/**
* Create a new instance of an analog module.
*
* Create an instance of the analog module object. Initialize all the parameters
* to reasonable values on start.
* Setting a global value on an analog module can be done only once unless subsequent
* values are set the previously set value.
* Analog modules are a singleton, so the constructor is never called outside of this class.
*
* @param slot The slot in the chassis that the module is plugged into.
*/
AnalogModule::AnalogModule(UINT32 slot)
: Module(slot)
, m_module (NULL)
, m_sampleRateSet (false)
, m_numChannelsToActivate (0)
{
status = 0;
AddToSingletonList();
m_module = new tAI(SlotToIndex(slot), &status);
SetNumChannelsToActivate(kAnalogChannels);
SetSampleRate(kDefaultSampleRate);
for (UINT32 i = 0; i < kAnalogChannels; i++)
{
m_module->writeScanList(i, i, &status);
SetAverageBits(i + 1, kDefaultAverageBits);
SetOversampleBits(i + 1, kDefaultOversampleBits);
}
if (m_registerWindowSemaphore == NULL)
{
// Needs to be global since the protected resource spans both module singletons.
m_registerWindowSemaphore = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE);
}
wpi_assertCleanStatus(status);
}
/**
* DriverStation contructor.
*
* This is only called once the first time GetInstance() is called
*/
DriverStation::DriverStation() {
state = msgs::DriverStationPtr(new msgs::DriverStation());
stateSub = MainNode::Subscribe("~/ds/state",
&DriverStation::stateCallback, this);
// TODO: for loop + boost bind
joysticks[0] = msgs::FRCJoystickPtr(new msgs::FRCJoystick());
joysticksSub[0] = MainNode::Subscribe("~/ds/joysticks/0",
&DriverStation::joystickCallback0, this);
joysticks[1] = msgs::FRCJoystickPtr(new msgs::FRCJoystick());
joysticksSub[1] = MainNode::Subscribe("~/ds/joysticks/1",
&DriverStation::joystickCallback1, this);
joysticks[2] = msgs::FRCJoystickPtr(new msgs::FRCJoystick());
joysticksSub[2] = MainNode::Subscribe("~/ds/joysticks/2",
&DriverStation::joystickCallback2, this);
joysticks[3] = msgs::FRCJoystickPtr(new msgs::FRCJoystick());
joysticksSub[3] = MainNode::Subscribe("~/ds/joysticks/5",
&DriverStation::joystickCallback3, this);
joysticks[4] = msgs::FRCJoystickPtr(new msgs::FRCJoystick());
joysticksSub[4] = MainNode::Subscribe("~/ds/joysticks/4",
&DriverStation::joystickCallback4, this);
joysticks[5] = msgs::FRCJoystickPtr(new msgs::FRCJoystick());
joysticksSub[5] = MainNode::Subscribe("~/ds/joysticks/5",
&DriverStation::joystickCallback5, this);
AddToSingletonList();
}
/**
* Create a new instance of an analog module.
*
* Create an instance of the analog module object. Initialize all the parameters
* to reasonable values on start.
* Setting a global value on an analog module can be done only once unless subsequent
* values are set the previously set value.
* Analog modules are a singleton, so the constructor is never called outside of this class.
*
* @param moduleNumber The analog module to create (1 or 2).
*/
AnalogModule::AnalogModule(UINT8 moduleNumber)
: Module(nLoadOut::kModuleType_Analog, moduleNumber)
, m_module (NULL)
, m_sampleRateSet (false)
, m_numChannelsToActivate (0)
{
AddToSingletonList();
tRioStatusCode localStatus = NiFpga_Status_Success;
m_module = tAI::create(m_moduleNumber - 1, &localStatus);
wpi_setError(localStatus);
SetNumChannelsToActivate(kAnalogChannels);
SetSampleRate(kDefaultSampleRate);
for (UINT32 i = 0; i < kAnalogChannels; i++)
{
m_module->writeScanList(i, i, &localStatus);
wpi_setError(localStatus);
SetAverageBits(i + 1, kDefaultAverageBits);
SetOversampleBits(i + 1, kDefaultOversampleBits);
}
if (m_registerWindowSemaphore == NULL)
{
// Needs to be global since the protected resource spans both module singletons.
m_registerWindowSemaphore = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE);
}
}
/**
* Create a new instance of an digital module.
