C++ CANJaguar::EnableControl方法代码示例

本文整理汇总了C++中CANJaguar::EnableControl方法的典型用法代码示例。如果您正苦于以下问题：C++ CANJaguar::EnableControl方法的具体用法？C++ CANJaguar::EnableControl怎么用？C++ CANJaguar::EnableControl使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类CANJaguar的用法示例。

在下文中一共展示了CANJaguar::EnableControl方法的11个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: TeleopInit

	void TeleopInit(void) {
		m_telePeriodicLoops = 0;				// Reset the loop counter for teleop mode
		m_dsPacketsReceivedInCurrentSecond = 0;	// Reset the number of dsPackets in current second
		
		// Default autoPilot to off
		autoPilot = false;
		
		Front_R->EnableControl();
		Front_L->EnableControl();
		
		// Enable Goal Align PID
//		Goal_Align_PID->Disable(); // Stop previous enables
//		Goal_Align_PID->Enable();
//		Goal_Align_PID->SetSetpoint(0.0);
	}

开发者ID:FRC79，项目名称:Nano，代码行数:15，代码来源:CK16_Main.cpp

示例2: checkJag

	void RawControl::checkJag()
	{
		
		if(frontRight->GetFaults()!=0)
		{
			frontRight->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
			frontRight->SetSafetyEnabled(false);
			frontRight->ConfigEncoderCodesPerRev(360);
			frontRight->EnableControl(0);

		}
		if(frontLeft->GetFaults()!=0)
		{
			frontLeft->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
			frontLeft->SetSafetyEnabled(false);
			frontLeft->ConfigEncoderCodesPerRev(360);
			frontLeft->EnableControl(0);
			
		}
		if(backLeft->GetFaults()!=0)
		{
			backLeft->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
			backLeft->SetSafetyEnabled(false);
			backLeft->ConfigEncoderCodesPerRev(360);
			backLeft->EnableControl(0);
			
		}
		if(backRight->GetFaults()!=0)
		{
			backRight->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
			backRight->SetSafetyEnabled(false);
			backRight->ConfigEncoderCodesPerRev(360);
			backRight->EnableControl(0);
			
		}
		if(arm->GetFaults()!=0)
		{
			arm->SetPID(ARM_P, -.02, 0);
			arm->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
			arm->SetSafetyEnabled(false);
			arm->ConfigMaxOutputVoltage(13);
			arm->SetPositionReference(CANJaguar::kPosRef_Potentiometer);
			arm->ConfigPotentiometerTurns(1);
			arm->EnableControl(0);
		}
		
		
	}

开发者ID:The-Charge，项目名称:2011_TubeBot，代码行数:48，代码来源:TubeBot.cpp

示例3: resetArm

	void RawControl::resetArm()
	{
		arm->SetPID(-5, 0, 0);
		arm->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
		arm->SetSafetyEnabled(false);
		arm->SetPositionReference(CANJaguar::kPosRef_Potentiometer);
		arm->ConfigEncoderCodesPerRev(1);
		arm->EnableControl(0);
		
	}

开发者ID:The-Charge，项目名称:2011_TubeBot，代码行数:10，代码来源:TubeBot.cpp

示例4: InitMotor

void MecanumDrive::InitMotor( CANJaguar& motor )
{
	motor.ChangeControlMode( m_currControlMode );
	if ( m_currControlMode == CANJaguar::kSpeed )
	{
		motor.ConfigEncoderCodesPerRev(360);
		motor.ConfigMaxOutputVoltage(12.0);
		motor.ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
		motor.SetPID(.7,.004,0);
		motor.SetSpeedReference(CANJaguar::kSpeedRef_QuadEncoder);
	}
	motor.EnableControl();
}

开发者ID:IAmAGitNewbie，项目名称:kauaibotsfirst2010，代码行数:13，代码来源:MecanumDrive.cpp

示例5: resetJags

	void RawControl::resetJags()
	{
		{
			frontRight->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
			frontRight->SetSafetyEnabled(false);
			frontRight->ConfigEncoderCodesPerRev(360);

			frontRight->EnableControl(0);

