![]() Before the match, if we want to use one of these, we select it by choosing parameters from multiple lists, then the robot runs the command group that matches those parameters. ![]() This can either be assigned to a button on our Xbox controller or activated automatically during the autonomous portion of the match. When autonomous driving is needed, we create command groups that replicate controlled movement with only the need to set a distance and/or turning angle for each movement. The Java code takes care of initializing the network table, a way to transfer data from the robot to the Raspberry Pis, the Driver Station, the cameras on the robot, and other sensors. The robot code takes input from two Xbox controllers on the Driver Station, modifies the input with various filters (such as a deadzone), and then passes it to the motors on the robot, driving it around and using its other auxiliary features. Our Java code is structured using subsystems, commands, and command groups using the WPILib structure and superclasses.
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