Package com.grt192.controller.breakaway.teleop

Examples of com.grt192.controller.breakaway.teleop.RecoveryController

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        leftWheelX = -ROBOT_WIDTH / 2;
        rightWheelX = ROBOT_WIDTH / 2;
        leftWheelY = rightWheelY = 0;

        turnControl = new AsynchronousPIDController(new PIDController(turnP,
                turnI, turnD, gyro, this));
        leftDriveControl = new AsynchronousPIDController(new PIDController(
                driveP, driveI, driveD, encodDT1, this));
        rightDriveControl = new AsynchronousPIDController(new PIDController(
                driveP, driveI, driveD, encodDT2, this));
        pointTurn = true;
        leftDriveControl.addPIDListener(this);
        rightDriveControl.addPIDListener(this);
        turnControl.addPIDListener(this);
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        dbController = new DashBoardController();
        dbController.start();
        System.out.println("Dashboard Initialized");


        driveControl = new XboxDriver(robotbase, driverStation);
        System.out.println("Controllers Initialized");

        teleopControllers.addElement(driveControl);
        System.out.println("Robot initialized OK");
    }
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    public Target(GRTTwoWaySolenoid solenoid){
        this.addActuator("solenoid", solenoid);
        this.solenoid = solenoid;
    }
    public void withdraw() {
         solenoid.enqueueCommand(new Command(GRTTwoWaySolenoid.REVERSE));
         out = false;
    }
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         solenoid.enqueueCommand(new Command(GRTTwoWaySolenoid.REVERSE));
         out = false;
    }

    public void extend() {
         solenoid.enqueueCommand(new Command(GRTTwoWaySolenoid.FORWARD));
         out = true;
    }
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    extenderSolenoid.enqueueCommand(GRTTwoWaySolenoid.FORWARD); // Change
    extended = false;
  }

        public void punch() {
            extenderSolenoid.enqueueCommand(new Command(GRTTwoWaySolenoid.REVERSE, 3000)); //punch
            extenderSolenoid.enqueueCommand(GRTTwoWaySolenoid.FORWARD);//retract
            extended = false;
           
        }
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//    public boolean isExtended() {
//        return extended;
//    }

    public void extend() {
        solenoid.enqueueCommand(new Command(GRTSolenoid.ON));
    }
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    public void extend() {
        solenoid.enqueueCommand(new Command(GRTSolenoid.ON));
    }

    public void retract() {
        solenoid.enqueueCommand(new Command(GRTSolenoid.OFF));
    }
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        tankDrive(leftValue, rightValue, 0);
    }

    public void tankDrive(double leftValue, double rightValue, int time) {
        System.out.println("drive:" + leftValue + "\t" + rightValue);
        Command c1 = new Command(-leftValue, time);
        Command c2 = new Command(-rightValue, time);
        getActuator("LeftJaguar1").enqueueCommand(c1);
        getActuator("LeftJaguar2").enqueueCommand(c1);
        getActuator("RightJaguar1").enqueueCommand(c2);
        getActuator("RightJaguar2").enqueueCommand(c2);
    }
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    }

    public void changeMechPos(boolean state, int side) {
        if (state) {
            if (side == LEFT) {
                this.MechShifter1.enqueueCommand(new Command(MechShifter1.ON));
            } else {
                this.MechShifter2.enqueueCommand(new Command(MechShifter2.ON));
            }
        } else {
            if (side == LEFT) {
                this.MechShifter1.enqueueCommand(new Command(MechShifter1.OFF));
            } else {
                this.MechShifter2.enqueueCommand(new Command(MechShifter2.OFF));
            }
        }

    }
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    }

    public void changeDTPos(boolean state, int side) {
         if (state) {
            if (side == LEFT) {
                this.DTShifter1.enqueueCommand(new Command(DTShifter1.ON));
            } else {
                this.DTShifter2.enqueueCommand(new Command(DTShifter2.ON));
            }
        } else {
            if (side == LEFT) {
                this.DTShifter1.enqueueCommand(new Command(DTShifter1.OFF));
            } else {
                this.DTShifter2.enqueueCommand(new Command(DTShifter2.OFF));
            }
        }
    }
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Related Classes of com.grt192.controller.breakaway.teleop.RecoveryController

  • com.grt192.actuator.GRTCANJaguar
  • com.grt192.actuator.GRTDriveTrain
  • com.grt192.actuator.GRTGPIORelay
  • com.grt192.actuator.GRTJaguar
  • com.grt192.actuator.GRTSolenoid
  • com.grt192.actuator.GRTTwoWaySolenoid
  • com.grt192.actuator.GRTVictor
  • com.grt192.benchtest.mechanism.BenchCameraAssembly
  • com.grt192.benchtest.mechanism.BenchKicker
  • com.grt192.benchtest.mechanism.BenchMechanism
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