本文整理汇总了C++中Encoder::PIDGet方法的典型用法代码示例。如果您正苦于以下问题：C++ Encoder::PIDGet方法的具体用法？C++ Encoder::PIDGet怎么用？C++ Encoder::PIDGet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Encoder的用法示例。
在下文中一共展示了Encoder::PIDGet方法的1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: OperatorControl
//.........这里部分代码省略.........
PIDDriveLeft->Reset();
PIDDriveLeft->Enable();
}
}
else leftSP = stickY[0] * stickY[0] * (stickY[0]/stickYAbs[0]); //set points for pid control
if(stickYAbs[1] <= 0.05)
{
rightSP = 0;
if(!(count%3) && !BACKWARDBUTTON)
{
PIDDriveRight->Reset();
PIDDriveRight->Enable();
}
}
else rightSP = stickY[1] * stickY[1] * (stickY[1]/stickYAbs[1]);
if (BACKWARDBUTTON)
{
tempRightSP = rightSP;
tempLeftSP = leftSP;
rightSP = -tempLeftSP;
leftSP = -tempRightSP; //This line and above line sets opposite values for the controller. ...Theoretically.
}
PIDDriveLeft->SetSetpoint(leftSP);
PIDDriveRight->SetSetpoint(rightSP);
leftSpeed = leftEncoder->GetRate();
rightSpeed = rightEncoder->GetRate();
if(!(count++ % 5))
{
printf("rate L: %2.2f R: %2.2f SP %2.4f %2.4f ERR %2.2f %2.2f Pow: %1.2f %1.2f\n",
leftPIDSource->PIDGet(), rightPIDSource->PIDGet(), leftSP, rightSP,
PIDDriveLeft->GetError(), PIDDriveRight->GetError(), frontLeftMotor->Get(),
frontRightMotor->Get());
//printf("Throttle value: %f", stickR.GetThrottle());
if(PIDDriveRight->OnTarget()) printf("Right on \n");
if(PIDDriveLeft->OnTarget()) printf("Left on \n");
}
if(PIDRESETBUTTON)
{
//PIDDriveRight->SetPID(stickR.GetThrottle()+1,DRIVEINTGAIN, DRIVEDERIVGAIN);
//PIDDriveLeft->SetPID(stickR.GetThrottle()+1,DRIVEINTGAIN, DRIVEDERIVGAIN);
PIDDriveLeft->Reset();
PIDDriveRight->Reset();
PIDDriveLeft->Enable();
PIDDriveRight->Enable();
}
}
else
{
if(PIDDriveLeft->IsEnabled()) PIDDriveLeft->Reset();
if(PIDDriveRight->IsEnabled()) PIDDriveRight->Reset();
if(DEMOSWITCH)
{
stickY[0] = stickY[0]*(1 - lift->getPosition()); //reduces power based on lift height
stickY[1] = stickY[0]*(1 - lift->getPosition());
}
if(stickYAbs[0] > 0.05)
{
frontLeftMotor->Set(stickY[0]);
rearLeftMotor->Set(stickY[0]);