com.ctre.phoenix.motorcontrol.ControlMode Java Exaples

Source File: Elevator.java From FRC-2019-Public with MIT License

6 votes

@Override
public synchronized void writePeriodicOutputs() {
    if (mHoming) {
        if (atHomingLocation()) {
            zeroSensors();
            mMaster.overrideSoftLimitsEnable(true);
            System.out.println("Homed!!!");
            LED.getInstance().clearElevatorFault();
            mHoming = false;
        }

        if (mControlState == ControlState.OPEN_LOOP) {
            mMaster.set(ControlMode.PercentOutput, mPeriodicIO.demand, DemandType.ArbitraryFeedForward,
                    0.0);
        } else {
            mMaster.set(ControlMode.PercentOutput, 0.0, DemandType.ArbitraryFeedForward,
                    0.0);
        }
    } else {
        super.writePeriodicOutputs();
    }

}

Source File: SubsystemMast.java From PowerUp-2018 with GNU General Public License v3.0

6 votes

public Boolean dropIt(double speed) {
	if (lowerPinionLimit.get()) {
 	leftPinion.set(ControlMode.PercentOutput, leftPinionate(speed));
 	rightPinion.set(ControlMode.PercentOutput, rightPinionate(speed));
	} else {
		leftPinion.set(ControlMode.PercentOutput, 0);
 	rightPinion.set(ControlMode.PercentOutput, 0);
	}
	
	if (lowerScrewLimit.get()) {
		screw.set(ControlMode.PercentOutput, screwify(speed));
	} else {
		screw.set(ControlMode.PercentOutput, 0);
	}
	
	return (!lowerPinionLimit.get()) && (!lowerScrewLimit.get());
}

Source File: SubsystemMast.java From PowerUp-2018 with GNU General Public License v3.0

6 votes

/** raise the mast at RT-LR trigger speed */
  public void moveBySpeed(Joystick joy, double inhibitor) {
  	double dualAction = Xbox.RT(joy) - Xbox.LT(joy);
  	double screwSpeed = Xbox.LEFT_Y(joy) + dualAction;
  	double pinionSpeed = Xbox.RIGHT_Y(joy) + dualAction;
  	
if (!lowerPinionLimit.get() && pinionSpeed > 0)   { pinionSpeed = 0; }
if (!upperPinionLimit.get() && pinionSpeed < 0)   { pinionSpeed = 0; }
if (!lowerScrewLimit.get()  && screwSpeed  > 0)   { screwSpeed = 0;  }
if (!upperScrewLimit.get()  && screwSpeed  < 0)   { screwSpeed = 0;  }
	
  	publishSwitches();
  	if (!override) {
  		leftPinion.set(ControlMode.PercentOutput, leftPinionate(pinionSpeed));
      	rightPinion.set(ControlMode.PercentOutput, rightPinionate(pinionSpeed));
      	screw.set(ControlMode.PercentOutput, inhibitor * screwify(screwSpeed));
  	}
  }

Source File: SubsystemManipulator.java From PowerUp-2018 with GNU General Public License v3.0

6 votes

/** imitates an engine revving and idling */
public void rev(Joystick joy) {
	double intensity = Math.abs(Math.sqrt((Math.pow(Xbox.LEFT_X(joy), 2) + Math.pow(Xbox.LEFT_X(joy), 2)))); // intensity is 0.0-1.0, power of trigger
	
	int rpm = (int) ((((double) Constants.REDLINE - (double) Constants.IDLE) * intensity) + Constants.IDLE); // rpm is the rpm being imitated
	int miliseconds = (1 / rpm) * 60000; // length in miliseconds of each rev curve, based on rpm
	
	if (!revving) { redlineTime = System.currentTimeMillis(); revving = true; } // reset rev curve if not revving
		else if (System.currentTimeMillis() - redlineTime >= miliseconds) { revving = false; } // stop revving if time is up
	
	double speed = (System.currentTimeMillis() - redlineTime) / (double) miliseconds; // set speed to progress from 0.0-1.0 of the curve
	speed = speed > 1.0 ? 1.0 : speed; // quick concat the speed under 1.0
	
	speed = generateCurve(speed, 0, .25 * (intensity * .8 + .2), (intensity * .8 + .2)); // find y value on curve, given x and parameters
	
	armLeft.set(ControlMode.PercentOutput, leftArmify(speed));
	armRight.set(ControlMode.PercentOutput, rightArmify(speed));
}

