C++ Encoder::GetRaw方法代码示例

// During every loop intervel of the teleop period
void Robot::TeleopPeriodic() {
    // Tank drive, both left and right joystick control their respective motor along the
    // joystick's 'y' axis
    //myRobot.TankDrive(-rStick.GetRawAxis(RIGHT_STICK_Y), -lStick.GetRawAxis(LEFT_STICK_Y));
    //myRobot.TankDrive(-gamePad.GetRawAxis(GAMEPAD_LEFT_STICK_Y), -gamePad.GetRawAxis(GAMEPAD_RIGHT_STICK_Y));

    // Choose the teleop drive option
    DriverControl(driveOption);


    // Edits the gyro data to account for drift
    /*
    editedGyroRate = gyro.GetRate();
    if (gyro.GetRate() > GYRO_DRIFT_VALUE_MIN && gyro.GetRate() < GYRO_DRIFT_VALUE_MAX) {
    	editedGyroRate = 0;
    } else {
    	editedGyroRate += GYRO_DRIFT_VALUE_AVERAGE;
    }
    */

    editedGyroAngle = gyro.GetAngle();



    SmartDashboard::PutString("Operation Type:", "TeleOp");

    // Print gyro data
    if (showGyro == true) {
        SmartDashboard::PutNumber("Gyro Angle (Raw)", gyro.GetAngle()*GYRO_SCALE_FACTOR);
        SmartDashboard::PutNumber("Gyro Angle (Edited)", editedGyroAngle*GYRO_SCALE_FACTOR);
        SmartDashboard::PutNumber("Gyro Rate (Raw)", gyro.GetRate()*GYRO_SCALE_FACTOR);
        SmartDashboard::PutNumber("Gyro Rate (Edited)", editedGyroRate*GYRO_SCALE_FACTOR);
    }


    // Print out the encoder data
    // Raw encoder data
    if (showEncoderRaw == true) {
        SmartDashboard::PutNumber("Encoder L get raw", encoder1.GetRaw());
        SmartDashboard::PutNumber("Encoder R get raw", encoder2.GetRaw());

    }

    // The delta encoder change
    if (showEncoderRate == true) {
        SmartDashboard::PutNumber("Encoder L get rate", encoder1.GetRate());
        SmartDashboard::PutNumber("Encoder R (reversed) get rate", encoder2.GetRate());
    }

    // Print the encoder index
    if (showEncoderIndex == true) {
        SmartDashboard::PutNumber("Encoder L index", encoder1.GetFPGAIndex());
        SmartDashboard::PutNumber("Encoder R index", encoder2.GetFPGAIndex());
    }
}

// During every loop intervel of the teleop period
void Robot::TeleopPeriodic() {
	// Tank drive, both left and right joystick control their respective motor along the
	// joystick's 'y' axis
	//myRobot.TankDrive(-rStick.GetRawAxis(RIGHT_STICK_Y), -lStick.GetRawAxis(LEFT_STICK_Y));

	// Choose the teleop drive option
	for(int c=0;c<7;c++) {
		buttonDone[c] = false;
	}

	DriverControl(driveOption);

	if(fabs(gyro.GetRate()) > GYRO_DRIFT_VALUE) {
	editedGyroRate = gyro.GetAngle();
	}
	else {
		editedGyroRate = 0;
		gyro.Reset();
	}





	SmartDashboard::PutString("Operation Type:", "TeleOp");

	// Print gyro data
	if (showGyro == true) {
		SmartDashboard::PutNumber("Gyro Angle", gyro.GetAngle()*GYRO_SCALE_FACTOR);
		SmartDashboard::PutNumber("Gyro Rate (Raw)", gyro.GetRate()*GYRO_SCALE_FACTOR);
		SmartDashboard::PutNumber("Gyro Rate (Edited)", editedGyroRate*GYRO_SCALE_FACTOR);
	}


	// Print out the encoder data
	// Raw encoder data
	if (showEncoderRaw == true) {
		SmartDashboard::PutNumber("Encoder L get raw", encoder1.GetRaw());
		SmartDashboard::PutNumber("Encoder R get raw", encoder2.GetRaw());

	}

	// The delta encoder change
	if (showEncoderRate == true) {
		SmartDashboard::PutNumber("Encoder L get rate", encoder1.GetRate());
		SmartDashboard::PutNumber("Encoder R (reversed) get rate", encoder2.GetRate());
	}

	// Print the encoder index
	if (showEncoderIndex == true) {
		SmartDashboard::PutNumber("Encoder L index", encoder1.GetFPGAIndex());
		SmartDashboard::PutNumber("Encoder R index", encoder2.GetFPGAIndex());
	}
}