		}

		{
			frontLeft->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
			frontLeft->SetSafetyEnabled(false);
			frontLeft->ConfigEncoderCodesPerRev(360);
			frontLeft->EnableControl(0);

		}

		{
			backLeft->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
			backLeft->SetSafetyEnabled(false);
			backLeft->ConfigEncoderCodesPerRev(360);
			backLeft->EnableControl(0);

		}

		{
			backRight->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
			backRight->SetSafetyEnabled(false);
			backRight->ConfigEncoderCodesPerRev(360);
			backRight->EnableControl(0);

		}
		frontLeft->ChangeControlMode(CANJaguar::kPercentVbus);
		frontRight->ChangeControlMode(CANJaguar::kPercentVbus);
		backLeft->ChangeControlMode(CANJaguar::kPercentVbus);
		backRight->ChangeControlMode(CANJaguar::kPercentVbus);
		frontLeft->ConfigFaultTime(0);
		backLeft->ConfigFaultTime(0);
		backRight->ConfigFaultTime(0);
		frontRight->ConfigFaultTime(0);

		frontLeft->EnableControl(0);
		frontRight->EnableControl(0);
		backLeft->EnableControl(0);
		backRight->EnableControl(0);

	}

开发者ID:The-Charge，项目名称:2011_TubeBot，代码行数:49，代码来源:TubeBot.cpp

示例6: initRobot

	void initRobot () {
			cerr << "running init\n";
			Dlf->EnableControl(0);
			Dlb->EnableControl(0);
			Drf->EnableControl(0);
			Drb->EnableControl(0);
			arm1->EnableControl();
			arm1_sec->EnableControl();
			arm2->EnableControl();
			
			
			
			Dlf->ConfigEncoderCodesPerRev(250);
			Dlf->SetPID(1,0,0);
			Dlb->ConfigEncoderCodesPerRev(250);
			Dlb->SetPID(1,0,0);
			Drf->ConfigEncoderCodesPerRev(250);
			Drf->SetPID(1,0,0);
			Drb->ConfigEncoderCodesPerRev(250);
			Drb->SetPID(1,0,0);
			Wait(.1);
			if(robotInted==false) {
				int count=220;
				arm2->Set(-.3);
				while(count-->0 && LimitClaw.Get() == 1) Wait(.005);
				arm2->Set(.15);
				while(count-->0 && LimitClaw.Get() == 0) Wait(.005);
				arm2->Set(0);
				if(count>0)
					EncClaw.Reset();
				arm1->Set(-.3);
				arm1_sec->Set(-.3);
				while(count-->0 && LimitArm.Get() == 1) Wait(.005);
				arm1->Set(.5);
				arm1_sec->Set(.5);
				while(count-->0 && LimitArm.Get() == 0) Wait(.005);
				if(count>0)
					EncArm.Reset();
				arm1->Set(0);
				arm1_sec->Set(0);
				
				robotInted = true;
			}
		}

开发者ID:nerdherd，项目名称:FRC-2011，代码行数:44，代码来源:MyRobot.cpp

示例7: OperatorControl

	void DoctaEight::OperatorControl(void)
	{
		REDRUM;
		LTop.SetSafetyEnabled(0);
		LTop.EnableControl();
		LBot.SetSafetyEnabled(0);
		LBot.EnableControl();
		while (IsOperatorControl())
		{
			REDRUM;
			output();
			if (pilot.GetRawButton(6))
			{
				arm.Set (.3);
			}
			
			else if (pilot.GetRawButton(5))
			{
				
				arm.Set (-.3);
			}
			else
				arm.Set (0);
				
