C++ (Cpp) GetValFromAsync示例

示例#1

文件： PID.c 项目： madhephaestus/bowler-bootloader

void initPIDChans(BYTE group){

	if(dyPid[group].inputChannel==DYPID_NON_USED || dyPid[group].outputChannel==DYPID_NON_USED)
		return;

	switch(dyPid[group].inputMode){
	case IS_COUNTER_INPUT_INT:
	case IS_COUNTER_INPUT_DIR:
	case IS_COUNTER_INPUT_HOME:
		dyPid[group].inputChannel = getCounterIntChannnel( channelToCounterGroup(dyPid[group].inputChannel));
		StartCounterInput(dyPid[group].inputChannel);
		break;
	}

	println_I("Setting Modes for PID");
	SetCoProcMode(dyPid[group].inputChannel,dyPid[group].inputMode);
	SetCoProcMode(dyPid[group].outputChannel,dyPid[group].outputMode);
	SyncModes();

	if(dyPid[group].inputMode== IS_ANALOG_IN){
		pidGroups[group].SetPoint=GetValFromAsync(dyPid[group].inputChannel);
	}else{
		pidGroups[group].SetPoint=0;
	}
}

示例#2

文件： PID.c 项目： NeuronRobotics/dyio

int resetPositionMine(int group, int current){
	if(dyPid[group].inputChannel==DYPID_NON_USED)
			return current;
	if(dyPid[group].inputMode == IS_COUNTER_INPUT_INT){
		SetCounterInput(dyPid[group].inputChannel,current);
	}else if(dyPid[group].inputMode == IS_ANALOG_IN){
		current=GetValFromAsync(dyPid[group].inputChannel);
	}else if(dyPid[group].inputMode == IS_DI){
		current=GetDigitalValFromAsync(dyPid[group].inputChannel);
	}
	return current;
}

示例#3

文件： Push.c 项目： madhephaestus/bowler-bootloader

void PushAllDiVal(){
#if defined(WPIRBE)
	return;
#endif
	println_I("Pushing digital");
	//FlagBusy_IO=1;
	//_delay_us(800);
	sendHeader(4+24,"dasn");
	int i=0;
	for(i=0;i<24;i++){
		send(GetValFromAsync(i));
	}
	//FlagBusy_IO=0;
	//_delay_us(800);

}

示例#4

文件： Push.c 项目： madhephaestus/bowler-bootloader

void PushAllAdcVal(){
#if defined(WPIRBE)
	return;
#endif
	//println_I("Pushing analog");
	UINT16_UNION an;
	//FlagBusy_IO=1;
	//_delay_us(800);
	sendHeader(4+16,"aasn");
	int i=0;
	for(i=8;i<16;i++){
		an.Val=GetValFromAsync(i);
		send(an.byte.SB);
		send(an.byte.LB);
	}
	//FlagBusy_IO=0;
	//_delay_us(800);
}

示例#5

文件： CoOpCallbacks.c 项目： NeuronRobotics/dyio

boolean checkDigital(){
	int i;
	for(i=0;i<GetNumberOfIOChannels();i++){
		uint8_t mode = GetChannelMode(i);
		boolean run = (((mode == IS_DI) )  || ((mode == IS_COUNTER_INPUT_HOME)||(mode == IS_COUNTER_OUTPUT_HOME) || (mode == IS_SERVO)));
		if (run){
			if(mode == IS_SERVO){
				//setDataTableCurrentValue(i,GetServoPos(i));
			}else{
				if(GetValFromAsync(i) != GetDIO(i)){
					setDataTableCurrentValue(i,GetDIO(i));
					//printAsync();
				}
			}
		}
		if(mode == IS_UART_RX){
			setDataTableCurrentValue(i,Get_UART_Byte_CountPassThrough());
		}
	}
	return true; 
}

示例#6

文件： PID.c 项目： madhephaestus/bowler-bootloader

float getPositionMine(int group){
	if(dyPid[group].inputChannel==DYPID_NON_USED||
			((pidGroups[group].Enabled == FALSE) && (vel[group].enabled==FALSE)))
		return 0;

	LONG pos = 0;
	//print_I("\nGetting PID value from group: ");p_int_I(chan->channel);print_I(" of mode: ");printMode(chan->inputMode);print_I(" From channel: ");p_int_I(chan->inputChannel);print_I("\n");
	switch(dyPid[group].inputMode){
	case IS_COUNTER_INPUT_INT:
	case IS_COUNTER_INPUT_DIR:
	case IS_COUNTER_INPUT_HOME:
		pos=GetCounterByChannel( dyPid[group].inputChannel );
		break;
	case IS_ANALOG_IN:
		pos=GetValFromAsync(dyPid[group].inputChannel);
		break;
	case IS_DI:
		pos = GetDigitalValFromAsync(dyPid[group].inputChannel);
		break;
	}
	return ((float)pos);
}

示例#7

文件： PID.c 项目： NeuronRobotics/dyio

void initPIDChans(uint8_t group){

	if(dyPid[group].inputChannel==DYPID_NON_USED || dyPid[group].outputChannel==DYPID_NON_USED){
		return;
	}

	switch(dyPid[group].inputMode){
	case IS_COUNTER_INPUT_INT:
	case IS_COUNTER_INPUT_DIR:
	case IS_COUNTER_INPUT_HOME:
		dyPid[group].inputChannel = getCounterIntChannnel( channelToCounterGroup(dyPid[group].inputChannel));
		StartCounterInput(dyPid[group].inputChannel);
		break;
	}

//	println_W("PID In chan: ");
//	p_int_W(dyPid[group].inputChannel);
//	println_W(" mode: ");
//	printMode(dyPid[group].inputMode, WARN_PRINT);
//	println_W("PID Out chan: ");
//	p_int_W(dyPid[group].outputChannel);
//	println_W(" mode: ");
	//printMode(dyPid[group].outputMode, WARN_PRINT);
	SetCoProcMode(dyPid[group].inputChannel,dyPid[group].inputMode);
	SetCoProcMode(dyPid[group].outputChannel,dyPid[group].outputMode);
	//SyncModes();

	if(dyPid[group].inputMode== IS_ANALOG_IN){
		pidGroups[group].SetPoint=GetValFromAsync(dyPid[group].inputChannel);
	}else{
		pidGroups[group].SetPoint=0;
	}
	SetPIDCalibrateionState(group, CALIBRARTION_DONE);
	getPidGroupDataTable( group)->config.Async=true;
	//getPidGroupDataTable( group)->config.Enabled=true;

}

示例#8

文件： PID.c 项目： NeuronRobotics/dyio

float getPositionMine(int group){
	if(dyPid[group].inputChannel==DYPID_NON_USED || !pidGroups[group].config.Enabled)
		return 0;

	int32_t pos = 0;

	switch(dyPid[group].inputMode){
	case IS_COUNTER_INPUT_INT:
	case IS_COUNTER_INPUT_DIR:
	case IS_COUNTER_INPUT_HOME:
		pos=GetCounterByChannel( dyPid[group].inputChannel );
		break;
	case IS_ANALOG_IN:
		pos=GetValFromAsync(dyPid[group].inputChannel);
		break;
	case IS_DI:
		pos = GetDigitalValFromAsync(dyPid[group].inputChannel);
		break;
            default:
                return 0;
	}
	//println_W("Get PID ");p_int_W(group);print_W(" is ");p_int_W(pos);
	return ((float)pos);
}