| jerrym | 1815d88 | 2013-02-14 04:21:29 +0000 | [diff] [blame] | 1 | // RobotBuilder Version: 0.0.2
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| 2 | //
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| 3 | // This file was generated by RobotBuilder. It contains sections of
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| 4 | // code that are automatically generated and assigned by robotbuilder.
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| 5 | // These sections will be updated in the future when you export to
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| 6 | // C++ from RobotBuilder. Do not put any code or make any change in
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| 7 | // the blocks indicating autogenerated code or it will be lost on an
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| 8 | // update. Deleting the comments indicating the section will prevent
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| 9 | // it from being updated in th future.
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| 10 | #include "RobotMap.h"
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| 11 | #include "LiveWindow/LiveWindow.h"
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| 12 | // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION
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| 13 | Compressor* RobotMap::airCompressorAirCompressor = NULL;
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| 14 | Solenoid* RobotMap::driveTrainLeftShifter = NULL;
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| 15 | Solenoid* RobotMap::driveTrainRightShifter = NULL;
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| 16 | SpeedController* RobotMap::driveTrainLeftMotors1and2 = NULL;
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| 17 | SpeedController* RobotMap::driveTrainLeftMotor3 = NULL;
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| 18 | SpeedController* RobotMap::driveTrainRightMotors1and2 = NULL;
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| 19 | SpeedController* RobotMap::driveTrainRightMotor3 = NULL;
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| 20 | RobotDrive* RobotMap::driveTrainRobotDrive = NULL;
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| 21 | Encoder* RobotMap::driveTrainQuadratureEncoderLeft = NULL;
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| 22 | Encoder* RobotMap::driveTrainQuadratureEncoderRight = NULL;
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| 23 | SpeedController* RobotMap::shooterWheelPIDControllerShooterMotor = NULL;
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| 24 | Encoder* RobotMap::shooterWheelPIDControllerShooterSpeedEncoder = NULL;
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| 25 | SpeedController* RobotMap::shooterShooterTiltMotor = NULL;
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| 26 | Encoder* RobotMap::shooterShooterTiltEncoder = NULL;
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| 27 | GearTooth* RobotMap::shooterShooterTiltHomeSensor = NULL;
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| 28 | Solenoid* RobotMap::shooterLatchFrisbeeSolenoid = NULL;
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| 29 | Solenoid* RobotMap::shooterLoadFrisbeeSolenoid = NULL;
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| 30 | Solenoid* RobotMap::shooterShootSolenoid = NULL;
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| 31 | SpeedController* RobotMap::frisbeeStorageFrisbeeIndexerMotor = NULL;
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| 32 | Encoder* RobotMap::frisbeeStorageFrisbeeIndexerSpeedEncoder = NULL;
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| 33 | DigitalInput* RobotMap::frisbeeStorageFrisbeeInputOpticalSensor = NULL;
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| 34 | DigitalInput* RobotMap::frisbeeStorageFrisbeeIndexOpticalSensor = NULL;
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| 35 | DigitalInput* RobotMap::frisbeeStorageFrisbeeReadytoshootOpticalSensor = NULL;
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| 36 | SpeedController* RobotMap::frisbeePickupIntakeandCenteringRollerMotors = NULL;
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| 37 | SpeedController* RobotMap::pickupArmPickupArmMotor = NULL;
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| 38 | Encoder* RobotMap::pickupArmPickupArmEncoder = NULL;
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| 39 | PIDController* RobotMap::pickupArmPickupArmPIDController = NULL;
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| 40 | GearTooth* RobotMap::pickupArmPickupArmHomeSensor = NULL;
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| 41 | // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION
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| 42 | void RobotMap::init() {
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| 43 | // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
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| 44 | LiveWindow* lw = LiveWindow::GetInstance();
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| 45 | airCompressorAirCompressor = new Compressor(1, 5, 1, 1);
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| 46 |
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| 47 |
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| 48 | driveTrainLeftShifter = new Solenoid(1, 1);
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| 49 | lw->AddActuator("Drive Train", "Left Shifter", driveTrainLeftShifter);
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| 50 |
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| 51 | driveTrainRightShifter = new Solenoid(1, 2);