		
			//Set Shooter state and reset RPMoffset if necessary
			
			if (copilot.GetRawButton(1)) //BUTTON A
			{	
				REDRUM;
				if(ShooterState != 1) 
				{
					REDRUM;
					ShooterState = 1;	
					RPMoffset = 0;
				}
			}
			else if (copilot.GetRawButton(2)) //BUTTON B
			{
				REDRUM;
				if(ShooterState != 2) 
				{
					REDRUM;
					ShooterState = 2;	
					RPMoffset = 0;
				}
			}
			else if (copilot.GetRawButton(3)) //BUTTON X
			{
				REDRUM;
				if(ShooterState != 3) 
				{
					REDRUM;
					ShooterState = 3;	
					RPMoffset = 0;
				}
			}
			else if (copilot.GetRawButton(4)) //BUTTON Y
			{
				REDRUM;
				if(ShooterState != 4) 
					{
						REDRUM;
						ShooterState = 4;	
						RPMoffset = 0;
					}
			}
			
			//increment or decrement RPMoffset
			if(copilot.GetRawButton(5)) //BUTTON LB
			{
				REDRUM;
				FlagB5 = true;
			}
			else if(copilot.GetRawButton(6)) //BUTTON RB
			{
				REDRUM;
				FlagB6 = true;
			}
			
			if(FlagB5 == true && copilot.GetRawButton(5) == false)
			{
				REDRUM;
				RPMoffset -= 50;
				FlagB5 = false;
			}
			else if(FlagB6 && !copilot.GetRawButton(6))
			{
				REDRUM;
				RPMoffset += 50;
				FlagB6 = false;
			}
			
			if (pilot.GetRawButton(1) && !cycle)
			{
				cycle = 1;
				negate*=-1;
			}
			else
			{
//.........这里部分代码省略.........

开发者ID:HelenCheng，项目名称:DoctorOctagonapus，代码行数:101，代码来源:MyRobot.cpp

示例8: zero

	int RawControl::zero() {
		arm->EnableControl(0);
		
		return 0;
	}

开发者ID:The-Charge，项目名称:2011_TubeBot，代码行数:5，代码来源:TubeBot.cpp

示例9: configJags

//CHECK THIS OUT!!
	void RawControl::configJags() {
		//will need to be tuned on the new robot
		frontLeft->SetPID(3, .07, 0);//tested values are 1,.02,0
		frontRight->SetPID(3, .09, 0);
		backLeft->SetPID(1, .013, 0);
		backRight->SetPID(1.2, .013, 0);
		arm->SetPID(ARM_P, -.02, 0);

		backLeft->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
		frontLeft->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
		frontRight->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
		backRight->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
		arm->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
		//shoot everything remotely safety related
		backLeft->SetSafetyEnabled(false);
		backRight->SetSafetyEnabled(false);
		frontLeft->SetSafetyEnabled(false);
		frontRight->SetSafetyEnabled(false);
		arm->SetSafetyEnabled(false);
		
		
		

		frontLeft->ConfigMaxOutputVoltage(13);
		frontRight->ConfigMaxOutputVoltage(13);
		backLeft->ConfigMaxOutputVoltage(13);
		backRight->ConfigMaxOutputVoltage(13);
		arm->ConfigMaxOutputVoltage(13);

		frontLeft->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
		frontRight->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
		backRight->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
		backLeft->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
		arm->SetPositionReference(CANJaguar::kPosRef_Potentiometer);
		//not sure on these values either
		frontLeft->ConfigEncoderCodesPerRev(360);
		frontRight->ConfigEncoderCodesPerRev(360);
		backLeft->ConfigEncoderCodesPerRev(360);
		backRight->ConfigEncoderCodesPerRev(360);
		arm->ConfigPotentiometerTurns(1);
		frontLeft->ChangeControlMode(CANJaguar::kPercentVbus);
		frontRight->ChangeControlMode(CANJaguar::kPercentVbus);
		backLeft->ChangeControlMode(CANJaguar::kPercentVbus);
		backRight->ChangeControlMode(CANJaguar::kPercentVbus);
		frontLeft->EnableControl(0);
		frontRight->EnableControl(0);
		backLeft->EnableControl(0);
		backRight->EnableControl(0);
		frontLeft->ConfigFaultTime(0);
		backLeft->ConfigFaultTime(0);
		backRight->ConfigFaultTime(0);
		frontRight->ConfigFaultTime(0);
		arm->ConfigFaultTime(0);
		arm->EnableControl(0);
		arm->EnableControl(0);
		