* Create an instance of the digital module object. Initialize all the parameters
* to reasonable values on start.
* Setting a global value on an digital module can be done only once unless subsequent
* values are set the previously set value.
* Digital modules are a singleton, so the constructor is never called outside of this class.
*/
DigitalModule::DigitalModule(UINT32 slot)
: Module(slot)
, m_fpgaDIO (NULL)
{
Resource::CreateResourceObject(&DIOChannels, tDIO::kNumSystems * kDigitalChannels);
m_fpgaDIO = new tDIO(SlotToIndex(m_slot), &status);
// Make sure that the 9403 IONode has had a chance to initialize before continuing.
while(m_fpgaDIO->readLoopTiming(&status) == 0) taskDelay(1);
if (m_fpgaDIO->readLoopTiming(&status) != kExpectedLoopTiming)
{
wpi_fatal(LoopTimingError);
printf("DIO LoopTiming: %d, expecting: %d\n", m_fpgaDIO->readLoopTiming(&status), kExpectedLoopTiming);
}
m_fpgaDIO->writePWMConfig_Period(PWM::kDefaultPwmPeriod, &status);
m_fpgaDIO->writePWMConfig_MinHigh(PWM::kDefaultMinPwmHigh, &status);
// Ensure that PWM output values are set to OFF
for (UINT32 pwm_index = 1; pwm_index <= kPwmChannels; pwm_index++)
{
SetPWM(pwm_index, PWM::kPwmDisabled);
SetPWMPeriodScale(pwm_index, 3); // Set all to 4x by default.
}
// Turn off all relay outputs.
m_fpgaDIO->writeSlowValue_RelayFwd(0, &status);
m_fpgaDIO->writeSlowValue_RelayRev(0, &status);
// Create a semaphore to protect changes to the relay values
m_relaySemaphore = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE);
AddToSingletonList();
}
Kinect::Kinect() :
m_recentPacketNumber(0),
m_numberOfPlayers(0)
{
AddToSingletonList();
m_dataLock = semMCreate(SEM_Q_PRIORITY | SEM_INVERSION_SAFE | SEM_DELETE_SAFE);
nUsageReporting::report(nUsageReporting::kResourceType_Kinect, 0);
}
/**
* DriverStation contructor.
*
* This is only called once the first time GetInstance() is called
*/
DriverStation::DriverStation()
: m_controlData(NULL)
, m_userControl(NULL)
, m_userStatus(NULL)
, m_digitalOut(0)
, m_batteryChannel(NULL)
, m_task("DriverStation",(FUNCPTR) DriverStation::InitTask)
, m_dashboard(&m_userStatus)
{
m_controlData = new FRCControlData;
m_userControl = new char[USER_CONTROL_DATA_SIZE];
m_userStatus = new char[USER_STATUS_DATA_SIZE];
bzero(m_userStatus, USER_STATUS_DATA_SIZE);
// initialize packet number and control words to zero;
m_controlData->packetIndex = 0;
m_controlData->control = 0;
// set all joystick axis values to neutral; buttons to OFF
m_controlData->stick0Axis1 = m_controlData->stick0Axis2 =
m_controlData->stick0Axis3 = 0;
m_controlData->stick1Axis1 = m_controlData->stick1Axis2 =
m_controlData->stick1Axis3 = 0;
m_controlData->stick2Axis1 = m_controlData->stick2Axis2 =
m_controlData->stick2Axis3 = 0;
m_controlData->stick3Axis1 = m_controlData->stick3Axis2 =
m_controlData->stick3Axis3 = 0;
m_controlData->stick0Axis4 = m_controlData->stick0Axis5 =
m_controlData->stick0Axis6 = 0;
m_controlData->stick1Axis4 = m_controlData->stick1Axis5 =
m_controlData->stick1Axis6 = 0;
m_controlData->stick2Axis4 = m_controlData->stick2Axis5 =
m_controlData->stick2Axis6 = 0;
m_controlData->stick3Axis4 = m_controlData->stick3Axis5 =
m_controlData->stick3Axis6 = 0;
m_controlData->stick0Buttons = 0;
m_controlData->stick1Buttons = 0;
m_controlData->stick2Buttons = 0;
m_controlData->stick3Buttons = 0;
// initialize the analog and digital data.
m_controlData->analog1 = 0;
m_controlData->analog2 = 0;
m_controlData->analog3 = 0;
m_controlData->analog4 = 0;
m_controlData->dsDigitalIn = 0;
m_batteryChannel = new AnalogChannel(kBatterySlot, kBatteryChannel);
AddToSingletonList();
if (!m_task.Start((INT32) this))
{
wpi_fatal(DriverStationTaskError);
}
}
/**
* DriverStationLCD contructor.
