Changes between Initial Version and Version 1 of ControlSystems/SoftwareTeam/Training/GettingStarted/DCMotor/CANCode

Timestamp:

Nov 8, 2019, 10:49:31 PM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/DCMotor/CANCode

@@ +1 @@
+{{{
+package frc.robot;
+
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.GenericHID.Hand;
+import com.ctre.phoenix.motorcontrol.can.*;
+
+/**
+ * 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 XboxController xbox; 
+  private WPI_TalonSRX m_rearLeft;
+
+  /**
+   * This function is run when the robot is first started up and should be
+   * used for any initialization code.
+   */
+  @Override
+  public void robotInit() {
+    xbox = new XboxController(0);     // Xbox controller on port 0
+    m_rearLeft = new WPI_TalonSRX(4); // CAN Talon ID 4
+  }
+
+  /**
+   * 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() {
+  }
+
+  @Override
+  public void autonomousInit() {
+  }
+
+  /**
+   * This function is called periodically during autonomous.
+   */
+  @Override
+  public void autonomousPeriodic() {
+  }
+
+  /**
+   * This function is called periodically during operator control.
+   */
+  @Override
+  public void teleopPeriodic() {
+    // Read xbox controller left joystick x axis
+    // value returned is between -1.0 and 1.0
+
+    // For xbox controller, uncomment the following line
+    // double x = xbox.getX(Hand.kLeft); 
+    // For Logitech F310 controller, uncomment the following line
+    // double x = xbox.getRawAxis(1);
+    
+    // DC Motor controllers apply between -1.0 (full reverse)
+    // 0=stop and +1.0 (full forward) power
+    // Set motor speed based on joystick
+    m_rearLeft.set(x);
+  }
+
+  /**
+   * This function is called periodically during test mode.
+   */
+  @Override
+  public void testPeriodic() {
+  }
+}
+}}}