Changes between Version 13 and Version 14 of ControlSystems/SoftwareTeam/Training/GettingStarted/DCMotor

Timestamp:

Nov 8, 2019, 11:06:33 PM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/DCMotor

@@ -6 +6 @@
 Create another program using the !TimedRobot java template and name it !MotorTest:
  
-=== Smart (CAN) Motor Controller Example (Hazelnut)
+=== Smart (CAN) Motor Controller Example (Hazelnut, Almond)
 
 This example is for a robot that has a TalonSRX motor controller with its CAN bus address set to 3.  A Java Class is available that makes it easy to access the extensive capabilities of the TalonSRX; the class is provided by the manufacturer (Cross The Road Electronics aka CTRE) and must be installed on the laptop and added to the project.  Team laptops already have the CTRE framework installed; if your laptop does not, you can download and install it [http://www.ctr-electronics.com/control-system/hro.html#product_tabs_technical_resources here].  
@@ -26 +26 @@
 {{{ 
    private XboxController xbox; 
-   private WPI_TalonSRX m_rearLeft;
+   private WPI_TalonSRX m_Left;
 }}}
 * in robotInit() instantiate the controller and motor controller objects
 {{{
-   xbox = new XboxController(0);     // Xbox controller on port 0
-   m_rearLeft = new WPI_TalonSRX(4); // CAN Talon ID 4
+   xbox = new XboxController(0); // Xbox controller on port 0
+   m_Left = new WPI_TalonSRX(4); // CAN Talon ID 4
 }}}
 * in teleopPeriodic() read the xbox controller and adjust the DC motor accordingly
 {{{
-   // Read xbox controller left joystick x axis
+   // Read game controller left joystick Y axis
    // value returned is between -1.0 and 1.0
-   double x = xbox.getX(Hand.kLeft); 
+
+   // For xbox controller uncomment next line
+   double x = xbox.getY(Hand.kLeft);
+   // For F310 controller uncomment next 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);
+   m_Left.set(x);
 }}}
 
@@ -60 +65 @@
 {{{ 
    private XboxController xbox; 
-   private Talon m_rearLeft;
+   private Talon m_Left;
 }}}
 * in robotInit() instantiate the controller and motor controller objects
 {{{
    xbox = new XboxController(0); // Xbox controller on USB port 0
-   m_rearLeft = new Talon(1);    // TalonSR connected to roboRIO PWM 1
+   m_Left = new Talon(1);        // TalonSR connected to roboRIO PWM 1
 }}}
 * in teleopPeriodic() read the xbox controller and adjust the DC motor accordingly
 {{{
-   // Read xbox controller left joystick x axis
+   // Read game controller left joystick Y axis
    // value returned is between -1.0 and 1.0
-   double x = xbox.getX(Hand.kLeft); 
+
+   // For xbox controller uncomment next line
+   double x = xbox.getY(Hand.kLeft);
+   // For F310 controller uncomment next 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);
+   m_Left.set(x);
 }}}