Package com.grt192.mechanism

Examples of com.grt192.mechanism.GRTRobotBase

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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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        return driveMode;
    }
   
    public void executeCommand(Command c) {

        Command c1 = this.dequeue();
        switch (driveMode) {
            case 0: {
                if(c1 == null)
                    c1 = c;
                driveTrain.tankDrive(c.getValue(), c1.getValue());
                //left.set(c.getValue());
                //right.set(c1.getValue());
                break;
            }
            case 1: {
                driveTrain.arcadeDrive(c.getValue(), c1.getValue(), false);
                break;
            }
            case 2: {
                driveTrain.arcadeDrive(c.getValue(), c1.getValue(), true);
                break;
            }
            case 3: {
                driveTrain.drive(c.getValue(), c1.getValue());
                break;
            }
        }
    }
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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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Related Classes of com.grt192.mechanism.GRTRobotBase

  • com.grt192.actuator.GRTCANJaguar
  • 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
  • com.grt192.benchtest.mechanism.BenchRollers
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