Changes between Initial Version and Version 1 of ControlSystems/SoftwareTeam/Training/GettingStarted/ServoMotor/Example1

Timestamp:

Jan 28, 2020, 10:50:40 PM (5 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/ServoMotor/Example1

@@ +1 @@
+{{{
+package frc.robot;
+
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.Servo;
+
+public class Robot extends TimedRobot {
+  // variables to hold the objects used
+  private XboxController xbox;
+  private Servo servo;
+
+  /**
+   * This function is run when the robot is first started up and should be
+   * used for any initialization code.  Create (instantiate) your objects here.
+   */
+  @Override
+  public void robotInit() {
+    // instantiate (create) the contained objects and store them in the variables
+    xbox = new XboxController(0);  // First Xbox/game controller
+    servo = new Servo(2);          // Servo connected to PWM2
+  }
+
+  /**
+   * 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() {
+      if (xbox.getXButton()) {
+          // X button moves servo all the way left
+          servo.set(-1.0);
+      } else if (xbox.getYButton()) {
+          // Y button moves servo all the way right
+          servo.set(1.0);
+      } else {
+        // If neither X nor Y are pressed, servo position is
+        // controlled by the left joystick X-axis position
+        // Read xbox controller left joystick x axis (axis 0)
+        // value returned is between -1.0 and 1.0
+        double x = xbox.getRawAxis(0); 
+        // 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 servo motor position based on joystick
+        servo.set(x); 
+      }
+  }
+
+  /**
+   * This function is called periodically during test mode.
+   */
+  @Override
+  public void testPeriodic() {
+  }
+}
+}}}