Package com.grt192.controller.cannonbot

Examples of com.grt192.controller.cannonbot.CBDriveController

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        addActuator("bottom4", bottomJag4);
    }

    public void testTimedPorts() {
        System.out.println("Running 1");
        bottomJag1.enqueueCommand(new Command(1.0, WAIT_TIME, true));
        try {
            Thread.sleep(WAIT_TIME);
        } catch (Exception e) {
        }
        ;
        System.out.println("Running 2");
        bottomJag2.enqueueCommand(new Command(1.0, WAIT_TIME, true));
        try {
            Thread.sleep(WAIT_TIME);
        } catch (Exception e) {
        }

        System.out.println("Running 3");
        bottomJag3.enqueueCommand(new Command(1.0, WAIT_TIME, true));
        try {
            Thread.sleep(WAIT_TIME);
        } catch (Exception e) {
        }

        System.out.println("Running 4");
        bottomJag4.enqueueCommand(new Command(1.0, WAIT_TIME, true));
        try {
            Thread.sleep(WAIT_TIME);
        } catch (Exception e) {
        }

        System.out.println("Running t1");
        topJag1.enqueueCommand(new Command(1.0, WAIT_TIME, true));
        try {
            Thread.sleep(WAIT_TIME);
        } catch (Exception e) {
        }

        System.out.println("Running t2");
        topJag2.enqueueCommand(new Command(1.0, WAIT_TIME, true));
        try {
            Thread.sleep(WAIT_TIME);
        } catch (Exception e) {
        }

        System.out.println("Running t3");
        topJag3.enqueueCommand(new Command(1.0, WAIT_TIME, true));
        try {
            Thread.sleep(WAIT_TIME);
        } catch (Exception e) {
        }

        System.out.println("Running t4");
        topJag4.enqueueCommand(new Command(1.0, WAIT_TIME, true));
        try {
            Thread.sleep(WAIT_TIME);
        } catch (Exception e) {
        }

        System.out.println("Running t5");
        topJag5.enqueueCommand(new Command(1.0, WAIT_TIME, true));
        try {
            Thread.sleep(WAIT_TIME);
        } catch (Exception e) {
        }
    }
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                                this.halt();
                        }
                        for(int i=0; i<actuatorCommandListeners.size(); i++){
                            ((ActuatorCommandListener)
                                actuatorCommandListeners.elementAt(i)).commandDidComplete(
                                           new ActuatorEvent(this,
                                           ActuatorEvent.COMMAND_COMPLETE,
                                           this.current));
                        }
                       
                    }
                }
                //minimum loop sleep
                sleep(SLEEP_INTERVAL);
            }catch(Exception e){
                //On exception kill this actuator, as it is
                //unsafe to continue operation
                for(int i=0; i<actuatorCommandListeners.size(); i++){
                    ((ActuatorCommandListener)
                        actuatorCommandListeners.elementAt(i)).commandDidComplete(
                                           new ActuatorEvent(this,
                                           ActuatorEvent.COMMAND_FAILED,
                                           this.current));
                }
                e.printStackTrace();
                stopActuator();
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                                this.halt();
                        }
                        for(int i=0; i<actuatorCommandListeners.size(); i++){
                            ((ActuatorCommandListener)
                                actuatorCommandListeners.elementAt(i)).commandDidComplete(
                                           new ActuatorEvent(this,
                                           ActuatorEvent.COMMAND_COMPLETE,
                                           this.current));
                        }
                       
                    }
                }
                //minimum loop sleep
                sleep(SLEEP_INTERVAL);
            }catch(Exception e){
                //On exception kill this actuator, as it is
                //unsafe to continue operation
                for(int i=0; i<actuatorCommandListeners.size(); i++){
                    ((ActuatorCommandListener)
                        actuatorCommandListeners.elementAt(i)).commandDidComplete(
                                           new ActuatorEvent(this,
                                           ActuatorEvent.COMMAND_FAILED,
                                           this.current));
                }
                e.printStackTrace();
                stopActuator();
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        }
    }

    protected void notifyGlobalListeners(String key) {
        for (int i = 0; i < globalListeners.size(); i++) {
            ((GlobalListener) globalListeners.elementAt(i)).globalChanged(new GlobalEvent(GlobalEvent.DEFAULT, key,
                    globals));
        }
    }
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        }
    }

    protected void notifyGlobalListeners(String key) {
        for (int i = 0; i < globalListeners.size(); i++) {
            ((GlobalListener) globalListeners.elementAt(i)).globalChanged(new GlobalEvent(GlobalEvent.DEFAULT, key,
                    globals));
        }
    }
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    private void notifyButtonListeners(String button, double previousState) {
        for (int i = 0; i < buttonListeners.size(); i++) {
            if (getState(button) == TRUE && getState(button) != previousState) {
                ((ButtonListener) buttonListeners.elementAt(i)).buttonDown(
                        new SensorEvent(this,
                        SensorEvent.DATA_AVAILABLE,
                        this.state), button);
            } else if (getState(button) != TRUE && getState(button) != previousState) {
                ((ButtonListener) buttonListeners.elementAt(i)).buttonUp(
                        new SensorEvent(this,
                        SensorEvent.DATA_AVAILABLE,
                        this.state),
                        button);
            }
        }
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  }

  protected void notifyDataListeners() {
    for (int i = 0; i < sensorDataListeners.size(); i++) {
      ((SensorDataListener) sensorDataListeners.elementAt(i))
          .didRecieveData(new SensorEvent(this,
              SensorEvent.DATA_AVAILABLE, this.state));
    }
  }
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  protected void notifySensorChangeListeners(String key, double previousState) {
    for (int i = 0; i < sensorChangeListeners.size(); i++) {
      if (getState(key) != previousState) {
        ((SensorChangeListener) sensorChangeListeners.elementAt(i))
            .sensorStateChanged(new SensorEvent(this,
                SensorEvent.DATA_AVAILABLE, this.state), key);
      }
    }
  }
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  }

  protected void notifyAccelerometerSpike(int axis, double value) {
    for (int i = 0; i < accelerometerListeners.size(); i++) {
      ((ADXL345Listener) accelerometerListeners.elementAt(i))
          .didAccelerationSpike(new ADXL345Event(this, axis, value));
    }
  }
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  }

  protected void notifyAccelerometerChange(int axis, double value) {
    for (int i = 0; i < accelerometerListeners.size(); i++) {
      ((ADXL345Listener) accelerometerListeners.elementAt(i))
          .didAccelerationChange(new ADXL345Event(this, axis, value));
    }
  }
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Related Classes of com.grt192.controller.cannonbot.CBDriveController

  • 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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