Try the RobotBuilder tool, defining the subsystems, sensors, and actuators of this year's robot. This is not to distract anyone from aos, just to try it out and see what other teams are using. Also it looks very handy for robot hardware checkout and PID tuning.
Cf docs http://wpilib.screenstepslive.com/s/3120/m/7882/l/88538-overview-of-robotbuilder
Cf video demo http://www.youtube.com/user/bradamiller
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4101 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/robot_builder/Robot2013/RobotMap.cpp b/robot_builder/Robot2013/RobotMap.cpp
new file mode 100644
index 0000000..67ef795
--- /dev/null
+++ b/robot_builder/Robot2013/RobotMap.cpp
@@ -0,0 +1,149 @@
+// RobotBuilder Version: 0.0.2
+//
+// This file was generated by RobotBuilder. It contains sections of
+// code that are automatically generated and assigned by robotbuilder.
+// These sections will be updated in the future when you export to
+// C++ from RobotBuilder. Do not put any code or make any change in
+// the blocks indicating autogenerated code or it will be lost on an
+// update. Deleting the comments indicating the section will prevent
+// it from being updated in th future.
+#include "RobotMap.h"
+#include "LiveWindow/LiveWindow.h"
+// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION
+Compressor* RobotMap::airCompressorAirCompressor = NULL;
+Solenoid* RobotMap::driveTrainLeftShifter = NULL;
+Solenoid* RobotMap::driveTrainRightShifter = NULL;
+SpeedController* RobotMap::driveTrainLeftMotors1and2 = NULL;
+SpeedController* RobotMap::driveTrainLeftMotor3 = NULL;
+SpeedController* RobotMap::driveTrainRightMotors1and2 = NULL;
+SpeedController* RobotMap::driveTrainRightMotor3 = NULL;
+RobotDrive* RobotMap::driveTrainRobotDrive = NULL;
+Encoder* RobotMap::driveTrainQuadratureEncoderLeft = NULL;
+Encoder* RobotMap::driveTrainQuadratureEncoderRight = NULL;
+SpeedController* RobotMap::shooterWheelPIDControllerShooterMotor = NULL;
+Encoder* RobotMap::shooterWheelPIDControllerShooterSpeedEncoder = NULL;
+SpeedController* RobotMap::shooterShooterTiltMotor = NULL;
+Encoder* RobotMap::shooterShooterTiltEncoder = NULL;
+GearTooth* RobotMap::shooterShooterTiltHomeSensor = NULL;
+Solenoid* RobotMap::shooterLatchFrisbeeSolenoid = NULL;
+Solenoid* RobotMap::shooterLoadFrisbeeSolenoid = NULL;
+Solenoid* RobotMap::shooterShootSolenoid = NULL;
+SpeedController* RobotMap::frisbeeStorageFrisbeeIndexerMotor = NULL;
+Encoder* RobotMap::frisbeeStorageFrisbeeIndexerSpeedEncoder = NULL;
+DigitalInput* RobotMap::frisbeeStorageFrisbeeInputOpticalSensor = NULL;
+DigitalInput* RobotMap::frisbeeStorageFrisbeeIndexOpticalSensor = NULL;
+DigitalInput* RobotMap::frisbeeStorageFrisbeeReadytoshootOpticalSensor = NULL;
+SpeedController* RobotMap::frisbeePickupIntakeandCenteringRollerMotors = NULL;
+SpeedController* RobotMap::pickupArmPickupArmMotor = NULL;
+Encoder* RobotMap::pickupArmPickupArmEncoder = NULL;
+PIDController* RobotMap::pickupArmPickupArmPIDController = NULL;
+GearTooth* RobotMap::pickupArmPickupArmHomeSensor = NULL;
+ // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION
+void RobotMap::init() {
+ // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
+ LiveWindow* lw = LiveWindow::GetInstance();
+ airCompressorAirCompressor = new Compressor(1, 5, 1, 1);
+
+
+ driveTrainLeftShifter = new Solenoid(1, 1);
+ lw->AddActuator("Drive Train", "Left Shifter", driveTrainLeftShifter);
+
+ driveTrainRightShifter = new Solenoid(1, 2);
+ lw->AddActuator("Drive Train", "Right Shifter", driveTrainRightShifter);
+
+ driveTrainLeftMotors1and2 = new Talon(1, 5);
+ lw->AddActuator("Drive Train", "Left Motors 1 and 2", (Talon*) driveTrainLeftMotors1and2);
+
+ driveTrainLeftMotor3 = new Talon(1, 6);
+ lw->AddActuator("Drive Train", "Left Motor 3", (Talon*) driveTrainLeftMotor3);
+
+ driveTrainRightMotors1and2 = new Talon(1, 2);
+ lw->AddActuator("Drive Train", "Right Motors 1 and 2", (Talon*) driveTrainRightMotors1and2);
+
+ driveTrainRightMotor3 = new Talon(1, 3);
+ lw->AddActuator("Drive Train", "Right Motor 3", (Talon*) driveTrainRightMotor3);
+
+ driveTrainRobotDrive = new RobotDrive(driveTrainLeftMotors1and2, driveTrainLeftMotor3,
+ driveTrainRightMotors1and2, driveTrainRightMotor3);
+
+ driveTrainRobotDrive->SetSafetyEnabled(true);
+ driveTrainRobotDrive->SetExpiration(0.1);
+ driveTrainRobotDrive->SetSensitivity(0.5);
+ driveTrainRobotDrive->SetMaxOutput(1.0);
+ driveTrainRobotDrive->SetInvertedMotor(RobotDrive::kFrontLeftMotor, true);
+ driveTrainRobotDrive->SetInvertedMotor(RobotDrive::kRearLeftMotor, true);
+ driveTrainQuadratureEncoderLeft = new Encoder(1, 1, 1, 2, false, Encoder::k4X);
+ lw->AddSensor("Drive Train", "Quadrature Encoder Left", driveTrainQuadratureEncoderLeft);
+ driveTrainQuadratureEncoderLeft->SetDistancePerPulse(1.0);
+ driveTrainQuadratureEncoderLeft->SetPIDSourceParameter(Encoder::kRate);
+ driveTrainQuadratureEncoderLeft->Start();
+ driveTrainQuadratureEncoderRight = new Encoder(1, 3, 1, 4, false, Encoder::k4X);
+ lw->AddSensor("Drive Train", "Quadrature Encoder Right", driveTrainQuadratureEncoderRight);
+ driveTrainQuadratureEncoderRight->SetDistancePerPulse(1.0);
+ driveTrainQuadratureEncoderRight->SetPIDSourceParameter(Encoder::kRate);
+ driveTrainQuadratureEncoderRight->Start();
+ shooterWheelPIDControllerShooterMotor = new Talon(1, 1);
+ lw->AddActuator("Shooter Wheel PID Controller", "Shooter Motor", (Talon*) shooterWheelPIDControllerShooterMotor);
+
+ shooterWheelPIDControllerShooterSpeedEncoder = new Encoder(1, 6, 2, 1, false, Encoder::k4X);
+ lw->AddSensor("Shooter Wheel PID Controller", "Shooter Speed Encoder", shooterWheelPIDControllerShooterSpeedEncoder);
+ shooterWheelPIDControllerShooterSpeedEncoder->SetDistancePerPulse(1.0);
+ shooterWheelPIDControllerShooterSpeedEncoder->SetPIDSourceParameter(Encoder::kRate);
+ shooterWheelPIDControllerShooterSpeedEncoder->Start();
+ shooterShooterTiltMotor = new Talon(1, 4);
+ lw->AddActuator("Shooter", "Shooter Tilt Motor", (Talon*) shooterShooterTiltMotor);
+
+ shooterShooterTiltEncoder = new Encoder(1, 7, 1, 8, false, Encoder::k4X);
+ lw->AddSensor("Shooter", "Shooter Tilt Encoder", shooterShooterTiltEncoder);