Source File: Intake.java From FRC-2018-Public with MIT License

6 votes

private Intake() {
    mCloseSolenoid = Constants.makeSolenoidForId(Constants.kIntakeCloseSolenoid);
    mClampSolenoid = Constants.makeSolenoidForId(Constants.kIntakeClampSolenoid);

    mLeftMaster = TalonSRXFactory.createDefaultTalon(Constants.kIntakeLeftMasterId);
    mLeftMaster.set(ControlMode.PercentOutput, 0);
    mLeftMaster.setInverted(true);
    mLeftMaster.configVoltageCompSaturation(12.0, Constants.kLongCANTimeoutMs);
    mLeftMaster.enableVoltageCompensation(true);

    mRightMaster = TalonSRXFactory.createDefaultTalon(Constants.kIntakeRightMasterId);
    mRightMaster.set(ControlMode.PercentOutput, 0);
    mRightMaster.setInverted(false);
    mRightMaster.configVoltageCompSaturation(12.0, Constants.kLongCANTimeoutMs);
    mRightMaster.enableVoltageCompensation(true);
}

Source File: SubsystemDrive.java From PowerUp-2018 with GNU General Public License v3.0

6 votes

public boolean driveDistance(double leftIn, double rightIn) {
    double leftGoal = (leftIn2Mag(leftIn));
    double rightGoal = (rightIn2Mag(rightIn));
    leftMaster.set(ControlMode.Position, leftify(leftGoal));
		leftSlave.follow(leftMaster);
    rightMaster.set(ControlMode.Position, rightify(rightGoal));
		rightSlave.follow(rightMaster);

    boolean leftInRange =
            pid.getLeftInches() > leftify(leftGoal) - DISTANCE_ALLOWABLE_ERROR &&
                    pid.getLeftInches() < leftify(leftGoal) + DISTANCE_ALLOWABLE_ERROR;
    boolean rightInRange =
            pid.getRightInches() > rightify(rightGoal) - DISTANCE_ALLOWABLE_ERROR &&
                    pid.getRightInches() < rightify(rightGoal) + DISTANCE_ALLOWABLE_ERROR;
    return leftInRange && rightInRange;
}

Source File: SubsystemDrive.java From PowerUp-2018 with GNU General Public License v3.0

6 votes

/**
     * simple rocket league drive code (not actually rocket league)
     * independent rotation and acceleration
     */
    public void driveRLTank(Joystick joy, double ramp, double inhibitor) {
        double adder = Xbox.RT(joy) - Xbox.LT(joy);
        double left = adder + (Xbox.LEFT_X(joy) / 1.333333);
        double right = adder - (Xbox.LEFT_X(joy) / 1.333333);
        left = (left > 1.0 ? 1.0 : (left < -1.0 ? -1.0 : left));
        right = (right > 1.0 ? 1.0 : (right < -1.0 ? -1.0 : right));
        setRamps(ramp);

//        if (getYAngle() > Constants.TILT_ANGLE ) {
//            leftMaster.set(ControlMode.PercentOutput, -1*Constants.RECOVERY_SPEED);
//            rightMaster.set(ControlMode.PercentOutput, -1*Constants.RECOVERY_SPEED);
//        } else if (getYAngle() < -1*Constants.TILT_ANGLE){
//            leftMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
//            rightMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
//        } else {
            leftMaster.set(ControlMode.PercentOutput, leftify(left));
            rightMaster.set(ControlMode.PercentOutput, rightify(right));
//        }
    }

Source File: SubsystemDrive.java From PowerUp-2018 with GNU General Public License v3.0

