C++ DriverStationLCD类代码示例

void Machine :: TeleopInit()
{
    DriverStationLCD *lcd = DriverStationLCD::GetInstance();
    lcd->PrintfLine(DriverStationLCD::kUser_Line2, "Ben is here");
    lcd->UpdateLCD();
    drive.enableVoltageControl();
    //drive.enableSpeedControl();
}

	RobotDemo(void):
		myRobot(1, 2),	// these must be initialized in the same order
		stick(1)		// as they are declared above.
	{
		dsLCD = DriverStationLCD::GetInstance();
		dsLCD->Clear();
		dsLCD->PrintfLine(DriverStationLCD::kUser_Line1, "XboxController2");
		dsLCD->UpdateLCD();
		myRobot.SetExpiration(0.1);
	}

	Hohenheim(void) {
		driverStation = DriverStation::GetInstance();
		dsLCD = DriverStationLCD::GetInstance();
		pneumaticsControl = PneumaticsControl::getInstance();
		shooterControl = ShooterControl::getInstance();
		dsLCD->Clear();
		dsLCD->PrintfLine(DriverStationLCD::kUser_Line1, "Hohenheim 2014 V 3.1");
		dsLCD->UpdateLCD();
		GetWatchdog().SetEnabled(false);
	}

	// Code to be run during the remaining 2:20 of the match (after Autonomous())
	//
	// OperatorControl
	//	* Calls all the above methods
	void OperatorControl()
	{
		// SAFETY AND SANITY - SET ALL TO ZERO
		intake.Set(0.0);
		rightWinch.Set(0.0);
		leftWinch.Set(0.0);

		arm.Set(DoubleSolenoid::kReverse);

		/* TODO: Investigate. At least year's (GTR East) competition, we reached the conclusion that disabling this was 
		 * the only way we could get out robot code to work (reliably). Should this be set to false?
		 */ 
		robotDrive.SetSafetyEnabled(false);

		Timer clock;
		int sanity = 0;
		int bigSanity = 0;

		loading = false;
		loaded = winchSwitch.Get();

		RegisterButtons();
		gamepad.Update();
		leftStick.Update();

		compressor.Start();

		while (IsOperatorControl() && IsEnabled())
		{
			clock.Start();

			HandleDriverInputs();
			HandleShooter();
			HandleArm();
			//			HandleEject();

			while (!clock.HasPeriodPassed(LOOP_PERIOD)); // add an IsEnabled???
			clock.Reset();
			sanity++;
			if (sanity >= 100)
			{
				bigSanity++;
				sanity = 0;
				dsLCD->PrintfLine(DriverStationLCD::kUser_Line4, "%d", bigSanity);
			}
			gamepad.Update();
			leftStick.Update();
			dsLCD->UpdateLCD();
		}

		// SAFETY AND SANITY - SET ALL TO ZERO
		intake.Set(0.0);
		rightWinch.Set(0.0);
		leftWinch.Set(0.0);
	}

void
DriverMessages::SendTextLines()
{
	DriverStationLCD *lcd =DriverStationLCD::GetInstance();
	
	for(int i = 0; i < 3;i++){
			lcd->Printf((DriverStationLCD::Line)i, 1, "%s", (char *)lineText[i]);
	}
	lcd->UpdateLCD();
	
}

	/**
	 * Runs the motors with arcade steering. 
	 */
	void OperatorControl(void) {

		while (IsOperatorControl()) {
			dsLCD->PrintfLine(DriverStationLCD::kUser_Line2, "Voltage: %f",
					signal.GetVoltage());
			dsLCD->PrintfLine(DriverStationLCD::kUser_Line3, "CVoltage: %f",
					signalControlVoltage.GetVoltage());
			dsLCD->UpdateLCD();
			Wait(0.005); // wait for a motor update time
		}
	}

	void DashBoardInput() {
		int i = 0;
		GetWatchdog().SetEnabled(true);
		while (IsAutonomous() && IsEnabled()) {
			i++;
			GetWatchdog().Feed();
			dsLCD->PrintfLine(DriverStationLCD::kUser_Line1, "%f, %i",
					driverStation->GetAnalogIn(1), i);
			dsLCD->UpdateLCD();
		}
	}

