/**
* The last direction the encoder value changed.
*
* @param aSlot The digital module slot for the A Channel on the encoder
* @param aChannel The channel on the digital module for the A Channel of the encoder
* @param bSlot The digital module slot for the B Channel on the encoder
* @param bChannel The channel on the digital module for the B Channel of the encoder
* @return The last direction the encoder value changed.
*/
bool GetEncoderDirection(UINT32 aSlot, UINT32 aChannel, UINT32 bSlot, UINT32 bChannel)
{
Encoder *encoder = AllocateEncoder(aSlot, aChannel, bSlot, bChannel);
if (encoder != NULL)
return encoder->GetDirection();
else
return false;
}
/**
* Determine if the encoder is stopped.
* Using the MaxPeriod value, a boolean is returned that is true if the encoder is considered
* stopped and false if it is still moving. A stopped encoder is one where the most recent pulse
* width exceeds the MaxPeriod.
*
* @param aChannel The channel on the digital module for the A Channel of the encoder
* @param bChannel The channel on the digital module for the B Channel of the encoder
* @return True if the encoder is considered stopped.
*/
bool GetEncoderStopped(UINT32 aChannel, UINT32 bChannel)
{
Encoder *encoder = AllocateEncoder(aChannel, bChannel);
if (encoder != NULL)
return encoder->GetStopped();
else
return false;
}
/**
* Get the current rate of the encoder.
* Units are distance per second as scaled by the value from SetEncoderDistancePerPulse().
*
* @return The current rate of the encoder.
*
* @param aSlot The digital module slot for the A Channel on the encoder
* @param aChannel The channel on the digital module for the A Channel of the encoder
* @param bSlot The digital module slot for the B Channel on the encoder
* @param bChannel The channel on the digital module for the B Channel of the encoder
*/
double GetEncoderRate(UINT32 aSlot, UINT32 aChannel, UINT32 bSlot, UINT32 bChannel)
{
Encoder *encoder = AllocateEncoder(aSlot, aChannel, bSlot, bChannel);
if (encoder != NULL)
return encoder->GetRate();
else
return 0.0;
}
/**
* Gets the current count.
* Returns the current count on the Encoder.
* This method compensates for the decoding type.
*
* @deprecated Use GetEncoderDistance() in favor of this method. This returns unscaled pulses and GetDistance() scales using value from SetEncoderDistancePerPulse().
*
* @return Current count from the Encoder.
*
* @param aChannel The channel on the digital module for the A Channel of the encoder
* @param bChannel The channel on the digital module for the B Channel of the encoder
*/
INT32 GetEncoder(UINT32 aChannel, UINT32 bChannel)
{
Encoder *encoder = AllocateEncoder(aChannel, bChannel);
if (encoder != NULL)
return encoder->Get();
else
return 0;
}
/**
* Returns the period of the most recent pulse.
* Returns the period of the most recent Encoder pulse in seconds.
* This method compenstates for the decoding type.
*
* @deprecated Use GetEncoderRate() in favor of this method. This returns unscaled periods and GetEncoderRate() scales using value from SetEncoderDistancePerPulse().
*
* @return Period in seconds of the most recent pulse.
*
* @param aChannel The channel on the digital module for the A Channel of the encoder
* @param bChannel The channel on the digital module for the B Channel of the encoder
*/
double GetEncoderPeriod(UINT32 aChannel, UINT32 bChannel)
{
Encoder *encoder = AllocateEncoder(aChannel, bChannel);
if (encoder != NULL)
return encoder->GetPeriod();
else
return 0.0;
}
void x265_encoder_log(x265_encoder* enc, int argc, char **argv)
{
if (enc)
{
Encoder *encoder = static_cast<Encoder*>(enc);
encoder->writeLog(argc, argv);
}
}
/**
* Start the encoder counting.
*
* @param aSlot The digital module slot for the A Channel on the encoder
* @param aChannel The channel on the digital module for the A Channel of the encoder
* @param bSlot The digital module slot for the B Channel on the encoder
* @param bChannel The channel on the digital module for the B Channel of the encoder
*/
void StartEncoder(UINT32 aSlot, UINT32 aChannel, UINT32 bSlot, UINT32 bChannel)
{
Encoder *encoder = AllocateEncoder(aSlot, aChannel, bSlot, bChannel);
if (encoder != NULL)
{
encoder->Start();
}
}
/**
* Get the distance the robot has driven since the last reset.
*
* @return The distance driven since the last reset as scaled by the value from SetEncoderDistancePerPulse().
