer or greater ticks per + * revolution; the number of ticks per revolution will affect the conversion between ticks and + * distance, as specified by DistancePerPulse. One of the most common uses of encoders is in the + * drivetrain, so that the distance that the robot drives can be precisely controlled during the + * autonomous mode. + */ +public class Robot extends TimedRobot { + /** + * The Encoder object is constructed with 4 parameters, the last two being optional. The first two + * parameters (1, 2 in this case) refer to the ports on the roboRIO which the encoder uses. + * Because a quadrature encoder has two signal wires, the signal from two DIO ports on the roboRIO + * are used. The third (optional) parameter is a boolean which defaults to false. If you set this + * parameter to true, the direction of the encoder will be reversed, in case it makes more sense + * mechanically. The final (optional) parameter specifies encoding rate (k1X, k2X, or k4X) and + * defaults to k4X. Faster (k4X) encoding gives greater positional precision but more noise in the + * rate. + */ + private final Encoder m_encoder = + new Encoder(1, 2, false, CounterBase.EncodingType.k4X); + + @Override + public void robotInit() { + /* + * Defines the number of samples to average when determining the rate. + * On a quadrature encoder, values range from 1-255; + * larger values result in smoother but potentially + * less accurate rates than lower values. + */ + m_encoder.setSamplesToAverage(5); + + /* + * Defines how far the mechanism attached to the encoder moves per pulse. In + * this case, we assume that a 360 count encoder is directly + * attached to a 3 inch diameter (1.5inch radius) wheel, + * and that we want to measure distance in inches. + */ + m_encoder.setDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5); + + /* + * Defines the lowest rate at which the encoder will + * not be considered stopped, for the purposes of + * the GetStopped() method. Units are in distance / second, + * where distance refers to the units of distance + * that you are using, in this case inches. + */ + m_encoder.setMinRate(1.0); + } + + @Override + public void teleopPeriodic() { + SmartDashboard.putNumber("Encoder Distance", m_encoder.getDistance()); + SmartDashboard.putNumber("Encoder Rate", m_encoder.getRate()); + } +} diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json index 39a92e5c91..81cbcb37a1 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json @@ -35,6 +35,55 @@ "gradlebase": "java", "mainclass": "Main" }, + { + "name": "PDP CAN Monitoring", + "description": "Demonstrate using CAN to monitor the voltage, current, and temperature in the Power Distribution Panel.", + "tags": [ + "Complete List", + "CAN", + "Sensors" + ], + "foldername": "canpdp", + "gradlebase": "java", + "mainclass": "Main" + }, + { + "name": "Solenoids", + "description": "Demonstrate controlling a single and double solenoid from Joystick buttons.", + "tags": [ + "Actuators", + "Joystick", + "Pneumatics", + "Complete List" + ], + "foldername": "solenoid", + "gradlebase": "java", + "mainclass": "Main" + }, + { + "name": "Encoder", + "description": "Demonstrate displaying the value of a quadrature encoder on the SmartDashboard.", + "tags": [ + "Complete List", + "Digital", + "Sensors" + ], + "foldername": "encoder", + "gradlebase": "java", + "mainclass": "Main" + }, + { + "name": "Relay", + "description": "Demonstrate controlling a Relay from Joystick buttons.", + "tags": [ + "Actuators", + "Joystick", + "Complete List" + ], + "foldername": "relay", + "gradlebase": "java", + "mainclass": "Main" + }, { "name": "Ultrasonic", "description": "Demonstrate maintaining a set distance using an ultrasonic sensor.", diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay/Main.java new file mode 100644 index 0000000000..5cd6a007a6 --- /dev/null +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay/Main.java @@ -0,0 +1,29 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 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.relay; + +import edu.wpi.first.wpilibj.RobotBase; + +/** + * Do NOT add any static variables to this class, or any initialization at all. + * Unless you know what you are doing, do not modify this file except to + * change the parameter class to the startRobot call. + */ +public final class Main { + private Main() { + } + + /** + * Main initialization function. Do not perform any initialization here. + * + *