	/**
	 * Runs the motors with arcade steering. 
	 */
	void OperatorControl(void)
	{
		myRobot.SetSafetyEnabled(true);
		while (IsOperatorControl())
		{
			myRobot.ArcadeDrive(stick.getAxisLeftY(), stick.getAxisLeftX()); // drive with arcade style (use left stick)
			dsLCD->Printf(DriverStationLCD::kUser_Line2, 1, "Move: %f4", stick.getAxisLeftY());
			dsLCD->Printf(DriverStationLCD::kUser_Line3, 1, "Rotate: %f4", stick.getAxisLeftX());
			dsLCD->UpdateLCD();
			Wait(0.005);				// wait for a motor update time
		}
	}

	void DriveThenShootAuto() {
		//initizlizes all parts of robot
		pneumaticsControl->initialize();
		shooterControl->initializeAuto();
		driveControl.initializeAuto();
		bool destinationPrevious = false;
		bool autoShot = false; //true if autoShoot

		//creates a timer for the ball grabber motors
		Timer feeding;
		bool started = false;
		while (IsAutonomous() && IsEnabled()) {
			GetWatchdog().Feed();
			//drives forward to shooting point
			bool atDestination = destinationPrevious || driveControl.autoPIDDrive2(); //autoDrive returns true when robot reached it's goal
			if (atDestination) {
				// The robot has reached the destination on the floor and is now ready to open and shoot
				if (!started) {
					started = true;
					destinationPrevious = true;
					//starts feeding-timer controls feeder motors so the ball doesn't get stuck
					feeding.Start();
				}

				pneumaticsControl->ballGrabberExtend();
				//waits for feeding to be done
				if (feeding.Get() < 2.0) {//3.0 was 
					shooterControl->feed(true);
				} else if (feeding.Get() >= 2.0) { // 3.0 was 
					shooterControl->feed(false);
					feeding.Stop();
				}

				if (pneumaticsControl->ballGrabberIsExtended() && !autoShot) {
					shooterControl->autoShoot();
					dsLCD->PrintfLine(DriverStationLCD::kUser_Line1,
							"The robot is(should be) shooting");
					if (shooterControl->doneAutoFire()) {//works only after shoot is done firing
						autoShot = true;
					}
				} else if (autoShot) {//runs only after shoot is done
					dsLCD->PrintfLine(DriverStationLCD::kUser_Line1,
							"AutoMode Finished");
				}

			}
			dsLCD->PrintfLine(DriverStationLCD::kUser_Line2, "Feeder Time: %f",
					feeding.Get());
			dsLCD->UpdateLCD();
		}

	}

	SebastianRobot(void) {
		dsLCD = DriverStationLCD::GetInstance();
		dsLCD->Clear();
		dsLCD->PrintfLine(DriverStationLCD::kUser_Line1, "Sebastian V24.2");
		dsLCD->UpdateLCD();
		GetWatchdog().SetEnabled(false);
		led0 = new Relay(2);
		led1 = new Relay(3);
		flashCount = 0;
		led0->Set(Relay::kOff);
		led1->Set(Relay::kOff);
		isFlashing=false;
	}

	RobotDemo(void)
	{
		motor = new Jaguar(9);
		stick = new Joystick(1);
		compressor = new Compressor(1, 1);
		valve = new Solenoid(8);
		// Construct the dashboard sender object used to send hardware state
		// to the driver station
//		dds = new DashboardDataSender();
		dsLCD = DriverStationLCD::GetInstance();
		dsLCD->Printf(DriverStationLCD::kUser_Line1, 1, "Plyboy test code: 6:46PM 1/2/2012");
		dsLCD->UpdateLCD();
	}

	void Disabled()
	{
		while(IsDisabled())
		{
			LEDLight->Set(Relay::kForward);
			rpi->Read();
			lcd->Clear();
			lcd->Printf(DriverStationLCD::kUser_Line3, 1, "R: %i", rpi->GetMissingPacketcount());
			lcd->Printf(DriverStationLCD::kUser_Line1, 1, "x: %i", rpi->GetXPos());
			lcd->Printf(DriverStationLCD::kUser_Line2, 1, "y: %i", rpi->GetYPos());

