C++ Encoder::SetMaxPeriod方法代码示例

    BuiltinDefaultCode()	{

        m_robotDrive = new RobotDrive (m_lDrive, m_rDrive);
        m_driver = new Joystick (1);
        m_operator = new Joystick (2);
        m_rDrive = new Victor (1);
        m_lDrive = new Victor (2);
        m_climber = new Victor (3);
        m_plate1 = new Victor (8);
        m_plate2 = new Victor (10);
        m_launcher1 = new Victor (4);
        m_launcher2 = new Victor (5);
        m_launcher3 = new Victor (6);
        m_feeder = new Victor (7);
        m_ratchet = new Relay (1);
        m_left = new Encoder (1,2,true);
        m_left->SetDistancePerPulse(1);
        m_left->SetMaxPeriod(1.0);
        m_left->Start();
        m_right = new Encoder (3,4,false);
        m_right->SetDistancePerPulse(1);
        m_right->SetMaxPeriod(1.0);
        m_right->Start();
        m_plateh = new AnalogChannel (1);
        m_climberp = new AnalogChannel (2);
        m_dsLCD = DriverStationLCD::GetInstance();

    }

  void RobotInit ()
  {
  lw = LiveWindow::GetInstance();
  CameraServer::GetInstance()->SetQuality(50);
   //the camera name (ex "cam0") can be found through the roborio web interface
  CameraServer::GetInstance()->StartAutomaticCapture("cam1");
  AutonState = 0;
  ballarm.Reset();
  ballarm.SetMaxPeriod(.01);
  ballarm.SetMinRate(.02);
  ballarm.SetDistancePerPulse(.9);
  gyroOne.Calibrate();
  UpdateActuatorCmnds(0,0,false,false,false,false,false,false,false,0,0,0,0,0);

  UpdateSmartDashboad(false,
                      false,
                      false,
                      false,
                      false,
                      0,
                      0,
                      0,
                      0,
                      0,
                      0,
                      0,
                      0,
                      0);
  }

	BuiltinDefaultCode()	{
		//Initialze drive controllers
		m_rDrive1 = new Talon (1);
		m_rDrive2 = new Talon (2);
		m_lDrive1 = new Talon (3);
		m_lDrive2 = new Talon (4);

		//Initialize ramrod motor
		m_ramMotor = new Talon (5);

		//Initialize Arm
		m_arm = new ArmWrapper (7, 6, 5, 6, 10);
		m_arm->StartPID(0.0, 0.0, 0.0);

		//initialize bGrabber motor
		m_roller = new Talon (8);

		//Initialize ramrod servo
		m_ramServo = new Servo (9);

		//Initialize drive wrappers
		m_rDrive = new DriveWrapper (m_rDrive1, m_rDrive2);
		m_lDrive = new DriveWrapper (m_lDrive1, m_lDrive2);

		//Initialize robot drive
		m_robotDrive = new RobotDrive (m_lDrive, m_rDrive);

		//Initialize ramrod encoder
		m_ramEncoder = new Encoder (7,8,false);
		m_ramEncoder->SetDistancePerPulse(1);
		m_ramEncoder->SetMaxPeriod(1.0);
		m_ramEncoder->Start();

		//Initialize Compressor
		m_compressor = new Compressor(9, 1);

		//shifters
		m_shifters = new Solenoid(1);

		//Initialize bGrabber Solenoids
		m_bArm = new Solenoid (2);
		m_catch = new Solenoid (3);

		//Initialize joysticks
		m_driver = new JoystickWrapper (1);
		m_operator = new JoystickWrapper (2);

