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C++ DriverStation::GetEnhancedIO方法代码示例

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


在下文中一共展示了DriverStation::GetEnhancedIO方法的8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: GetAnalogIn

	float Cypress::GetAnalogIn(int channel) {
		int getchan=abs(channel-4)+1;
		if (enhanced)
			return m_ds->GetEnhancedIO().GetAnalogIn(getchan);
		else
			return m_ds->GetAnalogIn(getchan);
	}
开发者ID:The-Charge，项目名称:2011_TubeBot，代码行数:7，代码来源:TubeBot.cpp

示例2: 

OI::OI() :
	pIO(NULL),
	driverStick(DRIVER_STICK),
	gunnerStick(GUNNER_STICK)
{
     DriverStation *pDS = DriverStation::GetInstance();
     pIO = &pDS->GetEnhancedIO();
}
开发者ID:errorcodexero，项目名称:command，代码行数:8，代码来源:OI.cpp

示例3: SetDigitalOut

	void Cypress::SetDigitalOut(int channel, bool value) {
		int getchan=abs(channel-8)+1;
		if (enhanced) {
			getchan+=8;
			m_ds->GetEnhancedIO().SetDigitalOutput(getchan, value);
		} else
			m_ds->SetDigitalOut(getchan, value);
	}
开发者ID:The-Charge，项目名称:2011_TubeBot，代码行数:8，代码来源:TubeBot.cpp

示例4: GetDigitalIn

	bool Cypress::GetDigitalIn(int channel)

	{
		
		
			return m_ds->GetEnhancedIO().GetDigital(channel);
		
	}
开发者ID:The-Charge，项目名称:2011_TubeBot，代码行数:8，代码来源:TubeBot.cpp

示例5: Joystick

MedicOperatorInterface::MedicOperatorInterface()
{
	joyDrive = new Joystick(1);//TODO:real value
	joyManip = new Joystick(2);//TODO:real value
	DriverStation *dsSimple = DriverStation::GetInstance();
	ds = &dsSimple->GetEnhancedIO();
	dsLCD = DriverStationLCD::GetInstance();	
	dashboard->init();
}
开发者ID:Robodox，项目名称:2013_Medic，代码行数:9，代码来源:MedicOperatorInterface.cpp

示例6: OperatorControl

	void OperatorControl(void)
	{
		autonomous = false;
		//myRobot.SetSafetyEnabled(false);
		//myRobot.SetInvertedMotor(kFrontLeftMotor, true);
		//	myRobot.SetInvertedMotor(3, true);
		//variables for great pid
		double rightSpeed,leftSpeed;
		float rightSP, leftSP, liftSP, lastLiftSP, gripSP, tempLeftSP, tempRightSP;
		float stickY[2];
		float stickYAbs[2];
		bool lightOn = false;
		AxisCamera &camera = AxisCamera::GetInstance();
		camera.WriteResolution(AxisCameraParams::kResolution_160x120);
		camera.WriteMaxFPS(5);
		camera.WriteBrightness(50);
		camera.WriteRotation(AxisCameraParams::kRotation_0);
		rightEncoder->Start();
		leftEncoder->Start();
		liftEncoder->Start();
		rightEncoder->Reset();
		leftEncoder->Reset();
		liftEncoder->Reset();
		bool fastest = false; //transmission mode
		float reduction = 1; //gear reduction from 
		bool bDrivePID = false;
		//float maxSpeed = 500;
		float liftPower = 0;
		float liftPos = -10;
		bool disengageBrake = false;
		int count = 0;
		//int popCount = 0;
		double popStart = 0;
		double popTime = 0;
		int popStage = 0;
		int liftCount = 0;
		int liftCount2 = 0;
		const float LOG17 = log(17.61093344);
		float liftPowerAbs = 0;
		float gripError = 0;
		float gripErrorAbs = 0;
		float gripPropMod = 0;
		float gripIntMod = 0;
		bool shiftHigh = false;
		leftEncoder->SetDistancePerPulse((6 * PI / 1000)/reduction); //6-inch wheels, 1000 raw counts per revolution,
		rightEncoder->SetDistancePerPulse((6 * PI / 1000)/reduction); //about 1:1 gear ratio
		DriverStationEnhancedIO &myEIO = driverStation->GetEnhancedIO();
		GetWatchdog().SetEnabled(true);
		GetWatchdog().SetExpiration(0.3);