If you change your main robot class, change the parameter type. + */ + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } +} diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay/Robot.java new file mode 100644 index 0000000000..18da837256 --- /dev/null +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay/Robot.java @@ -0,0 +1,54 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2017-2019 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.relay; + +import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj.Relay; +import edu.wpi.first.wpilibj.TimedRobot; + +/** + * This is a sample program which uses joystick buttons to control a relay. A Relay (generally a + * spike) has two outputs, each of which can be at either 0V or 12V and so can be used for actions + * such as turning a motor off, full forwards, or full reverse, and is generally used on the + * compressor. This program uses two buttons on a joystick and each button corresponds to one + * output; pressing the button sets the output to 12V and releasing sets it to 0V. + */ + +public class Robot extends TimedRobot { + private final Joystick m_stick = new Joystick(0); + private final Relay m_relay = new Relay(0); + + private static final int kRelayForwardButton = 1; + private static final int kRelayReverseButton = 2; + + @Override + public void teleopPeriodic() { + /* + * Retrieve the button values. GetRawButton will + * return true if the button is pressed and false if not. + */ + boolean forward = m_stick.getRawButton(kRelayForwardButton); + boolean reverse = m_stick.getRawButton(kRelayReverseButton); + + /* + * Depending on the button values, we want to use one of + * kOn, kOff, kForward, or kReverse. kOn sets both outputs to 12V, + * kOff sets both to 0V, kForward sets forward to 12V + * and reverse to 0V, and kReverse sets reverse to 12V and forward to 0V. + */ + if (forward && reverse) { + m_relay.set(Relay.Value.kOn); + } else if (forward) { + m_relay.set(Relay.Value.kForward); + } else if (reverse) { + m_relay.set(Relay.Value.kReverse); + } else { + m_relay.set(Relay.Value.kOff); + } + } +} diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Main.java new file mode 100644 index 0000000000..c62cb75443 --- /dev/null +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Main.java @@ -0,0 +1,29 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 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.solenoid; + +import edu.wpi.first.wpilibj.RobotBase; + +/** + * Do NOT add any static variables to this class, or any initialization at all. + * Unless you know what you are doing, do not modify this file except to + * change the parameter class to the startRobot call. + */ +public final class Main { + private Main() { + } + + /** + * Main initialization function. Do not perform any initialization here. + * + *
If you change your main robot class, change the parameter type. + */ + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } +} diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java new file mode 100644 index 0000000000..8fc49bbe6f --- /dev/null +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java @@ -0,0 +1,60 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2017-2019 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.solenoid; + +import edu.wpi.first.wpilibj.DoubleSolenoid; +import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj.Solenoid; +import edu.wpi.first.wpilibj.TimedRobot; + +/** + * This is a sample program showing the use of the solenoid classes during operator control. Three + * buttons from a joystick will be used to control two solenoids: One button to control the position + * of a single solenoid and the other two buttons to control a double solenoid. Single solenoids can + * either be on or off, such that the air diverted through them goes through either one channel or + * the other. Double solenoids have three states: Off, Forward, and Reverse. Forward and Reverse + * divert the air through the two channels and correspond to the on and off of a single solenoid, + * but a double solenoid can also be "off", where the solenoid will remain in its default power off + * state. Additionally, double solenoids take up two channels on your PCM whereas single solenoids + * only take a single channel. + */ + +public class Robot extends TimedRobot { + private final Joystick m_stick = new Joystick(0); + + // Solenoid corresponds to a single solenoid. + private final Solenoid m_solenoid = new Solenoid(0); + + // DoubleSolenoid corresponds to a double solenoid. + private final DoubleSolenoid m_doubleSolenoid = new DoubleSolenoid(1, 2); + + private static final int kSolenoidButton = 1; + private static final int kDoubleSolenoidForward = 2; + private static final int kDoubleSolenoidReverse = 3; + + @Override + public void teleopPeriodic() { + /* + * The output of GetRawButton is true/false depending on whether + * the button is pressed; Set takes a boolean for whether + * to use the default (false) channel or the other (true). + */ + m_solenoid.set(m_stick.getRawButton(kSolenoidButton)); + + /* + * In order to set the double solenoid, if just one button + * is pressed, set the solenoid to correspond to that button. + * If both are pressed, set the solenoid will be set to Forwards. + */ + if (m_stick.getRawButton(kDoubleSolenoidForward)) { + m_doubleSolenoid.set(DoubleSolenoid.Value.kForward); + } else if (m_stick.getRawButton(kDoubleSolenoidReverse)) { + m_doubleSolenoid.set(DoubleSolenoid.Value.kReverse); + } + } +}