*
* This is only called once the first time GetInstance() is called
*/
DriverStationLCD::DriverStationLCD()
: m_textBuffer (NULL)
, m_textBufferSemaphore (NULL)
{
m_textBuffer = new char[USER_DS_LCD_DATA_SIZE];
memset(m_textBuffer, ' ', USER_DS_LCD_DATA_SIZE);
*((UINT16 *)m_textBuffer) = kFullDisplayTextCommand;
m_textBufferSemaphore = semMCreate(SEM_DELETE_SAFE | SEM_INVERSION_SAFE);
AddToSingletonList();
}
/**
* Create a new instance of an digital module.
* Create an instance of the digital module object. Initialize all the parameters
* to reasonable values on start.
* Setting a global value on an digital module can be done only once unless subsequent
* values are set the previously set value.
* Digital modules are a singleton, so the constructor is never called outside of this class.
*
* @param moduleNumber The digital module to create (1 or 2).
*/
DigitalModule::DigitalModule(uint8_t moduleNumber)
: Module(nLoadOut::kModuleType_Digital, moduleNumber)
, m_fpgaDIO (NULL)
{
Resource::CreateResourceObject(&DIOChannels, tDIO::kNumSystems * kDigitalChannels);
Resource::CreateResourceObject(&DO_PWMGenerators[m_moduleNumber - 1], tDIO::kNumDO_PWMDutyCycleElements);
tRioStatusCode localStatus = NiFpga_Status_Success;
m_fpgaDIO = tDIO::create(m_moduleNumber - 1, &localStatus);
wpi_setError(localStatus);
// Make sure that the 9403 IONode has had a chance to initialize before continuing.
while(m_fpgaDIO->readLoopTiming(&localStatus) == 0) sleep_ms(1);//taskDelay(1);
if (m_fpgaDIO->readLoopTiming(&localStatus) != kExpectedLoopTiming)
{
char err[128];
sprintf(err, "DIO LoopTiming: %d, expecting: %u\n", m_fpgaDIO->readLoopTiming(&localStatus), kExpectedLoopTiming);
wpi_setWPIErrorWithContext(LoopTimingError, err);
}
//Calculate the length, in ms, of one DIO loop
double loopTime = m_fpgaDIO->readLoopTiming(&localStatus)/(kSystemClockTicksPerMicrosecond*1e3);
m_fpgaDIO->writePWMConfig_Period((uint16_t) (PWM::kDefaultPwmPeriod/loopTime + .5), &localStatus);
m_fpgaDIO->writePWMConfig_MinHigh((uint16_t) ((PWM::kDefaultPwmCenter-PWM::kDefaultPwmStepsDown*loopTime)/loopTime + .5), &localStatus);
// Ensure that PWM output values are set to OFF
for (uint32_t pwm_index = 1; pwm_index <= kPwmChannels; pwm_index++)
{
SetPWM(pwm_index, PWM::kPwmDisabled);
SetPWMPeriodScale(pwm_index, 3); // Set all to 4x by default.
}
// Turn off all relay outputs.
m_fpgaDIO->writeSlowValue_RelayFwd(0, &localStatus);
m_fpgaDIO->writeSlowValue_RelayRev(0, &localStatus);
wpi_setError(localStatus);
// Create a semaphore to protect changes to the digital output values
// m_digitalSemaphore = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE);
// Create a semaphore to protect changes to the relay values
// m_relaySemaphore = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE);
// Create a semaphore to protect changes to the DO PWM config
// m_doPwmSemaphore = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE);
AddToSingletonList();
}
/**
* DriverStation constructor.