// When the robot is on autonomous period, it will drive forwards at half speed for about two
// seconds, then stops
void Robot::AutonomousPeriodic() {
    /*
    if(autoLoopCounter < 100) { //Check if we've completed 100 loops (approximately 2 seconds)
    	myRobot.Drive(-0.5, 0.0); 	// drive forwards half speed
    	autoLoopCounter++;
    } else {
    	myRobot.Drive(0.0, 0.0); 	// stop robot
    }
    */

    // Correct course (adjust for physical motor imperfections) based on encoders



    // Print the raw encoder data
    SmartDashboard::PutNumber("Encoder L get raw", encoder1.GetRaw());
    SmartDashboard::PutNumber("Encoder R get raw", encoder2.GetRaw());
}

	void OperatorControl(void) {
		char count=0;
		double target = 0, speed = 0;
		while(!IsDisabled()) {
			double tmpStick = -1*stick.GetRawAxis(2);
			if(tmpStick < .2 && tmpStick > -.2) tmpStick=0;
			target += tmpStick*1.5;
			int location = enc.GetRaw();
			if(stick.GetRawButton(5)) {
				up.Set(true);
				down.Set(false);
			}else if(stick.GetRawButton(7) && location > 0) {
				down.Set(true);
				up.Set(false);
			}else if(stick.GetRawButton(8)) {
				down.Set(true);
				up.Set(false);
			}else if(stick.GetRawButton(9)){
			
				speed = pid(target, location);
				if(speed > 1) {
					up.Set(true);
					down.Set(false);
				}else if(speed < -1) {
					up.Set(false);
					down.Set(true);
				}else{
					up.Set(false);
					down.Set(false);
				}
			}else if(stick.GetRawButton(10)) {
				enc.Reset();
			}else{
				up.Set(false);
				down.Set(false);
			}
			if(stick.GetRawButton(1))
				target = 2;
			if(stick.GetRawButton(4))
				target = 400;
			if(stick.GetRawButton(3))
				target = 200;
			if(stick.GetRawButton(2))
				target = 70;
				
			Wait(.02);
			while(count++%30==0) cerr << location << '\t' << target << '\t' << speed << endl;
		}
	}

 /**
  * Periodic code for teleop mode should go here.
  *
  * Use this method for code which will be called periodically at a regular
  * rate while the robot is in teleop mode.
  */
 void RobotDemo::TeleopPeriodic()
 {
    m_robotDrive.MecanumDrive_Cartesian(m_driveStick.GetX(), m_driveStick.GetY(), m_driveStick2.GetX(), m_gyro.GetAngle());
    printf("rate: %d\n", (int) m_encoder.GetRaw());
 }

	/**
	 * Runs the motor from the output of a Joystick.
	 */
	void OperatorControl() {

		LifterEncoder.StartLiveWindowMode();
		LifterEncoder.Reset();



		while (IsOperatorControl() && IsEnabled()) {
			// Set the motor controller's output.
			// This takes a number from -1 (100% speed in reverse) to +1 (100% speed forwards).
			// lifterA_motor.Set(joy.GetY());
			// lifterB_motor.Set(joy.GetY());


			if ( stick.GetRawButton(1))
			{
			}
			else if (stick.GetRawButton(2))
			{
			}
			else if (stick.GetRawButton(3))
			{
				// Elevator down
				if (BottomLimitSwitch.Get() == 0) {
					lifterA_motor.Set(0.5);
					lifterB_motor.Set(0.5);
				} else {
					lifterA_motor.Set(0);
					lifterB_motor.Set(0);
				}
			}
			else if (stick.GetRawButton(4))
			{
			}
			else if (stick.GetRawButton(5))
			{
				// Elevator up
				if (TopLimitSwitch.Get() == 0) {
					lifterA_motor.Set(-0.5);
					lifterB_motor.Set(-0.5);
				} else {
					lifterA_motor.Set(0);
					lifterB_motor.Set(0);
				}
			}
			else if (stick.GetRawButton(6))
			{
			}
			else if (stick.GetRawButton(7))
			{
			}
			else if (stick.GetRawButton(8))
			{
			}
			else if (stick.GetRawButton(9))
			{
			}
			else if (stick.GetRawButton(10))
			{
			}
			else if (stick.GetRawButton(11))
			{
			}
			else if (stick.GetRawButton(12))
			{
			}
			else
			{
				lifterA_motor.Set(0.0);
				lifterB_motor.Set(0.0);
			}


			if(BottomLimitSwitch.Get()==true)
			{
				LifterEncoder.Reset();
			}

			// Send some stuff to the dashboard
			SmartDashboard::PutBoolean("Top Limit Switch", TopLimitSwitch.Get());
			SmartDashboard::PutBoolean("Bottom Limit Switch", BottomLimitSwitch.Get());
			SmartDashboard::PutNumber("Encoder Position",LifterEncoder.GetRaw());

			Wait(kUpdatePeriod); // Wait 5ms for the next update.
		}
	}