			lcd->UpdateLCD();
		}
	}

	void Print ()
		{
			if (PrintTime.Get() > PRINT_TIME)
			{
				lcd->Clear();
				lcd->Printf(DriverStationLCD::kUser_Line1, 1, "Left Speed = %5.4f", PrimaryController.GetRawAxis(LEFT_JOYSTICK));
				lcd->Printf(DriverStationLCD::kUser_Line2, 1, "Right Speed = %5.4f", PrimaryController.GetRawAxis(RIGHT_JOYSTICK));
				lcd->Printf(DriverStationLCD::kUser_Line3, 1, "Charge State = %d", (int)Shooter.chargestate);
				//lcd->Printf(DriverStationLCD::kUser_Line4, 1, "Collector speed= %d", Collector.CollectorSpeed());
				lcd->UpdateLCD();
				PrintTime.Reset();
				PrintTime.Start();
			}
		}

	void OperatorControl(void) {
		XboxController *xbox = XboxController::getInstance();

		bool isEndGame = false;
		GetWatchdog().SetEnabled(true);
		_driveControl.initialize();
		//_poleVaultControl.initialize();
		shooterControl.InitializeOperator();
		while (IsEnabled() && IsOperatorControl()) {
			GetWatchdog().Feed();
			dsLCD->Clear();
			if (xbox->isEndGame()) {
				isEndGame = !isEndGame;
			}
			if (!isEndGame) {
				shooterControl.Run();
				//_poleVaultControl.act();
				_driveControl.act();
				dsLCD->PrintfLine(DriverStationLCD::kUser_Line1, "Normal");
				led0->Set((shooterControl.getLED1())?Relay::kOn: Relay::kOff);
				led1->Set((shooterControl.getLED2())?Relay::kOn: Relay::kOff);
			}

			else {
				shooterControl.RunEndGame();
				//_poleVaultControl.actEndGame();
				_driveControl.actEndGame();
				dsLCD->PrintfLine(DriverStationLCD::kUser_Line1, "End Game");
				
				flashCount--;
				
				if (flashCount<=0){
					isFlashing = !isFlashing;
					flashCount=FLASHTIME;
				
				}
				
				
				led0->Set((isFlashing)?Relay::kOn: Relay::kOff);
				led1->Set((isFlashing)?Relay::kOn: Relay::kOff);
			}
//			dsLCD->PrintfLine(DriverStationLCD::kUser_Line6, "Flash: %i", flashCount);
			dsLCD->UpdateLCD();
			Wait(WAIT_TIME); // wait for a motor update time

		}

		GetWatchdog().SetEnabled(false);
	}

	void AutonomousPeriodic(void) {
		m_autoPeriodicLoops++;
#if 0
		static int Clock=0;
		bool correct = DriveStick->GetButton(Joystick::kTriggerButton);
		bool Reset = DriveStick->GetButton (Joystick::kTopButton);
		ds->PrintfLine(DriverStationLCD::kUser_Line1, "%s %s",
				correct ? "correct on" : "correct off",
						Reset ? "Reset": "No Reset");
		//ds->PrintfLine(DriverStationLCD::kUser_Line6, "%d %c %c", Clock, correct? "C" : "c", Reset? "R" : "r");
		if (Reset)
			Clock=0, MyRobot.ResetCounters();
		else
		{
		    ++Clock;
		    if(Clock<=100)       MyRobot.DriveRobot(1.0,0.0, ds, correct);		// drive forward
		    else if (Clock<=200) MyRobot.DriveRobot(-1.0,0.0, ds, correct);  // stop
		    else if (Clock<=250) MyRobot.DriveRobot(-1.0,0.0, ds, correct);  // drive back halfway
		    else if (Clock<=300) MyRobot.DriveRobot(1.0,0.0, ds, correct);   // stop
		    else
		    {
		    	// Real teleop mode: use the JoySticks to drive
		    	MyRobot.DriveRobot(DriveStick->GetY(),(DriveStick->GetX()), ds);
		    }
		}
#endif
	}