*
* This is only called once the first time GetInstance() is called
*/
DriverStation::DriverStation()
: m_task ("DriverStation", (FUNCPTR)DriverStation::InitTask)
, m_newControlData(0)
, m_packetDataAvailableMultiWait(0)
, m_waitForDataSem(0)
, m_userInDisabled(false)
, m_userInAutonomous(false)
, m_userInTeleop(false)
, m_userInTest(false)
, m_nextMessageTime(0)
{
// All joysticks should default to having zero axes, povs and buttons, so
// uninitialized memory doesn't get sent to speed controllers.
for(unsigned int i = 0; i < kJoystickPorts; i++) {
m_joystickAxes[i].count = 0;
m_joystickPOVs[i].count = 0;
m_joystickButtons[i].count = 0;
m_joystickDescriptor[i].isXbox = 0;
m_joystickDescriptor[i].type = -1;
m_joystickDescriptor[i].name[0] = '\0';
}
// Create a new semaphore
m_packetDataAvailableMultiWait = initializeMultiWait();
m_newControlData = initializeSemaphore(SEMAPHORE_EMPTY);
m_waitForDataSem = initializeMultiWait();
m_waitForDataMutex = initializeMutexNormal();
m_packetDataAvailableMultiWait = initializeMultiWait();
m_packetDataAvailableMutex = initializeMutexNormal();
// Register that semaphore with the network communications task.
// It will signal when new packet data is available.
HALSetNewDataSem(m_packetDataAvailableMultiWait);
AddToSingletonList();
// They need to be identical or it could lead to runtime stack corruption if
// the caller and callee push and pop different amounts of data on the stack.
static_assert(sizeof(this) == sizeof(uint32_t),
"We are passing a pointer through a uint32_t");
if (!m_task.Start((uint32_t)this))
{
wpi_setWPIError(DriverStationTaskError);
}
}
/**
* DriverStation constructor.
*
* This is only called once the first time GetInstance() is called
*/
DriverStation::DriverStation() {
// All joysticks should default to having zero axes, povs and buttons, so
// uninitialized memory doesn't get sent to speed controllers.
for (unsigned int i = 0; i < kJoystickPorts; i++) {
m_joystickAxes[i].count = 0;
m_joystickPOVs[i].count = 0;
m_joystickButtons[i].count = 0;
m_joystickDescriptor[i].isXbox = 0;
m_joystickDescriptor[i].type = -1;
m_joystickDescriptor[i].name[0] = '\0';
}
// Register that semaphore with the network communications task.
// It will signal when new packet data is available.
HALSetNewDataSem(m_packetDataAvailableCond.native_handle());
AddToSingletonList();
}
/**
* DriverStation contructor.
*
* This is only called once the first time GetInstance() is called
*/
DriverStation::DriverStation()
: m_digitalOut (0)
, m_waitForDataSem(0)
, m_approxMatchTimeOffset(-1.0)
, m_userInDisabled(false)
, m_userInAutonomous(false)
, m_userInTeleop(false)
, m_userInTest(false)
{
// Create a new semaphore
m_waitForDataSem = initializeMultiWait();
m_waitForDataMutex = initializeMutexNormal();
m_stateSemaphore = initializeMutexRecursive();
m_joystickSemaphore = initializeMutexRecursive();
state = msgs::DriverStationPtr(new msgs::DriverStation());
stateSub = MainNode::Subscribe("~/ds/state",
&DriverStation::stateCallback, this);
// TODO: for loop + boost bind
joysticks[0] = msgs::JoystickPtr(new msgs::Joystick());
joysticksSub[0] = MainNode::Subscribe("~/ds/joysticks/0",
&DriverStation::joystickCallback0, this);
joysticks[1] = msgs::JoystickPtr(new msgs::Joystick());
joysticksSub[1] = MainNode::Subscribe("~/ds/joysticks/1",
&DriverStation::joystickCallback1, this);
joysticks[2] = msgs::JoystickPtr(new msgs::Joystick());
joysticksSub[2] = MainNode::Subscribe("~/ds/joysticks/2",
&DriverStation::joystickCallback2, this);
joysticks[3] = msgs::JoystickPtr(new msgs::Joystick());
joysticksSub[3] = MainNode::Subscribe("~/ds/joysticks/5",
&DriverStation::joystickCallback3, this);
joysticks[4] = msgs::JoystickPtr(new msgs::Joystick());
joysticksSub[4] = MainNode::Subscribe("~/ds/joysticks/4",
&DriverStation::joystickCallback4, this);
joysticks[5] = msgs::JoystickPtr(new msgs::Joystick());
joysticksSub[5] = MainNode::Subscribe("~/ds/joysticks/5",
&DriverStation::joystickCallback5, this);
AddToSingletonList();
}
/**
* DriverStation constructor.
