Changes between Version 10 and Version 11 of ControlSystems/SoftwareTeam/Training/GettingStarted/IntroRobotJava

Timestamp:

Oct 15, 2019, 6:37:57 PM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/IntroRobotJava

@@ -107 +107 @@
 == Fourth program: DC Motor Control
 
-* Coming soon...
+Create another program using the !TimedRobot java template and name it !MotorTest. Modify the generated code as follows:
+* Add the following imports:
+{{{
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.GenericHID.Hand;
+import com.ctre.phoenix.motorcontrol.can.*;
+}}}
+* declare variable for the Xbox controller and [https://wpilib.screenstepslive.com/s/currentCS/m/java/l/599703-repeatable-low-power-movement-controlling-servos-with-wpilib servo motor] in the Robot class 
+{{{ 
+   private XboxController xbox; 
+   private Servo servo;
+}}}
+* 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
+  }}}
+* in teleopPeriodic() read the xbox controller and adjust the servo motor accordingly
+  {{{
+    // Read xbox controller left joystick x axis
+    // value returned is between -1.0 and 1.0
+    double x = xbox.getX(Hand.kLeft); 
+    // Servo motors are controlled on a scale of 0.0 to 1.0
+    // so re-scale the X value to that range (-1.0->0, 0->0.5, 1.0->1.0)
+    x = (x + 1.0) / 2;
+    // Set motor speed based on joystick
+    m_rearLeft.setSpeed(x);
+  }}}
+
+You'll need to press the Enable button on the driver station to put the robot in Teleop mode so that teleopPeriodic() is called repeatedly.
+
  
 == Study some examples