Update some pneumatic RLIs #3083
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- 17 // Initializes an AnalogInput on port 0
- 18 AnalogInput m_analog = new AnalogInput(0);
+ 17
- 63 // Initializes an AnalogInput on port 0
- 64 frc::AnalogInput m_analog{0};
+ 63
- 25 // Sets the AnalogInput to 4-bit oversampling. 16 samples will be added together.
- 26 // Thus, the reported values will increase by about a factor of 16, and the update
- 27 // rate will decrease by a similar amount.
- 28 m_analog.setOversampleBits(4);
+ 25
- 15 // Sets the AnalogInput to 4-bit oversampling. 16 samples will be added
- 16 // together.
- 17 // Thus, the reported values will increase by about a factor of 16, and the
- 18 // update rate will decrease by a similar amount.
- 19 m_analog.SetOversampleBits(4);
+ 15
- 30 // Sets the AnalogInput to 4-bit averaging. 16 samples will be averaged together.
- 31 // The update rate will decrease by a factor of 16.
- 32 m_analog.setAverageBits(4);
+ 30
- 21 // Sets the AnalogInput to 4-bit averaging. 16 samples will be averaged
- 22 // together. The update rate will decrease by a factor of 16.
- 23 m_analog.SetAverageBits(4);
+ 21
- 37 // Gets the raw instantaneous measured value from the analog input, without
- 38 // applying any calibration and ignoring oversampling and averaging
- 39 // settings.
- 40 m_analog.getValue();
+ 37
- 25 // Gets the raw instantaneous measured value from the analog input, without
- 26 // applying any calibration and ignoring oversampling and averaging
- 27 // settings.
- 28 m_analog.GetValue();
+ 25
- 42 // Gets the instantaneous measured voltage from the analog input.
- 43 // Oversampling and averaging settings are ignored
- 44 m_analog.getVoltage();
+ 42
- 30 // Gets the instantaneous measured voltage from the analog input.
- 31 // Oversampling and averaging settings are ignored
- 32 m_analog.GetVoltage();
+ 30
- 46 // Gets the averaged value from the analog input. The value is not
- 47 // rescaled, but oversampling and averaging are both applied.
- 48 m_analog.getAverageValue();
+ 46
- 34 // Gets the averaged value from the analog input. The value is not
- 35 // rescaled, but oversampling and averaging are both applied.
- 36 m_analog.GetAverageValue();
+ 34
- 46 // Gets the averaged value from the analog input. The value is not
- 47 // rescaled, but oversampling and averaging are both applied.
- 48 m_analog.getAverageValue();
+ 46
- 38 // Gets the averaged voltage from the analog input. Rescaling,
- 39 // oversampling, and averaging are all applied.
- 40 m_analog.GetAverageVoltage();
+ 38
- 42 // Gets the instantaneous measured voltage from the analog input.
- 43 // Oversampling and averaging settings are ignored
- 44 m_analog.getVoltage();
+ 42
- 42 // Sets the initial value of the accumulator to 0
- 43 // This is the "starting point" from which the value will change over time
- 44 m_analog.SetAccumulatorInitialValue(0);
- 45 // Sets the "center" of the accumulator to 0. This value is subtracted from
- 46 // all measured values prior to accumulation.
- 47 m_analog.SetAccumulatorCenter(0);
- 48 // Returns the number of accumulated samples since the accumulator was last
- 49 // started/reset
- 50 m_analog.GetAccumulatorCount();
- 51 // Returns the value of the accumulator. Return type is long.
- 52 m_analog.GetAccumulatorValue();
- 53 // Resets the accumulator to the initial value
- 54 m_analog.ResetAccumulator();
+ 42
- 20 // Instantiate an AccumulatorResult object to hold the matched measurements
- 21 AccumulatorResult m_result = new AccumulatorResult();
- 67 // Fill the AccumulatorResult with the matched measurements
- 68 m_analog.getAccumulatorOutput(m_result);
- 69 // Read the values from the AccumulatorResult
- 70 long count = m_result.count;
- 71 long value = m_result.value;
+ 20
- 66 // Fill the count and value variables with the matched measurements
- 67 m_analog.GetAccumulatorOutput(count, value);
- 68 // The count and value variables to fill
- 58 int64_t count;
- 59 int64_t value;
+ 66
- 16 // Initializes an AnalogPotentiometer on analog port 0
- 17 // The full range of motion (in meaningful external units) is 0-180 (this could be degrees, for
- 18 // instance)
- 19 // The "starting point" of the motion, i.e. where the mechanism is located when the potentiometer
- 20 // reads 0v, is 30.
