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https://github.com/wpilibsuite/allwpilib
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Add missing Java examples (#841)
This commit is contained in:
Abiel Fernandez
committed by
Peter Johnson
Peter Johnson
parent
6411bd79c6
commit
ba9b517427
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.examples.canpdp;
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import edu.wpi.first.wpilibj.RobotBase;
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/**
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* Do NOT add any static variables to this class, or any initialization at all.
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* Unless you know what you are doing, do not modify this file except to
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* change the parameter class to the startRobot call.
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*/
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public final class Main {
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private Main() {
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}
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/**
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* Main initialization function. Do not perform any initialization here.
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*
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* <p>If you change your main robot class, change the parameter type.
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*/
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public static void main(String... args) {
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RobotBase.startRobot(Robot::new);
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}
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}
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.examples.canpdp;
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import edu.wpi.first.wpilibj.PowerDistributionPanel;
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import edu.wpi.first.wpilibj.TimedRobot;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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/**
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* This is a sample program showing how to retrieve information from the Power Distribution Panel
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* via CAN. The information will be displayed under variables through the SmartDashboard.
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*/
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public class Robot extends TimedRobot {
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private static final int kPDPId = 0;
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private final PowerDistributionPanel m_pdp = new PowerDistributionPanel(kPDPId);
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@Override
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public void robotPeriodic() {
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/*
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* Get the current going through channel 7, in Amperes. The PDP returns the
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* current in increments of 0.125A. At low currents
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* the current readings tend to be less accurate.
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*/
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SmartDashboard.putNumber("Current Channel 7", m_pdp.getCurrent(7));
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/*
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* Get the voltage going into the PDP, in Volts.
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* The PDP returns the voltage in increments of 0.05 Volts.
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*/
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SmartDashboard.putNumber("Voltage", m_pdp.getVoltage());
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/*
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* Retrieves the temperature of the PDP, in degrees Celsius.
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*/
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SmartDashboard.putNumber("Temprature", m_pdp.getTemperature());
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}
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}
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.examples.encoder;
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import edu.wpi.first.wpilibj.RobotBase;
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/**
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* Do NOT add any static variables to this class, or any initialization at all.
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* Unless you know what you are doing, do not modify this file except to
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* change the parameter class to the startRobot call.
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*/
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public final class Main {
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private Main() {
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}
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/**
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* Main initialization function. Do not perform any initialization here.
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*
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* <p>If you change your main robot class, change the parameter type.
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*/
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public static void main(String... args) {
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RobotBase.startRobot(Robot::new);
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}
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}
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.examples.encoder;
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import edu.wpi.first.wpilibj.CounterBase;
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import edu.wpi.first.wpilibj.Encoder;
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import edu.wpi.first.wpilibj.TimedRobot;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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/**
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* Sample program displaying the value of a quadrature encoder on the SmartDashboard. Quadrature
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* Encoders are digital sensors which can detect the amount the encoder has rotated since starting
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* as well as the direction in which the encoder shaft is rotating. However, encoders can not tell
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* you the absolute position of the encoder shaft (ie, it considers where it starts to be the zero
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* position, no matter where it starts), and so can only tell you how much the encoder has rotated
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* since starting. Depending on the precision of an encoder, it will have fewer or greater ticks per
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* revolution; the number of ticks per revolution will affect the conversion between ticks and
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* distance, as specified by DistancePerPulse. One of the most common uses of encoders is in the
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* drivetrain, so that the distance that the robot drives can be precisely controlled during the
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* autonomous mode.
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*/
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public class Robot extends TimedRobot {
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/**
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* The Encoder object is constructed with 4 parameters, the last two being optional. The first two
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* parameters (1, 2 in this case) refer to the ports on the roboRIO which the encoder uses.
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* Because a quadrature encoder has two signal wires, the signal from two DIO ports on the roboRIO
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* are used. The third (optional) parameter is a boolean which defaults to false. If you set this
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* parameter to true, the direction of the encoder will be reversed, in case it makes more sense
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* mechanically. The final (optional) parameter specifies encoding rate (k1X, k2X, or k4X) and
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* defaults to k4X. Faster (k4X) encoding gives greater positional precision but more noise in the
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* rate.