+ shooterShooterTiltEncoder->SetDistancePerPulse(1.0);
+ shooterShooterTiltEncoder->SetPIDSourceParameter(Encoder::kRate);
+ shooterShooterTiltEncoder->Start();
+ shooterShooterTiltHomeSensor = new GearTooth(1, 9, false);
+ lw->AddSensor("Shooter", "Shooter Tilt Home Sensor", shooterShooterTiltHomeSensor);
+
+ shooterLatchFrisbeeSolenoid = new Solenoid(1, 5);
+ lw->AddActuator("Shooter", "Latch Frisbee Solenoid", shooterLatchFrisbeeSolenoid);
+
+ shooterLoadFrisbeeSolenoid = new Solenoid(1, 3);
+ lw->AddActuator("Shooter", "Load Frisbee Solenoid", shooterLoadFrisbeeSolenoid);
+
+ shooterShootSolenoid = new Solenoid(1, 4);
+ lw->AddActuator("Shooter", "Shoot Solenoid", shooterShootSolenoid);
+
+ frisbeeStorageFrisbeeIndexerMotor = new Talon(1, 7);
+ lw->AddActuator("Frisbee Storage", "Frisbee Indexer Motor", (Talon*) frisbeeStorageFrisbeeIndexerMotor);
+
+ frisbeeStorageFrisbeeIndexerSpeedEncoder = new Encoder(1, 10, 1, 11, false, Encoder::k4X);
+ lw->AddSensor("Frisbee Storage", "Frisbee Indexer Speed Encoder", frisbeeStorageFrisbeeIndexerSpeedEncoder);
+ frisbeeStorageFrisbeeIndexerSpeedEncoder->SetDistancePerPulse(1.0);
+ frisbeeStorageFrisbeeIndexerSpeedEncoder->SetPIDSourceParameter(Encoder::kRate);
+ frisbeeStorageFrisbeeIndexerSpeedEncoder->Start();
+ frisbeeStorageFrisbeeInputOpticalSensor = new DigitalInput(1, 12);
+ lw->AddSensor("Frisbee Storage", "Frisbee Input Optical Sensor", frisbeeStorageFrisbeeInputOpticalSensor);
+
+ frisbeeStorageFrisbeeIndexOpticalSensor = new DigitalInput(1, 13);
+ lw->AddSensor("Frisbee Storage", "Frisbee Index Optical Sensor", frisbeeStorageFrisbeeIndexOpticalSensor);
+
+ frisbeeStorageFrisbeeReadytoshootOpticalSensor = new DigitalInput(1, 14);
+ lw->AddSensor("Frisbee Storage", "Frisbee Ready to shoot Optical Sensor", frisbeeStorageFrisbeeReadytoshootOpticalSensor);
+
+ frisbeePickupIntakeandCenteringRollerMotors = new Talon(1, 8);
+ lw->AddActuator("Frisbee Pickup", "Intake and Centering Roller Motors", (Talon*) frisbeePickupIntakeandCenteringRollerMotors);
+
+ pickupArmPickupArmMotor = new Talon(1, 9);
+ lw->AddActuator("Pickup Arm", "Pickup Arm Motor", (Talon*) pickupArmPickupArmMotor);
+
+ pickupArmPickupArmEncoder = new Encoder(2, 2, 2, 3, false, Encoder::k4X);
+ lw->AddSensor("Pickup Arm", "Pickup Arm Encoder", pickupArmPickupArmEncoder);
+ pickupArmPickupArmEncoder->SetDistancePerPulse(1.0);
+ pickupArmPickupArmEncoder->SetPIDSourceParameter(Encoder::kRate);
+ pickupArmPickupArmEncoder->Start();
+ pickupArmPickupArmPIDController = new PIDController(1.0, 0.0, 0.0,/* F: 0.0, */ pickupArmPickupArmEncoder, pickupArmPickupArmMotor, 0.02);
+ lw->AddActuator("Pickup Arm", "Pickup Arm PID Controller", pickupArmPickupArmPIDController);
+ pickupArmPickupArmPIDController->SetContinuous(false); pickupArmPickupArmPIDController->SetAbsoluteTolerance(0.2);
+ pickupArmPickupArmPIDController->SetOutputRange(-1.0, 1.0);
+ pickupArmPickupArmHomeSensor = new GearTooth(2, 4, false);
+ lw->AddSensor("Pickup Arm", "Pickup Arm Home Sensor", pickupArmPickupArmHomeSensor);
+
+ // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
+}