		//Grab driver station object
		m_dsLCD = DriverStationLCD::GetInstance();		
	}

	RobotDemo(void):
		leftDriveMotor(LEFT_DRIVE_PWM),
		rightDriveMotor(RIGHT_DRIVE_PWM),
		myRobot(&leftDriveMotor, &rightDriveMotor),	// these must be initialized in the same order
		stick(1),									// as they are declared above.
		stick2(2),
		gamepad(3),
		collectorMotor(PICKUP_PWM),
		indexerMotor(INDEX_PWM),
		shooterMotor(SHOOTER_PWM),
		armMotor (ARM_PWM),
		leftDriveEncoder(LEFT_DRIVE_ENC_A, LEFT_DRIVE_ENC_B),
		shifter(SHIFTER_A,SHIFTER_B),
		greenClaw(CLAW_1_LOCKED, CLAW_1_UNLOCKED),
		yellowClaw(CLAW_2_LOCKED, CLAW_2_UNLOCKED),
		potentiometer(ARM_ROTATION_POT),
		indexSwitch(INDEXER_SW),
		greenClawLockSwitch(CLAW_1_LOCK_SENSOR),
		yellowClawLockSwitch(CLAW_2_LOCK_SENSOR),
		compressor(COMPRESSOR_PRESSURE_SW, COMPRESSOR_SPIKE),
		jogTimer(),
		shooterTimer()
	{
		m_collectorMotorRunning = false;
		m_shooterMotorRunning   = false;
		m_jogTimerRunning       = false;
		m_shiftCount            = MAX_SHIFTS;
		
		dsLCD = DriverStationLCD::GetInstance();
		dsLCD->Clear();
		dsLCD->PrintfLine(DriverStationLCD::kUser_Line1, "2013 " NAME);
		dsLCD->PrintfLine(DriverStationLCD::kUser_Line2, __DATE__ " "__TIME__);

		dsLCD->UpdateLCD();
		myRobot.SetExpiration(0.1);
		shifter.Set(DoubleSolenoid::kReverse);
		
		leftDriveEncoder.SetDistancePerPulse(DRIVE_ENCODER_DISTANCE_PER_PULSE);
		leftDriveEncoder.SetMaxPeriod(1.0);
		leftDriveEncoder.SetReverseDirection(true);  // change to true if necessary
		leftDriveEncoder.Start();

	}

	void TeleopInit()
	{
// Initialize the encoder
		sampleEncoder = new Encoder(0, 1, false, Encoder::EncodingType::k4X);
		sampleEncoder->SetMaxPeriod(.1);
		sampleEncoder->SetMinRate(10);
		sampleEncoder->SetDistancePerPulse(5);
		sampleEncoder->SetReverseDirection(true);
		sampleEncoder->SetSamplesToAverage(7);

// Initialize the joystick
		joystick = new Joystick(0);

// Initialize the motor
		motor = new Victor(9);

// Initialize the gear tooth counter
		toothTrigger = new AnalogTrigger(3);
		toothTrigger->SetLimitsRaw(250, 3600);
		gearToothCounter = new Counter(toothTrigger);
//		gearToothCounter->SetUpDownCounterMode();
	}

/**
 * Sets the maximum period for stopped detection.
 * Sets the value that represents the maximum period of the Encoder before it will assume
 * that the attached device is stopped. This timeout allows users to determine if the wheels or
 * other shaft has stopped rotating.
 * This method compensates for the decoding type.
 * 
 * @deprecated Use SetEncoderMinRate() in favor of this method.  This takes unscaled periods and SetMinEncoderRate() scales using value from SetEncoderDistancePerPulse().
 * 
 * @param maxPeriod The maximum time between rising and falling edges before the FPGA will
 * report the device stopped. This is expressed in seconds.
 * 
 * @param aSlot The digital module slot for the A Channel on the encoder
 * @param aChannel The channel on the digital module for the A Channel of the encoder
 * @param bSlot The digital module slot for the B Channel on the encoder
 * @param bChannel The channel on the digital module for the B Channel of the encoder
 */
void SetMaxEncoderPeriod(UINT32 aSlot, UINT32 aChannel, UINT32 bSlot, UINT32 bChannel, double maxPeriod)
{
	Encoder *encoder = AllocateEncoder(aSlot, aChannel, bSlot, bChannel);
	if (encoder != NULL)
		encoder->SetMaxPeriod(maxPeriod);
}