5 votes

/**
     * drive code where rotation is dependent on acceleration
     * @param radius 0.00-1.00, 1 being zero radius and 0 being driving in a line
     */
    public void driveForza(Joystick joy, double ramp, double radius, double inhibitor) {
        double left = 0,
                right = 0;
        double acceleration = Xbox.RT(joy) - Xbox.LT(joy);

        setRamps(ramp);
//        if (getYAngle() > Constants.TILT_ANGLE ) {
//            leftMaster.set(ControlMode.PercentOutput, -1 * Constants.RECOVERY_SPEED);
//            rightMaster.set(ControlMode.PercentOutput, -1 * Constants.RECOVERY_SPEED);
//        } else if (getYAngle() < -1 * Constants.TILT_ANGLE){
//            leftMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
//            rightMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
//        } else {

            if (!reversing ? Xbox.LEFT_X(joy) < 0 : Xbox.LEFT_X(joy) > 0) {
                right = acceleration;
                left = (acceleration * ((2 * (1 - Math.abs(Xbox.LEFT_X(joy)))) - 1)) / radius;
            } else if (!reversing ? Xbox.LEFT_X(joy) > 0 : Xbox.LEFT_X(joy) < 0) {
                left = acceleration;
                right = (acceleration * ((2 * (1 - Math.abs(Xbox.LEFT_X(joy)))) - 1)) / radius;
            } else {
                left = acceleration;
                right = acceleration;
            }
//        }][\
        left = (left > 1.0 ? 1.0 : (left < -1.0 ? -1.0 : left));
        right = (right > 1.0 ? 1.0 : (right < -1.0 ? -1.0 : right));
        leftMaster.set(ControlMode.PercentOutput, leftify(left) * inhibitor * (reversing ? -1.0 : 1.0));
        rightMaster.set(ControlMode.PercentOutput, rightify(right) * inhibitor * (reversing ? -1.0 : 1.0));

        SmartDashboard.putString("Left Master", "Left Master Voltage: " + leftMaster.getBusVoltage());
        SmartDashboard.putString("Right Master", "Right Master Voltage: " + rightMaster.getBusVoltage());
    }

Source File: SubsystemMast.java From PowerUp-2018 with GNU General Public License v3.0

5 votes

public void adjustScrew(Position direction){
   	if (direction == Position.UP){
   		while (!upperScrewLimit.get()){
   			screw.set(ControlMode.PercentOutput, screwify(1));
		}
	} else if (direction == Position.DOWN){
   		while (!lowerScrewLimit.get()){
   			screw.set(ControlMode.PercentOutput, screwify(-1));
		}
	}
}

Source File: SubsystemMast.java From PowerUp-2018 with GNU General Public License v3.0

5 votes

public void adjustPinion(Position direction){

    	if (direction == Position.UP) {
			while (!upperPinionLimit.get()) {
				rightPinion.set(ControlMode.PercentOutput, rightPinionate(1));
				leftPinion.set(ControlMode.PercentOutput, leftPinionate(1));
			}
		} else if (direction == Position.DOWN) {
			while (!lowerPinionLimit.get()) {
				rightPinion.set(ControlMode.PercentOutput, rightPinionate(-1));
				leftPinion.set(ControlMode.PercentOutput, leftPinionate(-1));
			}
		}
	}

Source File: SubsystemManipulator.java From PowerUp-2018 with GNU General Public License v3.0

5 votes

public void spinByJoystick(Joystick joy) {
	int speed = 0;
	speed += joy.getRawButton(Xbox.RB) ? 1d : 0d;
	speed -= joy.getRawButton(Xbox.LB) ? 1d : 0d;
	armLeft.set(ControlMode.PercentOutput, leftArmify(speed));
	armRight.set(ControlMode.PercentOutput, rightArmify(speed));
}

Source File: LazyTalonSRX.java From FRC-2018-Public with MIT License

5 votes

@Override
public void set(ControlMode mode, double value) {
    if (value != mLastSet || mode != mLastControlMode) {
        mLastSet = value;
        mLastControlMode = mode;
        super.set(mode, value);
    }
}