- 21 AnalogPotentiometer m_pot = new AnalogPotentiometer(0, 180, 30);
+ 16
- 26 // Initializes an AnalogPotentiometer on analog port 0
- 27 // The full range of motion (in meaningful external units) is 0-180 (this
- 28 // could be degrees, for instance) The "starting point" of the motion, i.e.
- 29 // where the mechanism is located when the potentiometer reads 0v, is 30.
- 30 frc::AnalogPotentiometer m_pot{0, 180, 30};
+ 26
- 23 // Initializes an AnalogInput on port 1
- 24 AnalogInput m_input = new AnalogInput(0);
- 25 // Initializes an AnalogPotentiometer with the given AnalogInput
- 26 // The full range of motion (in meaningful external units) is 0-180 (this could be degrees, for
- 27 // instance)
- 28 // The "starting point" of the motion, i.e. where the mechanism is located when the potentiometer
- 29 // reads 0v, is 30.
- 30 AnalogPotentiometer m_pot1 = new AnalogPotentiometer(m_input, 180, 30);
+ 23
- 32 // Initializes an AnalogInput on port 1
- 33 frc::AnalogInput m_input{1};
- 34 // Initializes an AnalogPotentiometer with the given AnalogInput
- 35 // The full range of motion (in meaningful external units) is 0-180 (this
- 36 // could be degrees, for instance) The "starting point" of the motion, i.e.
- 37 // where the mechanism is located when the potentiometer reads 0v, is 30.
- 38 frc::AnalogPotentiometer m_pot1{&m_input, 180, 30};
+ 32
- 40 // Get the value of the potentiometer
- 41 m_pot.get();
+ 40
- 21 // Get the value of the potentiometer
- 22 m_pot.Get();
+ 21
- 15 // Initializes a DigitalInput on DIO 0
- 16 DigitalInput m_input = new DigitalInput(0);
+ 15
- 21 // Initializes a DigitalInput on DIO 0
- 22 frc::DigitalInput m_input{0};
+ 21
- 20 // Gets the value of the digital input. Returns true if the circuit is open.
- 21 m_input.get();
+ 20
- 15 // Gets the value of the digital input. Returns true if the circuit is
- 16 // open.
- 17 m_input.Get();
+ 15
- 16 // Initializes an AnalogTrigger on port 0
- 17 AnalogTrigger m_trigger0 = new AnalogTrigger(0);
- 18 // Initializes an AnalogInput on port 1 and enables 2-bit oversampling
- 19 AnalogInput m_input = new AnalogInput(1);
20 16
- 21 // Initializes an AnalogTrigger using the above input
- 22 AnalogTrigger m_trigger1 = new AnalogTrigger(m_input);
- 27 // Initializes an AnalogTrigger on port 0
- 28 frc::AnalogTrigger trigger0{0};
- 29 // Initializes an AnalogInput on port 1
- 30 frc::AnalogInput input{1};
31 27
- 32 // Initializes an AnalogTrigger using the above input
- 33 frc::AnalogTrigger trigger1{input};
- 26 // Enables 2-bit oversampling
- 27 m_input.setAverageBits(2);
- 28 // Sets the trigger to enable at a raw value of 3500, and disable at a value of 1000
- 29 m_trigger0.setLimitsRaw(1000, 3500);
- 30 // Sets the trigger to enable at a voltage of 4 volts, and disable at a value of 1.5 volts
- 31 m_trigger0.setLimitsVoltage(1.5, 4);
+ 26
- 16 // Enables 2-bit oversampling
- 17 input.SetAverageBits(2);
- 18 // Sets the trigger to enable at a raw value of 3500, and disable at a value
- 19 // of 1000
- 20 trigger0.SetLimitsRaw(1000, 3500);
- 21 // Sets the trigger to enable at a voltage of 4 volts, and disable at a
- 22 // value of 1.5 volts
- 23 trigger0.SetLimitsVoltage(1.5, 4);
+ 16
- 16 // Initializes an encoder on DIO pins 0 and 1
- 17 // Defaults to 4X decoding and non-inverted