*
* This is only called once the first time GetInstance() is called
*/
DriverStation::DriverStation()
: m_task ("DriverStation", (FUNCPTR)DriverStation::InitTask)
, m_newControlData(0)
, m_packetDataAvailableMultiWait(0)
, m_waitForDataSem(0)
, m_userInDisabled(false)
, m_userInAutonomous(false)
, m_userInTeleop(false)
, m_userInTest(false)
, m_nextMessageTime(0)
{
// All joysticks should default to having zero axes, povs and buttons, so
// uninitialized memory doesn't get sent to speed controllers.
for(unsigned int i = 0; i < kJoystickPorts; i++) {
m_joystickAxes[i].count = 0;
m_joystickPOVs[i].count = 0;
m_joystickButtons[i].count = 0;
}
// Create a new semaphore
m_packetDataAvailableMultiWait = initializeMultiWait();
m_newControlData = initializeSemaphore(SEMAPHORE_EMPTY);
m_waitForDataSem = initializeMultiWait();
m_waitForDataMutex = initializeMutexNormal();
m_packetDataAvailableMultiWait = initializeMultiWait();
m_packetDataAvailableMutex = initializeMutexNormal();
// Register that semaphore with the network communications task.
// It will signal when new packet data is available.
HALSetNewDataSem(m_packetDataAvailableMultiWait);
AddToSingletonList();
if (!m_task.Start((int32_t)this))
{
wpi_setWPIError(DriverStationTaskError);
}
}
Robot980::Robot980()
: m_tcTraction(TC_OFF)
, m_psdLeft(NULL)
, m_psdRight(NULL)
// left and right drive motors
, m_pscLeft(new ReversableJaguar(SLOT_PWM_LEFT, CHAN_PWM_LEFT, true))
, m_pscRight(new Jaguar(SLOT_PWM_RIGHT,CHAN_PWM_RIGHT))
// lower and upper drive belts
, m_pscLowerBelt(new Jaguar(SLOT_PWM_LOWER, CHAN_PWM_LOWER))
, m_pscUpperBelt(new Jaguar(SLOT_PWM_UPPER, CHAN_PWM_UPPER))
// ball release
, m_pscFlap(new Jaguar(SLOT_PWM_FLAP, CHAN_PWM_FLAP))
// sensors
, m_pGyro(new Gyro(SLOT_GYRO, CHAN_GYRO))
// encoders on the drive wheels
, m_pEncDrvLeft(new Encoder(SLOT_ENC_DRV_LEFT,
CHAN_ENC_DRV_LEFT_A,
SLOT_ENC_DRV_LEFT,
CHAN_ENC_DRV_LEFT_B,
false, ENC_SCALE))
, m_pEncDrvRight(new Encoder(SLOT_ENC_DRV_RIGHT,
CHAN_ENC_DRV_RIGHT_A,
SLOT_ENC_DRV_RIGHT,
CHAN_ENC_DRV_RIGHT_B,
false, ENC_SCALE))
// encoders on the follow wheels
, m_pEncFollowLeft(new Encoder(SLOT_ENC_FOLLOW_LEFT,
CHAN_ENC_FOLLOW_LEFT_A,
SLOT_ENC_FOLLOW_LEFT,
CHAN_ENC_FOLLOW_LEFT_B,
false, ENC_SCALE))
, m_pEncFollowRight(new Encoder(SLOT_ENC_FOLLOW_RIGHT,
CHAN_ENC_FOLLOW_RIGHT_A,
SLOT_ENC_FOLLOW_RIGHT,
CHAN_ENC_FOLLOW_RIGHT_B,
false, ENC_SCALE))
// Timer used for debugging
, m_pTimer(new Timer)
, m_pSrvPan(new Servo(CAMERA_SLOT_PAN, CAMERA_CHAN_PAN))
, m_pSrvTilt(new Servo(CAMERA_SLOT_TILT, CAMERA_CHAN_TILT))
, m_pVideoServer(NULL)
// , m_pCamControlLoop(new Notifier(Robot980::CallCamUpdate, this))
, m_pCamControlLoop(NULL)
, m_dSavedImageTimestamp(0.0)
, m_trackColor(DriverStation::kInvalid)
{
// pi * diameter * gear ratio / encoder ticks / in/ft
// 48:32 = 1.5 on drive wheels
m_pEncDrvLeft->SetDistancePerPulse(M_PI * 6 * GEAR_RATIO / 250 / 12);
m_pEncDrvRight->SetDistancePerPulse(M_PI * 6 * GEAR_RATIO / 250 / 12);
m_pEncFollowLeft->SetDistancePerPulse(M_PI * 60/25.4 / 250 / 12);