*
* @param aChannel The channel on the digital module for the A Channel of the encoder
* @param bChannel The channel on the digital module for the B Channel of the encoder
*/
double GetEncoderDistance(UINT32 aChannel, UINT32 bChannel)
{
Encoder *encoder = AllocateEncoder(aChannel, bChannel);
if (encoder != NULL)
return encoder->GetDistance();
else
return 0.0;
}
void x265_encoder_get_stats(x265_encoder *enc, x265_stats *outputStats, uint32_t statsSizeBytes)
{
if (enc && outputStats)
{
Encoder *encoder = static_cast<Encoder*>(enc);
encoder->fetchStats(outputStats, statsSizeBytes);
}
}
void MainWindow::on_pushButton_clicked()
{
Encoder encoder;
int e,d,n;
encoder.generate_passwords(e,d,n);
ui->lineE->setText(QString::number(e));
ui->lineD->setText(QString::number(d));
ui->lineN->setText(QString::number(n));
}
Storage::Record SubresourcesEntry::encodeAsStorageRecord() const
{
Encoder encoder;
encoder << m_subresources;
encoder.encodeChecksum();
return { m_key, m_timeStamp, { encoder.buffer(), encoder.bufferSize() } , { } };
}
float RawControl::averageEncoders()
{
float traveled;
traveled=(((abs(wheelEncoderFR->Get()))+(abs(wheelEncoderFL->Get()))+(abs(wheelEncoderBR->Get()))+(abs(wheelEncoderBL->Get())))/4);
traveled/=250;
traveled=traveled * 8 * 3.14;
traveled=fabs(traveled);
return traveled;
}
x265_encoder *x265_encoder_open(x265_param *p)
{
if (!p)
return NULL;
Encoder* encoder = NULL;
x265_param* param = PARAM_NS::x265_param_alloc();
x265_param* latestParam = PARAM_NS::x265_param_alloc();
if (!param || !latestParam)
goto fail;
memcpy(param, p, sizeof(x265_param));
x265_log(param, X265_LOG_INFO, "HEVC encoder version %s\n", PFX(version_str));
x265_log(param, X265_LOG_INFO, "build info %s\n", PFX(build_info_str));
x265_setup_primitives(param, param->cpuid);
if (x265_check_params(param))
goto fail;
if (x265_set_globals(param))
goto fail;
encoder = new Encoder;
if (!param->rc.bEnableSlowFirstPass)
PARAM_NS::x265_param_apply_fastfirstpass(param);
// may change params for auto-detect, etc
encoder->configure(param);
// may change rate control and CPB params
if (!enforceLevel(*param, encoder->m_vps))
goto fail;
// will detect and set profile/tier/level in VPS
determineLevel(*param, encoder->m_vps);
if (!param->bAllowNonConformance && encoder->m_vps.ptl.profileIdc == Profile::NONE)
{
x265_log(param, X265_LOG_INFO, "non-conformant bitstreams not allowed (--allow-non-conformance)\n");
goto fail;
}
encoder->create();
encoder->m_latestParam = latestParam;
memcpy(latestParam, param, sizeof(x265_param));
if (encoder->m_aborted)
goto fail;
x265_print_params(param);
return encoder;
fail:
delete encoder;
PARAM_NS::x265_param_free(param);
PARAM_NS::x265_param_free(latestParam);
return NULL;
}
/**
* Writes a description of the graph to the given stream, using the Dot
* language.
* The method allows for both directed graphs and non-directed graphs, the
* latter are required for drawing purposes (since Dot will not produce the
* arrow heads and the splines terminate before reaching the nodes).