Source File: Intake.java From FRC-2018-Public with MIT License

5 votes

private synchronized void updateActuatorFromState(IntakeState state) {
    mLeftMaster.set(ControlMode.PercentOutput, state.leftMotor);
    mRightMaster.set(ControlMode.PercentOutput, state.rightMotor);
    setJaw(state.jawState);

    mLED.setIntakeLEDState(state.ledState);
}

Source File: Turret.java From FRC-2019-Public with MIT License

5 votes

@Override
public synchronized void writePeriodicOutputs() {
    if (mHoming) {
        if (atHomingLocation()) {
            if (mPeriodicIO.demand > 0) {
                mMaster.setSelectedSensorPosition((int) unitsToTicks(-2.0));
            } else {
                mMaster.setSelectedSensorPosition((int) unitsToTicks(0.26));
            }
            mMaster.overrideSoftLimitsEnable(true);
            System.out.println("Homed!!!");
            LED.getInstance().clearTurretFault();
            mHoming = false;
        }

        if (mControlState == ControlState.OPEN_LOOP) {
            mMaster.set(ControlMode.PercentOutput, mPeriodicIO.demand, DemandType.ArbitraryFeedForward,
                    0.0);
        } else {
            mMaster.set(ControlMode.PercentOutput, 0.0, DemandType.ArbitraryFeedForward,
                    0.0);
        }
    } else {
        super.writePeriodicOutputs();
    }

}

Source File: Vacuum.java From FRC-2019-Public with MIT License

5 votes

@Override
public synchronized void stop() {
    mOn = false;

    // Make sure the vacuum is off
    mMaster.set(ControlMode.PercentOutput, 0.0);
}

Source File: Vacuum.java From FRC-2019-Public with MIT License

5 votes

@Override
public synchronized void writePeriodicOutputs() {
    double output = 0.0;
    if (mOn) {
        if (mPeriodicIO.thresholdState == ThresholdState.BELOW || mPeriodicIO.thresholdState == ThresholdState.BETWEEN) {
            output = kFullSetpoint;
        } else { // ABOVE
            output = kSteadySetpoint;
        }
    }
    mMaster.set(ControlMode.PercentOutput, output);
}

Source File: LazyTalonSRX.java From FRC-2019-Public with MIT License

5 votes

@Override
public void set(ControlMode mode, double value) {
    if (value != mLastSet || mode != mLastControlMode) {
        mLastSet = value;
        mLastControlMode = mode;
        super.set(mode, value);
    }
}

Source File: TalonSRXChecker.java From FRC-2019-Public with MIT License

4 votes

@Override
protected void setMotorOutput(TalonSRX motor, double output) {
    motor.set(ControlMode.PercentOutput, output);
}

Source File: SubsystemDrive.java From PowerUp-2018 with GNU General Public License v3.0

4 votes

public void driveDirect(double left, double right) {
    left = (left > 1.0 ? 1.0 : (left < -1.0 ? -1.0 : left));
    right = (right > 1.0 ? 1.0 : (right < -1.0 ? -1.0 : right));
    leftMaster.set(ControlMode.PercentOutput, leftify(left));
    rightMaster.set(ControlMode.PercentOutput, rightify(right));
}

Source File: SubsystemManipulator.java From PowerUp-2018 with GNU General Public License v3.0

4 votes

/** eat the power cube */
public void eat() {
	armLeft.set(ControlMode.PercentOutput, leftArmify(-1));
	armRight.set(ControlMode.PercentOutput, rightArmify(-1));
}

Source File: SubsystemManipulator.java From PowerUp-2018 with GNU General Public License v3.0

4 votes

/** spit out the power cube */
public void spit() {
	armLeft.set(ControlMode.PercentOutput, leftArmify(1));
	armRight.set(ControlMode.PercentOutput, rightArmify(1));
}

Source File: SubsystemManipulator.java From PowerUp-2018 with GNU General Public License v3.0

4 votes

/** STOP SPINNING ME RIGHT ROUND, BABY RIGHT ROUND */
public void stopSpinning() {
	armLeft.set(ControlMode.PercentOutput, 0);
	armRight.set(ControlMode.PercentOutput, 0);
}

Source File: StingerRoller.java From FRC-2019-Public with MIT License

4 votes

public synchronized void setOpenLoop(double output) {
    mMaster.set(ControlMode.PercentOutput, output);
}

com.ctre.phoenix.motorcontrol.ControlMode Java Examples