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ports.cpp
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ports.cpp
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/* ports.cpp
*
* Copyright (c) 2011, 2012 Chantilly Robotics <[email protected]>
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*
* THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
* WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
* ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
* WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
* ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
* OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
*/
/*
* This file contains tables for the electrical layout and setup of the
* electrical components. Keep the formatting in this file very easy to read
* such that it is easy to maintain and quickly check if it is in sync with
* the actual state of affairs on the electrical board!
*/
#include <RobotDrive.h>
#include <SpeedController.h>
#include <Joystick.h>
#include <Encoder.h>
#include <Ultrasonic.h>
#include <DigitalInput.h>
#include <DigitalOutput.h>
#include <Relay.h>
#include <Servo.h>
#include <AnalogChannel.h>
#include <Vision/AxisCamera.h>
#include "612.h"
#include "ports.h"
#include "joysmooth.h"
#include "roller.h"
#include "shifter.h"
#include "turret.h"
#include "bridge_arm.h"
//just define & initialize all of the consts in ports.h
//slots table - in order to make sync with electrical easier.
const module_t slot1 = 1; //1st analog
const module_t slot2 = 1; //1st digital
const module_t slot3 = 1; //1st solenoid
const module_t slot4 = 0; //EMPTY
const module_t slot5 = 2; //2nd analog
const module_t slot6 = 2; //2nd digital
const module_t slot7 = 2; //2nd solenoid
const module_t slot8 = 0; //EMPTY
//camera IP address:
const char * cameraIP = "10.6.12.11"; //static IP, camera configured for connection to bridge
//const char * cameraIP = "192.168.0.90"; //static IP, camera configured for connection to cRIO
//PORTS TABLE
#ifdef USE_JAGUARPWM
//PWMs SLOT PORT
Jaguar left_launcher_jag ( slot2, 1 );
Jaguar right_launcher_jag ( slot2, 2 );
Jaguar right_front_jag ( slot2, 3 );
Jaguar right_rear_jag ( slot2, 4 );
Jaguar turret_rotation_jag ( slot2, 5 );
Jaguar turret_winch_jag ( slot6, 1 );
Jaguar left_front_jag ( slot6, 2 );
Jaguar left_rear_jag ( slot6, 3 );
#else
// CANBUS ID
CANJaguar left_launcher_jag ( 1 );
CANJaguar right_launcher_jag ( 8 );
CANJaguar right_front_jag ( 2 );
CANJaguar right_rear_jag ( 3 );
CANJaguar turret_rotation_jag ( 4 );
CANJaguar turret_winch_jag ( 5 );
CANJaguar left_front_jag ( 6 );
CANJaguar left_rear_jag ( 7 );
#endif
Servo right_servo_shift ( slot2, 6 );
Servo left_servo_shift ( slot6, 4 );
//NOTE: Sica wants to use pots (potentiometers) for the angles, as those are
//absolute and don't need a zero switch. If we do that they're seen as
//AnalogChannel s. We'll want to write a quick wrapper class so we can get
//an angular offset, but we'll cross that bridge when we come to it.
//note: for two channel encoders, we need to specify a slot for both ports
//DIOs SLOT PORT
Encoder right_drive ( slot2, 1,
slot2, 2 );
Encoder lazy_susan ( slot2, 3,
slot2, 4 );
DigitalInput turret_limit_mid ( slot2, 5 );
DigitalInput turret_limit_right ( slot2, 6 );
DigitalInput turret_limit_left ( slot2, 7 );
Counter launcher_wheel ( slot2, 10 );
DigitalInput launch_angle_switch ( slot6, 1 );
Ultrasonic front_ultrasonic ( slot6, 2,
slot6, 3 );
Encoder left_drive ( slot6, 4,
slot6, 5 );
DigitalInput bridge_arm_switch ( slot6, 6 );
DigitalOutput camera_led_digital ( slot6, 8 );
//note: since we rely on the default value of kInches for the 5th arg
//we should use Ultrasonic::GetRangeInches().
//AIOs SLOT PORT
AnalogChannel launch_angle_pot ( slot1, 1 );
AnalogChannel density_pot ( slot1, 2 );
//Relays SLOT PORT
Relay roller_spike_1 ( slot6, 1 );
Relay roller_spike_2 ( slot6, 2 );
Relay bridge_arm_spike ( slot6, 8 );
//USBs (on driver station) PORT
Joystick left_joystick_raw ( 1 );
Joystick right_joystick_raw ( 2 );
Joystick gunner_joystick_raw ( 3 );
joysmooth left_joystick ( left_joystick_raw );
joysmooth right_joystick ( right_joystick_raw );
joysmooth gunner_joystick ( gunner_joystick_raw );
//initialization of virtual devices:
//RobotDrive
RobotDrive drive (
left_front_motor.jag, //KEEP THIS ORDER (HERE)! IT'S IMPORTANT!
left_rear_motor.jag, //LF, LR, RF, RR -- see documentation
right_front_motor.jag, //for more details
right_rear_motor.jag
);
//roller_t
roller_t rollers(roller_spike_1, roller_spike_2);
//shifter
shifter servo_shifter(left_servo_shift, right_servo_shift);
//turret
turret shooter_turret(
turret_rotation_jag,
turret_winch_jag,
left_launcher_jag,
right_launcher_jag,
launcher_wheel,
launch_angle_pot,
launch_angle_switch,
turret_limit_left,
turret_limit_mid,
turret_limit_right
);
//bridge_arm_t
bridge_arm_t bridge_arm(bridge_arm_spike, bridge_arm_switch);
//drive_jaguar JAGUAR& TYPE REVERSE
drive_jaguar left_front_motor = { left_front_jag, RobotDrive::kFrontLeftMotor, false };
drive_jaguar left_rear_motor = { left_rear_jag, RobotDrive::kRearLeftMotor, false };
drive_jaguar right_front_motor = { right_front_jag, RobotDrive::kFrontRightMotor, false };
drive_jaguar right_rear_motor = { right_rear_jag, RobotDrive::kRearRightMotor, false };