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C++ CANJaguar::SetSafetyEnabled方法代码示例

本文整理汇总了C++中CANJaguar::SetSafetyEnabled方法的典型用法代码示例。如果您正苦于以下问题：C++ CANJaguar::SetSafetyEnabled方法的具体用法？C++ CANJaguar::SetSafetyEnabled怎么用？C++ CANJaguar::SetSafetyEnabled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::SetSafetyEnabled方法的6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: 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: 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5: 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6: RobotInit

    /**
     * Robot-wide initialization code should go here.
     * 
     * Use this method for default Robot-wide initialization which will
     * be called when the robot is first powered on.  It will be called exactly 1 time.
     */
    void RobotInit()
    {
printf(">>> RobotInit\n");

	LogInit();

#ifdef HAVE_COMPRESSOR
	compressor  = new Compressor(1, 1);
#endif

#ifdef HAVE_TOP_WHEEL
#ifdef HAVE_TOP_CAN1
	topWheel1    = new CANJaguar(1);
	topWheel1->SetSafetyEnabled(false);	// motor safety off while configuring
	topWheel1->SetSpeedReference( CANJaguar::kSpeedRef_Encoder );
	topWheel1->ConfigEncoderCodesPerRev( 1 );
#endif
#ifdef HAVE_TOP_PWM1
	topWheel1    = new Victor(1);
	topWheel1->SetSafetyEnabled(false);	// motor safety off while configuring
#endif
#ifdef HAVE_TOP_CAN2
	topWheel2    = new CANJaguar(2);
	topWheel2->SetSafetyEnabled(false);	// motor safety off while configuring
	topWheel2->SetSpeedReference( CANJaguar::kSpeedRef_Encoder );
	topWheel2->ConfigEncoderCodesPerRev( 1 );
#endif
	topTach      = new Tachometer(2);
#endif

#ifdef HAVE_BOTTOM_WHEEL
#ifdef HAVE_BOTTOM_CAN1
	bottomWheel1 = new CANJaguar(3);
	bottomWheel1->SetSafetyEnabled(false);	// motor safety off while configuring
	bottomWheel1->SetSpeedReference( CANJaguar::kSpeedRef_Encoder );
	bottomWheel1->ConfigEncoderCodesPerRev( 1 );
#endif
#ifdef HAVE_BOTTOM_PWM1
	bottomWheel1 = new Victor(2);
	bottomWheel1->SetSafetyEnabled(false);	// motor safety off while configuring
#endif
#ifdef HAVE_BOTTOM_CAN2
	bottomWheel2 = new CANJaguar(4);
	bottomWheel2->SetSafetyEnabled(false);	// motor safety off while configuring
	bottomWheel2->SetSpeedReference( CANJaguar::kSpeedRef_Encoder );
	bottomWheel2->ConfigEncoderCodesPerRev( 1 );
#endif
	bottomTach   = new Tachometer(3);
#endif

#ifdef HAVE_ARM
	arm          = new DoubleSolenoid(2, 1);
#endif
#ifdef HAVE_INJECTOR
	injectorL    = new DoubleSolenoid(5, 3);
	injectorR    = new DoubleSolenoid(6, 4);
#endif
#ifdef HAVE_EJECTOR
	ejector      = new Solenoid(7);
#endif
#ifdef HAVE_LEGS
	legs         = new Solenoid(8);
#endif

	ds           = DriverStation::GetInstance();
	eio          = &ds->GetEnhancedIO();
	gamepad      = new Joystick(1);

	LiveWindow *lw = LiveWindow::GetInstance();
#ifdef HAVE_COMPRESSOR
	lw->AddActuator("K9", "Compressor", compressor);
#endif
#ifdef HAVE_TOP_WHEEL
#ifdef HAVE_TOP_CAN1
	lw->AddActuator("K9", "Top1",       topWheel1);
#endif
#ifdef HAVE_TOP_PWM1
	lw->AddActuator("K9", "Top1",       topWheel1);
#endif
#ifdef HAVE_TOP_CAN2
	lw->AddActuator("K9", "Top2",       topWheel2);
#endif
#endif
#ifdef HAVE_BOTTOM_WHEEL
#ifdef HAVE_BOTTOM_CAN1
	lw->AddActuator("K9", "Bottom1",    bottomWheel1);
#endif
#ifdef HAVE_BOTTOM_PWM1
	lw->AddActuator("K9", "Bottom1",    bottomWheel1);
#endif
#ifdef HAVE_BOTTOM_CAN2
	lw->AddActuator("K9", "Bottom2",    bottomWheel2);
#endif
#endif
//.........这里部分代码省略.........
开发者ID:errorcodexero，项目名称:k9，代码行数:101，代码来源:k9.cpp


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