* @param str The stream to write to
* @param sType Either "graph" or "digraph"
* @param sEdge The edge connector ("--" or "->")
* @param bWriteCall true to write call information, false otherwise
*/
void GraphWidget::write(QTextStream& str, const QString& sType,
const QString& sEdge, bool bWriteCall)
{
QFont font;
QDictIterator<GraphNode> itr(m_dictNodes);
GraphEdge* pEdge;
Encoder enc;
font = Config().getFont(KScopeConfig::Graph);
// Header
str << sType << " G {\n";
// Graph attributes
str << "\tgraph [rankdir=" << Config().getGraphOrientation() << ", "
<< "kscope_zoom=" << m_dZoom
<< "];\n";
// Default node attributes
str << "\tnode [shape=box, height=\"0.01\", style=filled, "
<< "fillcolor=\"" << Config().getColor(KScopeConfig::GraphNode).name()
<< "\", "
<< "fontcolor=\"" << Config().getColor(KScopeConfig::GraphText).name()
<< "\", "
<< "fontname=\"" << font.family() << "\", "
<< "fontsize=" << QString::number(font.pointSize())
<< "];\n";
// Iterate over all nodes
for (; itr.current(); ++itr) {
// Write a node
str << "\t" << itr.current()->getFunc() << ";\n";
// Iterate over all edges leaving this node
QDictIterator<GraphEdge> itrEdge(itr.current()->getOutEdges());
for (; itrEdge.current(); ++itrEdge) {
pEdge = itrEdge.current();
str << "\t" << pEdge->getHead()->getFunc() << sEdge
<< pEdge->getTail()->getFunc();
// Write call information
if (bWriteCall) {
str << " ["
<< "kscope_file=\"" << pEdge->getFile() << "\","
<< "kscope_line=" << pEdge->getLine() << ","
<< "kscope_text=\"" << enc.encode(pEdge->getText()) << "\""
<< "]";
}
str << ";\n";
}
}
// Close the graph
str << "}\n";
}
x265_encoder *x265_encoder_open(x265_param *p)
{
if (!p)
return NULL;
x265_param *param = X265_MALLOC(x265_param, 1);
if (!param)
return NULL;
memcpy(param, p, sizeof(x265_param));
x265_log(param, X265_LOG_INFO, "HEVC encoder version %s\n", x265_version_str);
x265_log(param, X265_LOG_INFO, "build info %s\n", x265_build_info_str);
x265_setup_primitives(param, param->cpuid);
if (x265_check_params(param))
return NULL;
if (x265_set_globals(param))
return NULL;
Encoder *encoder = new Encoder;
if (!param->rc.bEnableSlowFirstPass)
x265_param_apply_fastfirstpass(param);
// may change params for auto-detect, etc
encoder->configure(param);
// may change rate control and CPB params
if (!enforceLevel(*param, encoder->m_vps))
{
delete encoder;
return NULL;
}
// will detect and set profile/tier/level in VPS
determineLevel(*param, encoder->m_vps);
if (!param->bAllowNonConformance && encoder->m_vps.ptl.profileIdc == Profile::NONE)
{
x265_log(param, X265_LOG_INFO, "non-conformant bitstreams not allowed (--allow-non-conformance)\n");
delete encoder;
return NULL;
}
encoder->create();
if (encoder->m_aborted)
{
delete encoder;
return NULL;
}
x265_print_params(param);
return encoder;
}
/*
* motionType parameter:
* 1 - move forward
* 2 - move backward
* 3 - turn left
* 4 - turn right
*/
void MotorController::updatePositionAndHeading(int motionType)
{
double leftMotorPositionDelta = leftEncoder.getPosition() - _leftMotorLastPosition;
double rightMotorPositionDelta = rightEncoder.getPosition() - _rightMotorLastPosition;
_leftMotorLastPosition = leftEncoder.getPosition();
_rightMotorLastPosition = rightEncoder.getPosition();
double deltaPosition = (leftMotorPositionDelta + rightMotorPositionDelta) / 2;
if (motionType == 1 || motionType == 2)
{
_position.setX(_position.getX() + deltaPosition * COS[round(_heading)]);
_position.setY(_position.getY() + deltaPosition * SIN[round(_heading)]);
// If robot turns slightly to left when moving forward or backward
// if (leftMotorPositionDelta < rightMotorPositionDelta)
// {
// double average = rightMotorPositionDelta - leftMotorPositionDelta;
// double radians = average / ROTATION_CIRCUMFERENCE;