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*/
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private final Encoder m_encoder =
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new Encoder(1, 2, false, CounterBase.EncodingType.k4X);
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@Override
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public void robotInit() {
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/*
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* Defines the number of samples to average when determining the rate.
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* On a quadrature encoder, values range from 1-255;
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* larger values result in smoother but potentially
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* less accurate rates than lower values.
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*/
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m_encoder.setSamplesToAverage(5);
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/*
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* Defines how far the mechanism attached to the encoder moves per pulse. In
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* this case, we assume that a 360 count encoder is directly
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* attached to a 3 inch diameter (1.5inch radius) wheel,
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* and that we want to measure distance in inches.
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*/
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m_encoder.setDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5);
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/*
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* Defines the lowest rate at which the encoder will
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* not be considered stopped, for the purposes of
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* the GetStopped() method. Units are in distance / second,
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* where distance refers to the units of distance
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* that you are using, in this case inches.
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*/
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m_encoder.setMinRate(1.0);
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}
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@Override
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public void teleopPeriodic() {
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SmartDashboard.putNumber("Encoder Distance", m_encoder.getDistance());
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SmartDashboard.putNumber("Encoder Rate", m_encoder.getRate());
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}
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}
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@@ -35,6 +35,55 @@
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"gradlebase": "java",
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"mainclass": "Main"
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},
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{
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"name": "PDP CAN Monitoring",
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"description": "Demonstrate using CAN to monitor the voltage, current, and temperature in the Power Distribution Panel.",
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"tags": [
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"Complete List",
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"CAN",
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"Sensors"
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],
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"foldername": "canpdp",
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"gradlebase": "java",
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"mainclass": "Main"
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},
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{
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"name": "Solenoids",
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"description": "Demonstrate controlling a single and double solenoid from Joystick buttons.",
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"tags": [
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"Actuators",
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"Joystick",
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"Pneumatics",
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"Complete List"
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],
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"foldername": "solenoid",
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"gradlebase": "java",
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"mainclass": "Main"
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},
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{
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"name": "Encoder",
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"description": "Demonstrate displaying the value of a quadrature encoder on the SmartDashboard.",
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"tags": [
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"Complete List",
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"Digital",
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"Sensors"
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],
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"foldername": "encoder",
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"gradlebase": "java",
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"mainclass": "Main"
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},
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{
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"name": "Relay",
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"description": "Demonstrate controlling a Relay from Joystick buttons.",
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"tags": [
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"Actuators",
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"Joystick",
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"Complete List"
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],
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"foldername": "relay",
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"gradlebase": "java",
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"mainclass": "Main"
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},
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{
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"name": "Ultrasonic",
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"description": "Demonstrate maintaining a set distance using an ultrasonic sensor.",
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.examples.relay;
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import edu.wpi.first.wpilibj.RobotBase;
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/**
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* Do NOT add any static variables to this class, or any initialization at all.
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* Unless you know what you are doing, do not modify this file except to
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* change the parameter class to the startRobot call.
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*/
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public final class Main {
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private Main() {
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}
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/**
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* Main initialization function. Do not perform any initialization here.
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*
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* <p>If you change your main robot class, change the parameter type.
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*/
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public static void main(String... args) {
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RobotBase.startRobot(Robot::new);
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}
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}
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@@ -0,0 +1,54 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.examples.relay;
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import edu.wpi.first.wpilibj.Joystick;
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import edu.wpi.first.wpilibj.Relay;
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import edu.wpi.first.wpilibj.TimedRobot;
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/**
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* This is a sample program which uses joystick buttons to control a relay. A Relay (generally a
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* spike) has two outputs, each of which can be at either 0V or 12V and so can be used for actions
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* such as turning a motor off, full forwards, or full reverse, and is generally used on the
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* compressor. This program uses two buttons on a joystick and each button corresponds to one
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* output; pressing the button sets the output to 12V and releasing sets it to 0V.