		
		/*
		 fl=new CANJaguar(2,CANJaguar::kSpeed);
		 fr=new CANJaguar(3,CANJaguar::kSpeed);
		 bl=new CANJaguar(4,CANJaguar::kSpeed);
		 br=new CANJaguar(1,CANJaguar::kSpeed);
		 
		 fl->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
		 fr->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
		 br->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
		 bl->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
		 
		 fl->ConfigEncoderCodesPerRev(1440);
		 fr->ConfigEncoderCodesPerRev(1440);
		 bl->ConfigEncoderCodesPerRev(1440);
		 br->ConfigEncoderCodesPerRev(1440);
		 */
	}

开发者ID:The-Charge，项目名称:2011_TubeBot，代码行数:75，代码来源:TubeBot.cpp

示例10: Configure

void CANJaguarConfiguration :: Configure ( CANJaguar & Jag )
{
	
	Jag.DisableControl ();
	
	Jag.ConfigMaxOutputVoltage ( MaxOutputVoltage );
	Jag.SetVoltageRampRate ( VoltageRampRate );
	
	Jag.ConfigFaultTime ( FaultTime );
	
	Jag.ConfigNeutralMode ( NeutralMode );
	
	Jag.ConfigLimitMode ( LimitMode );
	Jag.ConfigForwardLimit ( ForwardPositionLimit );
	Jag.ConfigForwardLimit ( ReversePositionLimit );
	
	switch ( Feedback )
	{

	case kFeedbackType_None:

		switch ( Mode )
		{

		case CANSpeedController :: kPercentVbus:
			Jag.SetPercentMode ();
			break;

		case CANSpeedController :: kCurrent:
			
			Jag.SetCurrentMode ( P, I, D );
			
			Jag.Set ( 0 );
			Jag.EnableControl ();
			
			break;

		case CANSpeedController :: kVoltage:
			Jag.SetVoltageMode ();
			break;
			
		default:
			
			Jag.SetVoltageMode ( CANJaguar :: Encoder, EncoderCounts );
			Jag.ConfigMaxOutputVoltage ( 0.0 );
			
			break;

		}
		
		break;
		
	case kFeedbackType_Encoder:
		
		switch ( Mode )
		{
			
		case CANSpeedController :: kPercentVbus:
			Jag.SetPercentMode ( CANJaguar :: Encoder, EncoderCounts );
			break;
	
		case CANSpeedController :: kCurrent:
			
			Jag.SetCurrentMode ( CANJaguar :: Encoder, EncoderCounts, P, I, D );
			
			Jag.Set ( 0 );
			Jag.EnableControl ();
			
			break;
		
		case CANSpeedController :: kSpeed:
			
			Jag.SetSpeedMode ( CANJaguar :: Encoder, EncoderCounts, P, I, D );
			
			Jag.Set ( 0 );
			Jag.EnableControl ();
			
			break;
			
		case CANSpeedController :: kVoltage:
			Jag.SetVoltageMode ( CANJaguar :: Encoder, EncoderCounts );
			break;
			
		default:
			
			Jag.SetVoltageMode ( CANJaguar :: Encoder, EncoderCounts );
			Jag.ConfigMaxOutputVoltage ( 0.0 );
			
			break;
			
		}
		
		break;
		
	case kFeedbackType_QuadEncoder:
		
		switch ( Mode )
		{
			
		case CANSpeedController :: kPercentVbus:
//.........这里部分代码省略.........