m_pEncFollowRight->SetDistancePerPulse(M_PI * 60/25.4 / 250 / 12);
m_pEncDrvLeft->Start();
m_pEncDrvRight->Start();
m_pEncFollowLeft->Start();
m_pEncFollowRight->Start();
m_pTimer->Reset();
m_pTimer->Start();
#define SD_TIME 0.020
// // "Smart Drive" handles PID, slipping, etc
// m_psdLeft = new SmartDrive(SD_ID_LEFT,
// 0.6, 0.1, // velocity PID constants
// 0.1, 0.1, // correction PID constants
// 0.2, 0.1, // acceleration PID constants
// true,
// m_pscLeft, m_pEncDrvLeft, m_pEncFollowLeft,
// SD_TIME);
// Wait(SD_TIME / 2);
// m_psdRight = new SmartDrive(SD_ID_RIGHT,
// 0.6, 0.1, // velocity PID constants
// 0.1, 0.1, // correction PID constants
// 0.2, 0.1, // acceleration PID constants
// true,
// m_pscRight, m_pEncDrvRight, m_pEncFollowRight,
// SD_TIME);
// "Smart Drive" handles PID, slipping, etc
m_psdLeft = new SmartDrive(SD_ID_LEFT,
0.6, 0.1, // velocity PID constants
1.0, 0.04, // correction PID constants
1.0, 0.0, false, // acceleration PID constants
m_pscLeft, m_pEncDrvLeft, m_pEncFollowLeft,
SD_TIME);
Wait(SD_TIME / 2);
m_psdRight = new SmartDrive(SD_ID_RIGHT,
0.6, 0.1, // velocity PID constants
1.0, 0.04, // correction PID constants
1.0, 0.0, false, // acceleration PID constants
m_pscRight, m_pEncDrvRight, m_pEncFollowRight,
SD_TIME);
ParticleAnalysisReport par1, par2; // particle analysis reports
memset(&par1, 0, sizeof(ParticleAnalysisReport));
memset(&par2, 0, sizeof(ParticleAnalysisReport));
/* image data for tracking - override default parameters if needed */
/* recommend making PINK the first color because GREEN is more
* susceptible to hue variations due to lighting type so may
* result in false positives */
// PINK
sprintf(m_tdPink.name, "PINK");
m_tdPink.hue.minValue = 220;
m_tdPink.hue.maxValue = 255;
m_tdPink.saturation.minValue = 75;
m_tdPink.saturation.maxValue = 255;
m_tdPink.luminance.minValue = 85;
m_tdPink.luminance.maxValue = 255;
// GREEN
sprintf(m_tdGreen.name, "GREEN");
m_tdGreen.hue.minValue = 55;
m_tdGreen.hue.maxValue = 125;
m_tdGreen.saturation.minValue = 58;
m_tdGreen.saturation.maxValue = 255;
m_tdGreen.luminance.minValue = 92;
m_tdGreen.luminance.maxValue = 255;
printf("Robot980 constructor\n");
m_trailerInfo.color = DriverStation::kInvalid;
EnableTractionControl(TC_SMART_2);
Wait(0.010);
EnableTractionControl(TC_LOWPASS);
/* start the CameraTask */
StartCameraTask(CAMERA_FPS, CAMERA_COMPRESSION, CAMERA_RESOLUTION,
CAMERA_ROTATION);
// m_pVideoServer = new PCVideoServer;
m_pCamControlLoop->StartPeriodic((double)1.0 / (double)CAMERA_FPS);
// tell SensorBase about us
AddToSingletonList();
}
/**
* The {@link SmartDashboard} class is the bridge between robot programs and the SmartDashboard on the
* laptop.
*
* <p>When a value is put into the SmartDashboard here, it pops up on the SmartDashboard on the laptop.
* Users can put values into and get values from the SmartDashboard</p>
*/
SmartDashboard::SmartDashboard()
{
AddToSingletonList();
m_table = NetworkTable::GetTable("SmartDashboard");
}
