more examples

Author: Ernie3

src/main/java/frc/robot/examples/DigitalInputExamples.java

@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.examples;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+
+/**
+ * Examples of using digital inputs.
+ */
+public final class DigitalInputExamples {
+  
+  /**
+   * Digital Inputs detect a true or false value.
+   * They can be limit switches to determine when a motor has reached the end of "its track".
+   * They can also be photosensors to detect when an object is inside the robot or intake.
+   */
+  private void DigitalInput_Example() {
+    // Create DigitalInput using digital input channel on RoboRIO - these are simple sensors that just return true or false
+    final int channelOnRoboRio = 1;
+    final DigitalInput sensor = new DigitalInput(channelOnRoboRio);
+
+    // Get if the sensor is tripped or pressed
+    boolean isTripped = sensor.get();
+  }
+
+}

src/main/java/frc/robot/examples/GyroExamples.java

@@ -0,0 +1,42 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.examples;
+
+import com.kauailabs.navx.frc.AHRS;
+
+import edu.wpi.first.wpilibj.SerialPort.Port;
+
+/**
+ * Examples of using the NavX gyro
+ * https://pdocs.kauailabs.com/navx-mxp/
+ */
+public final class GyroExamples {
+
+  /**
+   * https://simple.wikipedia.org/wiki/Pitch,_yaw,_and_roll
+   */
+  private void NavX_GetRobotAngles_Example() {
+    // Robot has One NavX usually either connected via MXP or USB on the RoboRIO
+    // final Port navxPort = Port.kUSB;
+    final Port navxPort = Port.kMXP;
+    final AHRS navx = new AHRS(navxPort);
+
+    // robot's angle in degrees
+    // -360 degrees is the same as 0 degrees is the same as 360 degreees
+    // -540 degrees is the same as -180 degrees is the same as 180 degrees is the same as 540 degrees
+    // and so on...
+    double robotAngle = navx.getAngle();
+
+    // Yaw, Roll, Pitch always return (-180, 180]
+    // that is, as low as -179.99 degrees and as high as 180.0 degrees
+    double yaw = navx.getYaw();
+    double roll = navx.getRoll();
+    double pitch = navx.getPitch();
+
+    // robot heading rate of change in degrees/second
+    double robotAngleRateOfChange = navx.getRate();
+  }
+
+}

src/main/java/frc/robot/examples/MotorControllerExamples.java

@@ -22,7 +22,7 @@ public final class MotorControllerExamples {
    * https://www.andymark.com/products/spark-bushed-dc-motor-controller
    */
   private void PWM_Controller_Example() {
-    // Create the PWM Motor Controller
+    // Create the PWM Motor Controller using connected channel on RoboRIO
     // in this case we are using a Spark from RevRobotics
     // The Spark motor object normally consturcted inside the Subsystem the motor belongs to
     final int pwmChannel = 1;
@@ -83,7 +83,14 @@ private void CAN_SparkMax_Controller_Example() {
 
     // PIDF Controller for Velocity and Postion control modes
     SparkPIDController pidControllerForVelocityOrPositonControl = canMotorController.getPIDController();
+
     // These modes requires PIDF values
+
+    // https://docs.wpilib.org/en/stable/docs/software/advanced-controls/introduction/introduction-to-pid.html
+    // https://docs.wpilib.org/en/stable/docs/software/advanced-controls/introduction/pid-video.html#pid-introduction-video-by-wpi
+    // The math looks harder than it really is - understanding at a conceptual level will help you understand the rigor more
+
+    // set PIDF values - these values are somewhat empirical and change with every unique system/robot
     pidControllerForVelocityOrPositonControl.setP(1);
     pidControllerForVelocityOrPositonControl.setI(0.01);
     pidControllerForVelocityOrPositonControl.setD(0.5);

src/main/java/frc/robot/examples/PneumaticsExamples.java

@@ -0,0 +1,51 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.examples;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+
+/**
+ * Pneumatics examples.
+ */
+public final class PneumaticsExamples {
+  
+  /*
+   * Solenoids can be used to controller pneumatic cylinders are set to true or false
+   */
+  private void Solenoid_Example() {
+    final int digialChannelOnRoboRio = 2;
+    final Solenoid piston = new Solenoid(PneumaticsModuleType.REVPH, digialChannelOnRoboRio);
+
+    // Extend
+    piston.set(true);
+
+    // Retract
+    piston.set(false);
+  }
+
+  /*
+   * Sometimes solenoids are dual action and have 3 potential values
+   * Forward, Reverse, Off
+   */
+  private void DoubleSolenoid_Example() {
+    final int forwardChannelOnRoboRio = 2;
+    final int reverseChannelOnRoboRio = 2;
+    final DoubleSolenoid piston = new DoubleSolenoid(PneumaticsModuleType.REVPH, forwardChannelOnRoboRio, reverseChannelOnRoboRio);
+
+    // Extend
+    piston.set(Value.kForward);
+
+    // Retract
+    piston.set(Value.kReverse);
+
+    // Shortly after setting Forward or Reverse, turn off to prevent unnecessary current flowing through the solenoid.
+    // Usually this can be done by setting the desired value, waiting half a second then turning off the solenoid
+    piston.set(Value.kOff);
+  }
+
+}

src/main/java/frc/robot/examples/UltrasonicExamples.java

@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.examples;
+
+import edu.wpi.first.wpilibj.Ultrasonic;
+
+/**
+ * Ultrasonic sensor examples.
+ */
+public final class UltrasonicExamples {
+  
+  /*
+   * Example Ultrasonic Sensor: https://kb.vex.com/hc/en-us/articles/360038608771-Using-the-V5-3-Wire-UltraSonic-Range-Finder
+   */
+  private void Ultrasonic_Distance_Example() {
+    // Create sensor using an input and output channel on the RoboRIO
+    final int pingChannel = 1;
+    final int echoChannel = 2;
+    final Ultrasonic ultrasonic = new Ultrasonic(pingChannel, echoChannel);
+
+    // Supports range in both inches and mm
+    double distanceToObjectInInches = ultrasonic.getRangeInches();
+    double distanceToObjectInMillimeters = ultrasonic.getRangeMM();
+  }
+
+}