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| 52 | lw->AddActuator("Drive Train", "Right Shifter", driveTrainRightShifter);
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| 53 |
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| 54 | driveTrainLeftMotors1and2 = new Talon(1, 5);
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| 55 | lw->AddActuator("Drive Train", "Left Motors 1 and 2", (Talon*) driveTrainLeftMotors1and2);
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| 56 |
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| 57 | driveTrainLeftMotor3 = new Talon(1, 6);
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| 58 | lw->AddActuator("Drive Train", "Left Motor 3", (Talon*) driveTrainLeftMotor3);
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| 59 |
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| 60 | driveTrainRightMotors1and2 = new Talon(1, 2);
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| 61 | lw->AddActuator("Drive Train", "Right Motors 1 and 2", (Talon*) driveTrainRightMotors1and2);
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| 62 |
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| 63 | driveTrainRightMotor3 = new Talon(1, 3);
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| 64 | lw->AddActuator("Drive Train", "Right Motor 3", (Talon*) driveTrainRightMotor3);
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| 65 |
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| 66 | driveTrainRobotDrive = new RobotDrive(driveTrainLeftMotors1and2, driveTrainLeftMotor3,
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| 67 | driveTrainRightMotors1and2, driveTrainRightMotor3);
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| 68 |
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| 69 | driveTrainRobotDrive->SetSafetyEnabled(true);
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| 70 | driveTrainRobotDrive->SetExpiration(0.1);
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| 71 | driveTrainRobotDrive->SetSensitivity(0.5);
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| 72 | driveTrainRobotDrive->SetMaxOutput(1.0);
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| 73 | driveTrainRobotDrive->SetInvertedMotor(RobotDrive::kFrontLeftMotor, true);
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| 74 | driveTrainRobotDrive->SetInvertedMotor(RobotDrive::kRearLeftMotor, true);
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| 75 | driveTrainQuadratureEncoderLeft = new Encoder(1, 1, 1, 2, false, Encoder::k4X);
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| 76 | lw->AddSensor("Drive Train", "Quadrature Encoder Left", driveTrainQuadratureEncoderLeft);
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| 77 | driveTrainQuadratureEncoderLeft->SetDistancePerPulse(1.0);
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| 78 | driveTrainQuadratureEncoderLeft->SetPIDSourceParameter(Encoder::kRate);
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| 79 | driveTrainQuadratureEncoderLeft->Start();
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| 80 | driveTrainQuadratureEncoderRight = new Encoder(1, 3, 1, 4, false, Encoder::k4X);
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| 81 | lw->AddSensor("Drive Train", "Quadrature Encoder Right", driveTrainQuadratureEncoderRight);
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| 82 | driveTrainQuadratureEncoderRight->SetDistancePerPulse(1.0);
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| 83 | driveTrainQuadratureEncoderRight->SetPIDSourceParameter(Encoder::kRate);
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| 84 | driveTrainQuadratureEncoderRight->Start();
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| 85 | shooterWheelPIDControllerShooterMotor = new Talon(1, 1);
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| 86 | lw->AddActuator("Shooter Wheel PID Controller", "Shooter Motor", (Talon*) shooterWheelPIDControllerShooterMotor);
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| 87 |
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| 88 | shooterWheelPIDControllerShooterSpeedEncoder = new Encoder(1, 6, 2, 1, false, Encoder::k4X);
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| 89 | lw->AddSensor("Shooter Wheel PID Controller", "Shooter Speed Encoder", shooterWheelPIDControllerShooterSpeedEncoder);
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| 90 | shooterWheelPIDControllerShooterSpeedEncoder->SetDistancePerPulse(1.0);
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| 91 | shooterWheelPIDControllerShooterSpeedEncoder->SetPIDSourceParameter(Encoder::kRate);
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| 92 | shooterWheelPIDControllerShooterSpeedEncoder->Start();
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| 93 | shooterShooterTiltMotor = new Talon(1, 4);
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| 94 | lw->AddActuator("Shooter", "Shooter Tilt Motor", (Talon*) shooterShooterTiltMotor);
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| 95 |
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| 96 | shooterShooterTiltEncoder = new Encoder(1, 7, 1, 8, false, Encoder::k4X);
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| 97 | lw->AddSensor("Shooter", "Shooter Tilt Encoder", shooterShooterTiltEncoder);
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| 98 | shooterShooterTiltEncoder->SetDistancePerPulse(1.0);
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| 99 | shooterShooterTiltEncoder->SetPIDSourceParameter(Encoder::kRate);
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| 100 | shooterShooterTiltEncoder->Start();
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| 101 | shooterShooterTiltHomeSensor = new GearTooth(1, 9, false);