- 18 Encoder m_encoder = new Encoder(0, 1);
+ 16
- 56 // Initializes an encoder on DIO pins 0 and 1
- 57 // Defaults to 4X decoding and non-inverted
- 58 frc::Encoder m_encoder{0, 1};
+ 56
- 20 // Initializes an encoder on DIO pins 0 and 1
- 21 // 2X encoding and non-inverted
- 22 Encoder m_encoder2x = new Encoder(0, 1, false, Encoder.EncodingType.k2X);
+ 20
- 60 // Initializes an encoder on DIO pins 0 and 1
- 61 // 2X encoding and non-inverted
- 62 frc::Encoder m_encoder2x{0, 1, false, frc::Encoder::EncodingType::k2X};
+ 60
- 26 // Configures the encoder to return a distance of 4 for every 256 pulses
- 27 // Also changes the units of getRate
- 28 m_encoder.setDistancePerPulse(4.0 / 256.0);
- 29 // Configures the encoder to consider itself stopped after .1 seconds
- 30 m_encoder.setMaxPeriod(0.1);
- 31 // Configures the encoder to consider itself stopped when its rate is below 10
- 32 m_encoder.setMinRate(10);
- 33 // Reverses the direction of the encoder
- 34 m_encoder.setReverseDirection(true);
- 35 // Configures an encoder to average its period measurement over 5 samples
- 36 // Can be between 1 and 127 samples
- 37 m_encoder.setSamplesToAverage(5);
+ 26
- 20 // Configures the encoder to return a distance of 4 for every 256 pulses
- 21 // Also changes the units of getRate
- 22 m_encoder.SetDistancePerPulse(4.0 / 256.0);
- 23 // Configures the encoder to consider itself stopped after .1 seconds
- 24 m_encoder.SetMaxPeriod(0.1_s);
- 25 // Configures the encoder to consider itself stopped when its rate is below
- 26 // 10
- 27 m_encoder.SetMinRate(10);
- 28 // Reverses the direction of the encoder
- 29 m_encoder.SetReverseDirection(true);
- 30 // Configures an encoder to average its period measurement over 5 samples
- 31 // Can be between 1 and 127 samples
- 32 m_encoder.SetSamplesToAverage(5);
+ 20
- 44 // Gets the distance traveled
- 45 m_encoder.getDistance();
+ 44
- 36 // Gets the distance traveled
- 37 m_encoder.GetDistance();
+ 36
- 47 // Gets the current rate of the encoder
- 48 m_encoder.getRate();
+ 47
- 39 // Gets the current rate of the encoder
- 40 m_encoder.GetRate();
+ 39
- 50 // Gets whether the encoder is stopped
- 51 m_encoder.getStopped();
+ 50
- 42 // Gets whether the encoder is stopped
- 43 m_encoder.GetStopped();
+ 42
- 53 // Gets the last direction in which the encoder moved
- 54 m_encoder.getDirection();
+ 53
- 45 // Gets the last direction in which the encoder moved
- 46 m_encoder.GetDirection();
+ 45
- 56 // Gets the current period of the encoder
- 57 m_encoder.getPeriod();
+ 56
- 48 // Gets the current period of the encoder
- 49 m_encoder.GetPeriod();
+ 48
- 59 // Resets the encoder to read a distance of zero
- 60 m_encoder.reset();
+ 59
- 51 // Resets the encoder to read a distance of zero
- 52 m_encoder.Reset();
+ 51
- 15 // Initializes a duty cycle encoder on DIO pins 0
- 16 DutyCycleEncoder m_encoder = new DutyCycleEncoder(0);
+ 15
- 27 // Initializes a duty cycle encoder on DIO pins 0
- 28 frc::DutyCycleEncoder m_encoder{0};
+ 27
- 18 // Initializes a duty cycle encoder on DIO pins 0 to return a value of 4 for
- 19 // a full rotation, with the encoder reporting 0 half way through rotation (2
- 20 // out of 4)
- 21 DutyCycleEncoder m_encoderFR = new DutyCycleEncoder(0, 4.0, 2.0);
+ 18
- 30 // Initializes a duty cycle encoder on DIO pins 0 to return a value of 4 for