开发者ID:FRC2605，项目名称:CodeDevelopment，代码行数:101，代码来源:CANJaguarConfiguration.cpp

示例11: DashboardCommandServer

	// Shamelessly stolen from PCVideoServer
	int DashboardCommandServer()
	{
	    /* Setup to PC sockets */
	    struct sockaddr_in serverAddr;
	    int sockAddrSize = sizeof(serverAddr);
	    int pcSock = ERROR;
	    bzero ((char *) &serverAddr, sockAddrSize);
	    serverAddr.sin_len = (u_char) sockAddrSize;
	    serverAddr.sin_family = AF_INET;
	    serverAddr.sin_port = htons (kDashboardCommandPort);
	    serverAddr.sin_addr.s_addr = htonl (INADDR_ANY);

	    while (true)
	    {
	        taskSafe();
	    	  //  Create the socket.
	        if ((pcSock = socket (AF_INET, SOCK_STREAM, 0)) == ERROR)
	        {
	            perror ("socket");
	            continue;
	        }
	        //  Set the TCP socket so that it can be reused if it is in the wait state.
	        int reuseAddr = 1;
	        setsockopt(pcSock, SOL_SOCKET, SO_REUSEADDR, reinterpret_cast<char*>(&reuseAddr), sizeof(reuseAddr));
	        //  Bind socket to local address.
	        if (bind (pcSock, (struct sockaddr *) &serverAddr, sockAddrSize) == ERROR)
	        {
	            perror ("bind");
	            close (pcSock);
	            continue;
	        }
	        //  Create queue for client connection requests.
	        if (listen (pcSock, 1) == ERROR)
	        {
	            perror ("listen");
	            close (pcSock);
	            continue;
	        }

	        struct sockaddr_in clientAddr;
	        int clientAddrSize;
	        int newPCSock = accept (pcSock, reinterpret_cast<sockaddr*>(&clientAddr), &clientAddrSize);
	        if (newPCSock  == ERROR)
	        {
	            close(pcSock);
	            continue;
	        }

	        char cmdBuffer[32];
	        char *pBuffer;
	        while(1)
	        {
	            int numBytes = 0;
	            pBuffer = cmdBuffer;
	            while (numBytes < 2 || (*(pBuffer-2) != '\r' && *(pBuffer-1) != '\n'))
	            {
		            numBytes += read(newPCSock, pBuffer++, 1);
	            }
	            char command = cmdBuffer[0];
	            switch (command)
	            {
	            case 'E':
	            	speedJag.EnableControl();
	            	//printf("Enable\n");
	            	break;
	            case 'D':
	            	speedJag.DisableControl();
	            	//printf("Disable\n");
	            	break;
	            case 'G':
	            	{
	            		double P, I, D;
	            		memcpy((char*)&P, cmdBuffer+1, sizeof(double));
	            		memcpy((char*)&I, cmdBuffer+9, sizeof(double));
	            		memcpy((char*)&D, cmdBuffer+17, sizeof(double));
	            		speedJag.SetPID(P, I, D);
	            		//printf("Set- P: %f I: %f D: %f\n", P, I, D);
	            		//P = speedJag.GetP();
	            		//I = speedJag.GetI();
	            		//D = speedJag.GetD();
	            		//printf("Get- P: %f I: %f D: %f\n", P, I, D);
	            	}
	            	break;
	            }

	            //no point in running too fast -
	            Wait(0.01);
	        }
	        //  Clean up
	        close (newPCSock);
	        newPCSock = ERROR;
	        close (pcSock);
	        pcSock = ERROR;
	        taskUnsafe();
	        Wait(0.1);
	    }
	    return (OK);
	}

开发者ID:FRC980，项目名称:FRC-Team-980，代码行数:99，代码来源:MyRobot.cpp

注：本文中的CANJaguar::EnableControl方法示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。