// double degrees = radians * RAD_TO_DEG;
// // _heading = motionType == 1 ? _heading + degrees : _heading - degrees;
// }
// else
// {
// double average = leftMotorPositionDelta - rightMotorPositionDelta;
// double radians = average / ROTATION_CIRCUMFERENCE;
// double degrees = radians * RAD_TO_DEG;
// // _heading = motionType == 1 ? _heading - degrees : _heading + degrees;
// }
}
else
{
// Robot turns left
if (motionType == 3)
{
double average = (rightMotorPositionDelta - leftMotorPositionDelta) / 2;
double radians = average / ROTATION_RADIUS;
double degrees = radians * RAD_TO_DEG;
_heading += degrees;
}
else
{
double average = (leftMotorPositionDelta - rightMotorPositionDelta) / 2;
double radians = average / ROTATION_RADIUS;
double degrees = radians * RAD_TO_DEG;
_heading -= degrees;
}
}
_heading = _heading < 0 ? 360 + _heading : _heading;
_heading = _heading > 360 ? _heading - 360 : _heading;
}
//void StartAutomaticCapture(std::shared_ptr<USBCamera>cam0);
void TeleopPeriodic() {
// ui.GetData(&wui);
// m_tank.Drive(wui.LeftSpeed, wui.RightSpeed);
//
// m_shooter.Rotate(wui.RotateSpeed*3); //70 degrees per second at full value
// m_shooter.Lift(wui.LiftSpeed*1.193); //4 seconds for 180 degree revolution
// if(wui.SpinUp) {
// m_shooter.Spinup(1);
// }
// if(wui.Shoot) {
// m_shooter.Shoot();
// }
// if(wui.Pickup) {
// m_shooter.Pickup();
// }
//
// m_suspension.SetFrontLeft(wui.DropFL);
// m_suspension.SetBackLeft(wui.DropBL);
// m_suspension.SetFrontRight(wui.DropFR);
// m_suspension.SetBackRight(wui.DropBR);
// m_leddar.GetDetections();
// m_shooter.Update();
//float RTrigger = m_lStick->GetRawAxis(3);
//float LTrigger = m_lStick->GetRawAxis(2);
//if (m_PWMTalonLeftFrontTop == .5)
//if (abs(RTrigger) < 0.2)
//RTrigger = 0;
//if (abs(LTrigger) < 0.2)
//LTrigger = 0;
float leftSpeed = m_lStick->GetRawAxis(1);
float rightSpeed = m_lStick->GetRawAxis(5);
if (abs(leftSpeed) < 0.2)
leftSpeed = 0;
if (abs(rightSpeed) < 0.2)
rightSpeed = 0;
//float LTrigger = m_lStick->GetRawAxis(3);
//float RTrigger = m_lStick->GetRawAxis(2);
SmartDashboard::PutNumber("Left Stick", leftSpeed);
SmartDashboard::PutNumber("Right Stick", rightSpeed);
//SmartDashboard::PutNumber("L Trigger", LTrigger);
//SmartDashboard::PutNumber("R Trigger", RTrigger);
SmartDashboard::PutNumber("Left Encoder", leftEncoder->Get());
SmartDashboard::PutNumber("Right Encoder", rightEncoder->Get());
drive->TankDrive(leftSpeed, rightSpeed, true);
//drive->TankDrive(RTrigger, LTrigger, true);
LEFTDRIVE1->Set(leftSpeed);
LEFTDRIVE2->Set(leftSpeed);
RIGHTDRIVE1->Set(rightSpeed);
RIGHTDRIVE2->Set(rightSpeed);
//m_PWMTalonLeftFrontTop->Set(RTrigger);
//m_PWMTalonRightFrontTop->Set(RTrigger);
//m_PWMTalonRightRearTop->Set(LTrigger);
//m_PWMTalonLeftRearTop->Set(LTrigger);
}
static void encodeElement(Encoder& encoder, const FormDataElement& element)
{
encoder.encodeUInt32(static_cast<uint32_t>(element.m_type));
switch (element.m_type) {
case FormDataElement::Type::Data:
encoder.encodeBytes(reinterpret_cast<const uint8_t*>(element.m_data.data()), element.m_data.size());
return;
case FormDataElement::Type::EncodedFile:
encoder.encodeString(element.m_filename);
encoder.encodeString(element.m_generatedFilename);
encoder.encodeBool(element.m_shouldGenerateFile);
encoder.encodeInt64(element.m_fileStart);
encoder.encodeInt64(element.m_fileLength);
encoder.encodeDouble(element.m_expectedFileModificationTime);
return;
case FormDataElement::Type::EncodedBlob:
encoder.encodeString(element.m_url.string());
return;
}
ASSERT_NOT_REACHED();
}
static void encode(Encoder& e, kaa_configuration::_configuration_avsc_Union__0__ v) {
e.encodeUnionIndex(v.idx());
switch (v.idx()) {
case 0:
e.encodeNull();
break;
case 1:
avro::encode(e, v.get_uuidT());
break;
}
}