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*/
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public class Robot extends TimedRobot {
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private final Joystick m_stick = new Joystick(0);
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private final Relay m_relay = new Relay(0);
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private static final int kRelayForwardButton = 1;
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private static final int kRelayReverseButton = 2;
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@Override
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public void teleopPeriodic() {
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/*
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* Retrieve the button values. GetRawButton will
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* return true if the button is pressed and false if not.
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*/
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boolean forward = m_stick.getRawButton(kRelayForwardButton);
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boolean reverse = m_stick.getRawButton(kRelayReverseButton);
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/*
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* Depending on the button values, we want to use one of
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* kOn, kOff, kForward, or kReverse. kOn sets both outputs to 12V,
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* kOff sets both to 0V, kForward sets forward to 12V
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* and reverse to 0V, and kReverse sets reverse to 12V and forward to 0V.
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*/
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if (forward && reverse) {
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m_relay.set(Relay.Value.kOn);
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} else if (forward) {
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m_relay.set(Relay.Value.kForward);
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} else if (reverse) {
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m_relay.set(Relay.Value.kReverse);
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} else {
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m_relay.set(Relay.Value.kOff);
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}
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}
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}
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@@ -0,0 +1,29 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.examples.solenoid;
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import edu.wpi.first.wpilibj.RobotBase;
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/**
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* Do NOT add any static variables to this class, or any initialization at all.
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* Unless you know what you are doing, do not modify this file except to
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* change the parameter class to the startRobot call.
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*/
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public final class Main {
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private Main() {
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}
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/**
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* Main initialization function. Do not perform any initialization here.
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*
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* <p>If you change your main robot class, change the parameter type.
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*/
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public static void main(String... args) {
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RobotBase.startRobot(Robot::new);
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}
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}
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@@ -0,0 +1,60 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.examples.solenoid;
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import edu.wpi.first.wpilibj.DoubleSolenoid;
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import edu.wpi.first.wpilibj.Joystick;
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import edu.wpi.first.wpilibj.Solenoid;
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import edu.wpi.first.wpilibj.TimedRobot;
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/**
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* This is a sample program showing the use of the solenoid classes during operator control. Three
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* buttons from a joystick will be used to control two solenoids: One button to control the position
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* of a single solenoid and the other two buttons to control a double solenoid. Single solenoids can
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* either be on or off, such that the air diverted through them goes through either one channel or
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* the other. Double solenoids have three states: Off, Forward, and Reverse. Forward and Reverse
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* divert the air through the two channels and correspond to the on and off of a single solenoid,
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* but a double solenoid can also be "off", where the solenoid will remain in its default power off
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* state. Additionally, double solenoids take up two channels on your PCM whereas single solenoids
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* only take a single channel.
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*/
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public class Robot extends TimedRobot {
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private final Joystick m_stick = new Joystick(0);
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// Solenoid corresponds to a single solenoid.
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private final Solenoid m_solenoid = new Solenoid(0);
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// DoubleSolenoid corresponds to a double solenoid.
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private final DoubleSolenoid m_doubleSolenoid = new DoubleSolenoid(1, 2);
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private static final int kSolenoidButton = 1;
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private static final int kDoubleSolenoidForward = 2;
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private static final int kDoubleSolenoidReverse = 3;
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@Override
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public void teleopPeriodic() {
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/*
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* The output of GetRawButton is true/false depending on whether
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* the button is pressed; Set takes a boolean for whether
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* to use the default (false) channel or the other (true).
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*/
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m_solenoid.set(m_stick.getRawButton(kSolenoidButton));
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/*
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* In order to set the double solenoid, if just one button
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* is pressed, set the solenoid to correspond to that button.
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* If both are pressed, set the solenoid will be set to Forwards.
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*/
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if (m_stick.getRawButton(kDoubleSolenoidForward)) {
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m_doubleSolenoid.set(DoubleSolenoid.Value.kForward);
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} else if (m_stick.getRawButton(kDoubleSolenoidReverse)) {
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m_doubleSolenoid.set(DoubleSolenoid.Value.kReverse);
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}
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}
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}
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