- 31 // a full rotation, with the encoder reporting 0 half way through rotation (2
- 32 // out of 4)
- 33 frc::DutyCycleEncoder m_encoderFR{0, 4.0, 2.0};
+ 30
- 28 // Gets the rotation
- 29 m_encoder.get();
+ 28
- 19 // Gets the rotation
- 20 m_encoder.Get();
+ 19
- 31 // Gets if the encoder is connected
- 32 m_encoder.isConnected();
+ 31
- 22 // Gets if the encoder is connected
- 23 m_encoder.IsConnected();
+ 22
- 15 // Initializes an analog encoder on Analog Input pin 0
- 16 AnalogEncoder m_encoder = new AnalogEncoder(0);
+ 15
- 24 // Initializes an analog encoder on Analog Input pin 0
- 25 frc::AnalogEncoder m_encoder{0};
+ 24
- 18 // Initializes an analog encoder on DIO pins 0 to return a value of 4 for
- 19 // a full rotation, with the encoder reporting 0 half way through rotation (2
- 20 // out of 4)
- 21 AnalogEncoder m_encoderFR = new AnalogEncoder(0, 4.0, 2.0);
+ 18
- 27 // Initializes an analog encoder on DIO pins 0 to return a value of 4 for
- 28 // a full rotation, with the encoder reporting 0 half way through rotation (2
- 29 // out of 4)
- 30 frc::AnalogEncoder m_encoderFR{0, 4.0, 2.0};
+ 27
- 28 // Gets the rotation
- 29 m_encoder.get();
+ 28
- 19 // Gets the rotation
- 20 m_encoder.Get();
+ 19
- 17 // Creates an encoder on DIO ports 0 and 1
- 18 Encoder m_encoder = new Encoder(0, 1);
- 19 // Initialize motor controllers and drive
- 20 Spark m_leftLeader = new Spark(0);
- 21 Spark m_leftFollower = new Spark(1);
- 22 Spark m_rightLeader = new Spark(2);
- 23 Spark m_rightFollower = new Spark(3);
- 24 DifferentialDrive m_drive = new DifferentialDrive(m_leftLeader::set, m_rightLeader::set);
25 17
- 26 /** Called once at the beginning of the robot program. */
- 27 public Robot() {
- 28 // Configures the encoder's distance-per-pulse
- 29 // The robot moves forward 1 foot per encoder rotation
- 30 // There are 256 pulses per encoder rotation
- 31 m_encoder.setDistancePerPulse(1.0 / 256.0);
- 32 // Invert the right side of the drivetrain. You might have to invert the other side
- 33 m_rightLeader.setInverted(true);
- 34 // Configure the followers to follow the leaders
- 35 m_leftLeader.addFollower(m_leftFollower);
- 36 m_rightLeader.addFollower(m_rightFollower);
- 37 }
- 38
- 39 /** Drives forward at half speed until the robot has moved 5 feet, then stops. */
- 40 @Override
- 41 public void autonomousPeriodic() {
- 42 if (m_encoder.getDistance() < 5.0) {
- 43 m_drive.tankDrive(0.5, 0.5);
- 44 } else {
- 45 m_drive.tankDrive(0.0, 0.0);
- 46 }
- 47 }
- 41 Robot() {
- 42 // Configures the encoder's distance-per-pulse
- 43 // The robot moves forward 1 foot per encoder rotation
- 44 // There are 256 pulses per encoder rotation
- 45 m_encoder.SetDistancePerPulse(1.0 / 256.0);
- 46 // Invert the right side of the drivetrain. You might have to invert the
- 47 // other side
- 48 rightLeader.SetInverted(true);
- 49 // Configure the followers to follow the leaders
- 18 leftLeader.AddFollower(leftFollower);
- 19 rightLeader.AddFollower(rightFollower);
- 20 }
- 21 void AutonomousPeriodic() override {
- 22 // Drives forward at half speed until the robot has moved 5 feet, then
- 23 // stops:
- 24 if (m_encoder.GetDistance() < 5) {
- 25 drive.TankDrive(0.5, 0.5);
- 26 } else {
- 27 drive.TankDrive(0, 0);
- 28 }
- 29 }
- 30 // Creates an encoder on DIO ports 0 and 1.