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| 102 | lw->AddSensor("Shooter", "Shooter Tilt Home Sensor", shooterShooterTiltHomeSensor);
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| 103 |
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| 104 | shooterLatchFrisbeeSolenoid = new Solenoid(1, 5);
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| 105 | lw->AddActuator("Shooter", "Latch Frisbee Solenoid", shooterLatchFrisbeeSolenoid);
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| 106 |
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| 107 | shooterLoadFrisbeeSolenoid = new Solenoid(1, 3);
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| 108 | lw->AddActuator("Shooter", "Load Frisbee Solenoid", shooterLoadFrisbeeSolenoid);
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| 109 |
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| 110 | shooterShootSolenoid = new Solenoid(1, 4);
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| 111 | lw->AddActuator("Shooter", "Shoot Solenoid", shooterShootSolenoid);
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| 112 |
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| 113 | frisbeeStorageFrisbeeIndexerMotor = new Talon(1, 7);
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| 114 | lw->AddActuator("Frisbee Storage", "Frisbee Indexer Motor", (Talon*) frisbeeStorageFrisbeeIndexerMotor);
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| 115 |
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| 116 | frisbeeStorageFrisbeeIndexerSpeedEncoder = new Encoder(1, 10, 1, 11, false, Encoder::k4X);
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| 117 | lw->AddSensor("Frisbee Storage", "Frisbee Indexer Speed Encoder", frisbeeStorageFrisbeeIndexerSpeedEncoder);
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| 118 | frisbeeStorageFrisbeeIndexerSpeedEncoder->SetDistancePerPulse(1.0);
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| 119 | frisbeeStorageFrisbeeIndexerSpeedEncoder->SetPIDSourceParameter(Encoder::kRate);
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| 120 | frisbeeStorageFrisbeeIndexerSpeedEncoder->Start();
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| 121 | frisbeeStorageFrisbeeInputOpticalSensor = new DigitalInput(1, 12);
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| 122 | lw->AddSensor("Frisbee Storage", "Frisbee Input Optical Sensor", frisbeeStorageFrisbeeInputOpticalSensor);
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| 123 |
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| 124 | frisbeeStorageFrisbeeIndexOpticalSensor = new DigitalInput(1, 13);
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| 125 | lw->AddSensor("Frisbee Storage", "Frisbee Index Optical Sensor", frisbeeStorageFrisbeeIndexOpticalSensor);
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| 126 |
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| 127 | frisbeeStorageFrisbeeReadytoshootOpticalSensor = new DigitalInput(1, 14);
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| 128 | lw->AddSensor("Frisbee Storage", "Frisbee Ready to shoot Optical Sensor", frisbeeStorageFrisbeeReadytoshootOpticalSensor);
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| 129 |
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| 130 | frisbeePickupIntakeandCenteringRollerMotors = new Talon(1, 8);
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| 131 | lw->AddActuator("Frisbee Pickup", "Intake and Centering Roller Motors", (Talon*) frisbeePickupIntakeandCenteringRollerMotors);
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| 132 |
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| 133 | pickupArmPickupArmMotor = new Talon(1, 9);
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| 134 | lw->AddActuator("Pickup Arm", "Pickup Arm Motor", (Talon*) pickupArmPickupArmMotor);
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| 135 |
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| 136 | pickupArmPickupArmEncoder = new Encoder(2, 2, 2, 3, false, Encoder::k4X);
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| 137 | lw->AddSensor("Pickup Arm", "Pickup Arm Encoder", pickupArmPickupArmEncoder);
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| 138 | pickupArmPickupArmEncoder->SetDistancePerPulse(1.0);
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| 139 | pickupArmPickupArmEncoder->SetPIDSourceParameter(Encoder::kRate);
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| 140 | pickupArmPickupArmEncoder->Start();
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| 141 | pickupArmPickupArmPIDController = new PIDController(1.0, 0.0, 0.0,/* F: 0.0, */ pickupArmPickupArmEncoder, pickupArmPickupArmMotor, 0.02);
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| 142 | lw->AddActuator("Pickup Arm", "Pickup Arm PID Controller", pickupArmPickupArmPIDController);
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| 143 | pickupArmPickupArmPIDController->SetContinuous(false); pickupArmPickupArmPIDController->SetAbsoluteTolerance(0.2);
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| 144 | pickupArmPickupArmPIDController->SetOutputRange(-1.0, 1.0);
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| 145 | pickupArmPickupArmHomeSensor = new GearTooth(2, 4, false);
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| 146 | lw->AddSensor("Pickup Arm", "Pickup Arm Home Sensor", pickupArmPickupArmHomeSensor);
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| 147 |
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| 148 | // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
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| 149 | }
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