		PIDDriveLeft->SetOutputRange(-1, 1);
		PIDDriveRight->SetOutputRange(-1, 1);
		//PIDDriveLeft->SetInputRange(-244,244);
		//PIDDriveRight->SetInputRange(-244,244);
		PIDDriveLeft->SetTolerance(5);
		PIDDriveRight->SetTolerance(5);
		PIDDriveLeft->SetContinuous(false);
		PIDDriveRight->SetContinuous(false);
		//PIDDriveLeft->Enable();
		//PIDDriveRight->Enable();
		PIDDriveRight->SetPID(DRIVEPROPGAIN, DRIVEINTGAIN, DRIVEDERIVGAIN);
		PIDDriveLeft->SetPID(DRIVEPROPGAIN, DRIVEINTGAIN, DRIVEDERIVGAIN);
		
		liftSP = 0;
		PIDLift->SetTolerance(10);
		PIDLift->SetContinuous(false);
		PIDLift->SetOutputRange(-0.75, 1.); //BUGBUG
		PIDLift->Enable();
		
		gripSP = 0;
		float goalGripSP = 0;
		bool useGoalSP = true;
		bool gripPIDOn = true;
		float gripP[10];
		float gripI[10];
		float gripD[10];
		PIDGrip->SetOutputRange(-0.5, 0.28); //Negative goes up
		PIDGrip->SetTolerance(5);
		PIDGrip->SetSetpoint(0);
		PIDGrip->Enable();
		miniDep->Set(miniDep->kForward);
		int i = 0;
		while(i < 10)
		{
			gripP[i] = GRIPPROPGAIN;
			i++;
		}
		i = 0;
		while(i < 10)
		{
			gripI[i] = GRIPINTGAIN;
			i++;
		}
		i = 0;
		while(i < 10)
		{
			gripD[i] = GRIPDERIVGAIN;
			i++;
		}

//.........这里部分代码省略.........
开发者ID:Skunk-ProLaptop，项目名称:Skunkworks1983，代码行数:101，代码来源:MyRobot+lift+36-tooth.cpp

示例7: DriveArm

void Arm::DriveArm() {
	float claw_target= CLAW_OPEN;

	DriverStation *ds = DriverStation::GetInstance();

	if(ds->GetDigitalIn(3) && !ds->GetDigitalIn(4))
	{
		float tower_target = (ds->GetEnhancedIO().GetAnalogInRatio(1) * (TOWER_MAX - TOWER_MIN)) + TOWER_MIN;
		float wrist_target = (ds->GetEnhancedIO().GetAnalogInRatio(3) * (WRIST_MAX-WRIST_MIN)) + WRIST_MIN;
	
		if (tower_target > TOWER_MAX)
			tower_target = TOWER_MAX;
		else if (tower_target < TOWER_MIN)
			tower_target = TOWER_MIN;
	
		if (wrist_target < WRIST_MIN)
			wrist_target = WRIST_MIN;
		if (wrist_target > WRIST_MAX)
			wrist_target = WRIST_MAX;
	
		if (ds->GetDigitalIn(1)) {
			claw_target = CLAW_CLOSED;
		}
	
		float tower_voltage = towerPID->GetOutput(GetTowerPot(), tower_target, 0,
				.03) * -1;
		float claw_voltage = clawPID->GetOutput(GetClawPot(), claw_target, 0, .1);
		float wrist_voltage = wristPID->GetOutput(GetWristPot(), wrist_target, 0,
				.2) * -1;
		
		if(!towerLimit->Get() && tower_voltage < 0)
		{
			tower_voltage = 0;
			towerMotor->Set(0);
		}
		
		if(fabs(claw_voltage) > .5)
			wrist_voltage = 0;
		
		towerMotor->Set(tower_voltage);
		wristMotor->Set(wrist_voltage);
		clawMotor->Set(claw_voltage);
	}
	else if(ds->GetDigitalIn(3) && ds->GetDigitalIn(4))
	{
		float tower_voltage = towerPID->GetOutput(GetTowerPot(), TOWER_AUTO_DOWN, 0,
						.03) * -1;
		float claw_voltage = clawPID->GetOutput(GetClawPot(), CLAW_OPEN, 0, .1);
		float wrist_voltage = wristPID->GetOutput(GetWristPot(), WRIST_AUTO_DOWN, 0,
				.2) * -1;
		
		towerMotor->Set(tower_voltage);
		wristMotor->Set(wrist_voltage);
		clawMotor->Set(claw_voltage);
	}
	else if(!ds->GetDigitalIn(3) && ds->GetDigitalIn(4))
	{
		float tower_voltage = towerPID->GetOutput(GetTowerPot(), TOWER_AUTO_UP, 0,
						.03) * -1;
		float claw_voltage = clawPID->GetOutput(GetClawPot(), CLAW_CLOSED, 0, .1);
		float wrist_voltage = wristPID->GetOutput(GetWristPot(), WRIST_AUTO_UP, 0,
				.2) * -1;
		
		towerMotor->Set(tower_voltage);
		wristMotor->Set(wrist_voltage);
		clawMotor->Set(claw_voltage);
	}
}
开发者ID:FRC-263，项目名称:Colossus，代码行数:68，代码来源:Arm.cpp

示例8: 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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