C++ (Cpp) Encoder::GetFPGAIndex示例

示例#1

文件： Robot.cpp 项目： CCathFIre/Komodo-4293-2016-Code

// During every loop intervel of the teleop period
void Robot::TeleopPeriodic() {
    // Tank drive, both left and right joystick control their respective motor along the
    // joystick's 'y' axis
    //myRobot.TankDrive(-rStick.GetRawAxis(RIGHT_STICK_Y), -lStick.GetRawAxis(LEFT_STICK_Y));
    //myRobot.TankDrive(-gamePad.GetRawAxis(GAMEPAD_LEFT_STICK_Y), -gamePad.GetRawAxis(GAMEPAD_RIGHT_STICK_Y));

    // Choose the teleop drive option
    DriverControl(driveOption);


    // Edits the gyro data to account for drift
    /*
    editedGyroRate = gyro.GetRate();
    if (gyro.GetRate() > GYRO_DRIFT_VALUE_MIN && gyro.GetRate() < GYRO_DRIFT_VALUE_MAX) {
    	editedGyroRate = 0;
    } else {
    	editedGyroRate += GYRO_DRIFT_VALUE_AVERAGE;
    }
    */

    editedGyroAngle = gyro.GetAngle();



    SmartDashboard::PutString("Operation Type:", "TeleOp");

    // Print gyro data
    if (showGyro == true) {
        SmartDashboard::PutNumber("Gyro Angle (Raw)", gyro.GetAngle()*GYRO_SCALE_FACTOR);
        SmartDashboard::PutNumber("Gyro Angle (Edited)", editedGyroAngle*GYRO_SCALE_FACTOR);
        SmartDashboard::PutNumber("Gyro Rate (Raw)", gyro.GetRate()*GYRO_SCALE_FACTOR);
        SmartDashboard::PutNumber("Gyro Rate (Edited)", editedGyroRate*GYRO_SCALE_FACTOR);
    }


    // Print out the encoder data
    // Raw encoder data
    if (showEncoderRaw == true) {
        SmartDashboard::PutNumber("Encoder L get raw", encoder1.GetRaw());
        SmartDashboard::PutNumber("Encoder R get raw", encoder2.GetRaw());

    }

    // The delta encoder change
    if (showEncoderRate == true) {
        SmartDashboard::PutNumber("Encoder L get rate", encoder1.GetRate());
        SmartDashboard::PutNumber("Encoder R (reversed) get rate", encoder2.GetRate());
    }

    // Print the encoder index
    if (showEncoderIndex == true) {
        SmartDashboard::PutNumber("Encoder L index", encoder1.GetFPGAIndex());
        SmartDashboard::PutNumber("Encoder R index", encoder2.GetFPGAIndex());
    }
}

示例#2

文件： Robot.cpp 项目： CCathFIre/Komodo-4293-2016-Code

// During every loop intervel of the teleop period
void Robot::TeleopPeriodic() {
	// Tank drive, both left and right joystick control their respective motor along the
	// joystick's 'y' axis
	//myRobot.TankDrive(-rStick.GetRawAxis(RIGHT_STICK_Y), -lStick.GetRawAxis(LEFT_STICK_Y));

	// Choose the teleop drive option
	for(int c=0;c<7;c++) {
		buttonDone[c] = false;
	}

	DriverControl(driveOption);

	if(fabs(gyro.GetRate()) > GYRO_DRIFT_VALUE) {
	editedGyroRate = gyro.GetAngle();
	}
	else {
		editedGyroRate = 0;
		gyro.Reset();
	}





	SmartDashboard::PutString("Operation Type:", "TeleOp");

	// Print gyro data
	if (showGyro == true) {
		SmartDashboard::PutNumber("Gyro Angle", gyro.GetAngle()*GYRO_SCALE_FACTOR);
		SmartDashboard::PutNumber("Gyro Rate (Raw)", gyro.GetRate()*GYRO_SCALE_FACTOR);
		SmartDashboard::PutNumber("Gyro Rate (Edited)", editedGyroRate*GYRO_SCALE_FACTOR);
	}


	// Print out the encoder data
	// Raw encoder data
	if (showEncoderRaw == true) {
		SmartDashboard::PutNumber("Encoder L get raw", encoder1.GetRaw());
		SmartDashboard::PutNumber("Encoder R get raw", encoder2.GetRaw());

	}

	// The delta encoder change
	if (showEncoderRate == true) {
		SmartDashboard::PutNumber("Encoder L get rate", encoder1.GetRate());
		SmartDashboard::PutNumber("Encoder R (reversed) get rate", encoder2.GetRate());
	}

	// Print the encoder index
	if (showEncoderIndex == true) {
		SmartDashboard::PutNumber("Encoder L index", encoder1.GetFPGAIndex());
		SmartDashboard::PutNumber("Encoder R index", encoder2.GetFPGAIndex());
	}
}

示例#3

文件： Robot.cpp 项目： CCathFIre/Komodo-4293-2016-Code

// During every loop intervel of the teleop period
void Robot::TeleopPeriodic() {
	// Choose the teleop drive option
	DriverControl(driveOption);


	// A simple thing to test a motor
	if (gamePad.GetRawButton(GAMEPAD_BUTTON_A) == true)
		ballManipulator.GoUp();
	else
		ballManipulator.StopAll();



	// Edits the gyro rate to account for drift
	/*
	editedGyroRate = gyro.GetRate();
	if (gyro.GetRate() > GYRO_DRIFT_VALUE_MIN && gyro.GetRate() < GYRO_DRIFT_VALUE_MAX) {
		editedGyroRate = 0;
	} else {
		editedGyroRate += GYRO_DRIFT_VALUE_AVERAGE;
	}
	*/

	// Edits the gyro angle to account for drift
	if (fabs(gyro.GetRate()) > GYRO_DRIFT_VALUE)
		editedGyroAngle = gyro.GetAngle();
	else {
		gyro.Reset();
		editedGyroAngle = 0;
	}


	// Reset the buttons
	for(int c=0; c<7; c++)
		buttonDone[c] = false;



	// To reset encoder data for the wheels
	if (gamePad.GetRawButton(GAMEPAD_BUTTON_Y) == true) {
			encoder1.Reset();
			encoder2.Reset();
	}

	// Print gyro data
	if (showGyro == true) {
		SmartDashboard::PutNumber("Gyro Angle (Raw)", gyro.GetAngle()*GYRO_SCALE_FACTOR);
		SmartDashboard::PutNumber("Gyro Angle (Edited)", editedGyroAngle*GYRO_SCALE_FACTOR);
		SmartDashboard::PutNumber("Gyro Rate (Raw)", gyro.GetRate()*GYRO_SCALE_FACTOR);
		SmartDashboard::PutNumber("Gyro Rate (Edited)", editedGyroRate*GYRO_SCALE_FACTOR);
	}


	// Print out the encoder data
	// Raw encoder data
//	if (showEncoderRaw == true) {
		SmartDashboard::PutNumber("Encoder L get raw", encoder1.GetRaw());
		SmartDashboard::PutNumber("Encoder R get raw", encoder2.GetRaw());

//	}

	// The delta encoder change
	if (showEncoderRate == true) {
		SmartDashboard::PutNumber("Encoder L get rate", encoder1.GetRate());
		SmartDashboard::PutNumber("Encoder R (reversed) get rate", encoder2.GetRate());
	}

	// Print the encoder index
	if (showEncoderIndex == true) {
		SmartDashboard::PutNumber("Encoder L index", encoder1.GetFPGAIndex());
		SmartDashboard::PutNumber("Encoder R index", encoder2.GetFPGAIndex());
	}
}