static bool MFAAC_GetExtraData(void *data, uint8_t **extra_data, size_t *size)
{
Encoder *enc = static_cast<Encoder *>(data);
UINT32 length;
if (enc->ExtraData(extra_data, &length)) {
*size = length;
return true;
}
return false;
}
PnumaticArmTest (void):
stick(1)
,up(7,7)
,down(7,8)
,enc(1,2)
,pid(.045,.00000,.16)
,low(.05)
{
enc.SetReverseDirection(true);
enc.Start();
}
void print_encoder(Encoder& e, int ind)
{
printf("%sEncoder Id %d type %s\n", width(ind, "").c_str(),
e.id(), e.get_encoder_type().c_str());
if (opts.print_props)
print_properties(e, ind+2);
if (opts.recurse)
for (auto cc : e.get_possible_crtcs())
print_crtc(*cc, ind + 2);
}
void MainWindow::on_actionDecode_Image_triggered()
{
// extract image hidden in imageBefore:
Encoder encoder;
int d = ui->lineD->text().toInt(),
n = ui->lineN->text().toInt();
imageAfter = encoder.decodeImage(imageBefore,d,n);
//and show it to the user
showImageAfter();
}
static bool
EncodeConst(Encoder& e, WasmAstConst& c)
{
switch (c.val().type()) {
case ValType::I32:
return e.writeExpr(Expr::I32Const) &&
e.writeVarU32(c.val().i32());
default:
break;
}
MOZ_CRASH("Bad value type");
}
void OperatorControl(void)
{
digEncoder.Start();
const double ppsTOrpm = 60.0/250.0; //This converts from Pos per Second to Rotations per Minute (See second number on back of encoder to replace 250 if you need it)
while (IsOperatorControl())
{
SmartDashboard::PutNumber("Digital Encoder RPM", digEncoder.GetRate()*ppsTOrpm);
Wait(0.1);
}
digEncoder.Stop();
}
void x265_encoder_close(x265_encoder *enc)
{
if (enc)
{
Encoder *encoder = static_cast<Encoder*>(enc);
encoder->stopJobs();
encoder->printSummary();
encoder->destroy();
delete encoder;
ATOMIC_DEC(&g_ctuSizeConfigured);
}
}
/**
* Runs the motors with arcade steering.
*/
void OperatorControl(void)
{
encoder.Start();
while (IsEnabled())
{
float controlv = control.GetVoltage();
motor.Set(controlv/5); //get's voltage from control and divides it by 5
double rate = encoder.GetRate();
double distance = encoder.GetDistance();
printf ("%f %f \n", rate, distance);
}
}
void TeleopInit(void) {
printf("Robot teleop initializing...\n");
GetWatchdog().Feed();
compressor->Start();
kicker->SafeReset();
leftDrivetrainEncoder->Start();
rightDrivetrainEncoder->Start();
printf("Robot teleop initialization complete.\n");
}
RobotSystem(void):
robotInted(false)
,stick(1) // as they are declared above.
,stick2(2)
,line1(10)
,line2(11)
,line3(12)
//,camera(AxisCamera::GetInstance())
,updateCAN("CANUpdate",(FUNCPTR)UpdateCAN)
,cameraTask("CAMERA", (FUNCPTR)CameraTask)
,compressor(14,1)
,EncArm(2,3)
,EncClaw(5,6)
,PIDArm(.04,0,0) // .002, .033
,PIDClaw(.014,.0000014,0)
,LowArm(.1)
/*
,MiniBot1(4)
,MiniBot2(2)
,ClawGrip(3)
*/
,MiniBot1a(8,1)
,MiniBot1b(8,2)
,MiniBot2a(8,3)
,MiniBot2b(8,4)
,ClawOpen(8, 8)
,ClawClose(8,7)
,LimitClaw(7)
,LimitArm(13)
{
// myRobot.SetExpiration(0.1);
GetWatchdog().SetEnabled(false);
GetWatchdog().SetExpiration(1);
compressor.Start();
debug("Waiting to init CAN");
Wait(2);
Dlf = new CANJaguar(6,CANJaguar::kSpeed);
Dlb = new CANJaguar(3,CANJaguar::kSpeed);
Drf = new CANJaguar(7,CANJaguar::kSpeed);
Drb = new CANJaguar(2,CANJaguar::kSpeed);
arm1 = new CANJaguar(5);
arm1_sec = new CANJaguar(8);
arm2 = new CANJaguar(4);
EncArm.SetDistancePerPulse(.00025);
EncClaw.SetDistancePerPulse(.00025);
EncClaw.SetReverseDirection(false);
EncArm.SetReverseDirection(true);
EncArm.Reset();
EncClaw.Reset();
updateCAN.Start((int)this);
//cameraTask.Start((int)this);
EncArm.Start();
EncClaw.Start();
debug("done initing");
}
static void encode(Encoder& e, _configuration_schema_Union__4__ v) {
e.encodeUnionIndex(v.idx());
switch (v.idx()) {
case 0:
avro::encode(e, v.get_strategyT());
break;
case 1:
avro::encode(e, v.get_unchangedT());
break;
case 2:
e.encodeNull();
break;
}
}
