| | 1 | {{{ |
| | 2 | /*----------------------------------------------------------------------------*/ |
| | 3 | /* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */ |
| | 4 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| | 5 | /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| | 6 | /* the project. */ |
| | 7 | /*----------------------------------------------------------------------------*/ |
| | 8 | |
| | 9 | package frc.robot; |
| | 10 | |
| | 11 | import edu.wpi.first.wpilibj.TimedRobot; |
| | 12 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; |
| | 13 | import com.ctre.phoenix.motorcontrol.can.*; |
| | 14 | import com.ctre.phoenix.motorcontrol.FeedbackDevice; |
| | 15 | |
| | 16 | /** |
| | 17 | * The VM is configured to automatically run this class, and to call the |
| | 18 | * functions corresponding to each mode, as described in the TimedRobot |
| | 19 | * documentation. If you change the name of this class or the package after |
| | 20 | * creating this project, you must also update the build.gradle file in the |
| | 21 | * project. |
| | 22 | */ |
| | 23 | public class Robot extends TimedRobot { |
| | 24 | private WPI_TalonSRX m_Left; |
| | 25 | |
| | 26 | /** |
| | 27 | * This function is run when the robot is first started up and should be |
| | 28 | * used for any initialization code. |
| | 29 | */ |
| | 30 | @Override |
| | 31 | public void robotInit() { |
| | 32 | // TalonSRX is configured with CAN bus address 3 |
| | 33 | m_Left = new WPI_TalonSRX(3); |
| | 34 | // Clear any non default configuration/settings |
| | 35 | m_Left.configFactoryDefault(); |
| | 36 | // A quadrature encoder is connected to the TalonSRX |
| | 37 | m_Left.configSelectedFeedbackSensor(FeedbackDevice.QuadEncoder); |
| | 38 | } |
| | 39 | |
| | 40 | /** |
| | 41 | * This function is called every robot packet, no matter the mode. Use |
| | 42 | * this for items like diagnostics that you want ran during disabled, |
| | 43 | * autonomous, teleoperated and test. |
| | 44 | * |
| | 45 | * <p>This runs after the mode specific periodic functions, but before |
| | 46 | * LiveWindow and SmartDashboard integrated updating. |
| | 47 | */ |
| | 48 | @Override |
| | 49 | public void robotPeriodic() { |
| | 50 | SmartDashboard.putNumber("Encoder value", m_Left.getSelectedSensorPosition()); |
| | 51 | } |
| | 52 | |
| | 53 | @Override |
| | 54 | public void autonomousInit() { |
| | 55 | } |
| | 56 | |
| | 57 | /** |
| | 58 | * This function is called periodically during autonomous. |
| | 59 | */ |
| | 60 | @Override |
| | 61 | public void autonomousPeriodic() { |
| | 62 | } |
| | 63 | |
| | 64 | /** |
| | 65 | * This function is called periodically during operator control. |
| | 66 | */ |
| | 67 | @Override |
| | 68 | public void teleopPeriodic() { |
| | 69 | } |
| | 70 | |
| | 71 | /** |
| | 72 | * This function is called periodically during test mode. |
| | 73 | */ |
| | 74 | @Override |
| | 75 | public void testPeriodic() { |
| | 76 | } |
| | 77 | } |
| | 78 | }}} |