- 31 frc::Encoder m_encoder{0, 1};
- 32 // Initialize motor controllers and drive
- 33 frc::Spark leftLeader{0};
- 34 frc::Spark leftFollower{1};
- 35 frc::Spark rightLeader{2};
- 36 frc::Spark rightFollower{3};
- 37 frc::DifferentialDrive drive{[&](double output) { leftLeader.Set(output); },
- 38 [&](double output) { rightLeader.Set(output); }};
+ 41
- 17 Encoder m_encoder = new Encoder(0, 1);
- 18 Spark m_spark = new Spark(0);
- 19 // Limit switch on DIO 2
- 20 DigitalInput m_limit = new DigitalInput(2);
21 17
- 22 /**
- 23 * Runs the motor backwards at half speed until the limit switch is pressed then turn off the
- 24 * motor and reset the encoder.
- 25 */
- 26 @Override
- 27 public void autonomousPeriodic() {
- 28 if (!m_limit.get()) {
- 29 m_spark.set(-0.5);
- 30 } else {
- 31 m_spark.set(0.0);
- 32 m_encoder.reset();
- 33 }
- 34 }
- 30 void AutonomousPeriodic() override {
- 31 // Runs the motor backwards at half speed until the limit switch is pressed
- 32 // then turn off the motor and reset the encoder
- 33 if (!m_limit.Get()) {
- 18 m_spark.Set(-0.5);
- 19 } else {
- 20 m_spark.Set(0);
- 21 m_encoder.Reset();
- 22 }
- 23 }
- 24 frc::Encoder m_encoder{0, 1};
- 25 frc::Spark m_spark{0};
- 26 // Limit switch on DIO 2
- 27 frc::DigitalInput m_limit{2};
+ 30
- 17 DigitalInput m_toplimitSwitch = new DigitalInput(0);
- 18 DigitalInput m_bottomlimitSwitch = new DigitalInput(1);
- 19 PWMVictorSPX m_motor = new PWMVictorSPX(0);
- 20 Joystick m_joystick = new Joystick(0);
21 17
- 22 @Override
- 23 public void teleopPeriodic() {
- 24 setMotorSpeed(m_joystick.getRawAxis(2));
- 25 }
- 26
- 27 /**
- 28 * Sets the motor speed based on joystick input while respecting limit switches.
- 29 *
- 30 * @param speed the desired speed of the motor, positive for up and negative for down
- 31 */
- 32 public void setMotorSpeed(double speed) {
- 33 if (speed > 0) {
- 34 if (m_toplimitSwitch.get()) {
- 35 // We are going up and top limit is tripped so stop
- 36 m_motor.set(0);
- 37 } else {
- 38 // We are going up but top limit is not tripped so go at commanded speed
- 39 m_motor.set(speed);
- 40 }
- 41 } else {
- 42 if (m_bottomlimitSwitch.get()) {
- 43 // We are going down and bottom limit is tripped so stop
- 44 m_motor.set(0);
- 45 } else {
- 46 // We are going down but bottom limit is not tripped so go at commanded speed
- 47 m_motor.set(speed);
- 48 }
- 49 }
- 50 }
- 40 void TeleopPeriodic() override { SetMotorSpeed(m_joystick.GetRawAxis(2)); }
- 41 void SetMotorSpeed(double speed) {
- 42 if (speed > 0) {
- 43 if (m_toplimitSwitch.Get()) {
- 17 // We are going up and top limit is tripped so stop
- 18 m_motor.Set(0);
- 19 } else {
- 20 // We are going up but top limit is not tripped so go at commanded speed
- 21 m_motor.Set(speed);
- 22 }
- 23 } else {
- 24 if (m_bottomlimitSwitch.Get()) {
- 25 // We are going down and bottom limit is tripped so stop
- 26 m_motor.Set(0);
- 27 } else {
- 28 // We are going down but bottom limit is not tripped so go at commanded
- 29 // speed
- 30 m_motor.Set(speed);
- 31 }
- 32 }
- 33 }
- 34 frc::DigitalInput m_toplimitSwitch{0};
- 35 frc::DigitalInput m_bottomlimitSwitch{1};
- 36 frc::PWMVictorSPX m_motor{0};
- 37 frc::Joystick m_joystick{0};
+ 40 |
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