Changes between Initial Version and Version 1 of ControlSystems/SampleCode/Ultrasonic

Timestamp:

Oct 1, 2019, 5:45:02 PM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SampleCode/Ultrasonic

@@ +1 @@
+{{{
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 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 frc.robot;
+
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.Ultrasonic;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj.Timer;
+import java.lang.Thread;
+
+/**
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the TimedRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the build.gradle file in the
+ * project.
+ */
+public class Robot extends TimedRobot {
+  private static final String kDefaultAuto = "Default";
+  private static final String kCustomAuto = "My Auto";
+  private String m_autoSelected;
+  private final SendableChooser<String> m_chooser = new SendableChooser<>();
+  private Ultrasonic front;
+  private Ultrasonic rear;
+
+  /**
+   * 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.setDefaultOption("Default Auto", kDefaultAuto);
+    m_chooser.addOption("My Auto", kCustomAuto);
+    SmartDashboard.putData("Auto choices", m_chooser);
+
+    front = new Ultrasonic(8, 9);
+    rear = new Ultrasonic(0, 1);
+
+    // front.setEnabled(true);
+    // rear.setEnabled(true);
+    // front.setAutomaticMode(true);
+    front.setAutomaticMode(true);
+
+  }
+
+  /**
+   * This function is called every robot packet, no matter the mode. Use this for
+   * items like diagnostics that you want ran during disabled, autonomous,
+   * teleoperated and test.
+   *
+   * <p>
+   * This runs after the mode specific periodic functions, but before LiveWindow
+   * and SmartDashboard integrated updating.
+   */
+  @Override
+  public void robotPeriodic() {
+  }
+
+  /**
+   * 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();
+    // m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto);
+    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() {
+    double distance;
+
+    distance = front.getRangeInches();
+    System.out.println(distance);
+    System.out.println("front");
+  
+      distance = rear.getRangeInches();
+      System.out.println(distance);
+      System.out.println("rear"); 
+  }
+
+  /**
+   * This function is called periodically during test mode.
+   */
+  @Override
+  public void testPeriodic() {
+  }
+}
+
+}}}