C++ Encoder::Stop方法代码示例

	void Drive (float speed, int dist)
	{
		leftDriveEncoder.Reset();
		leftDriveEncoder.Start();
		
		int reading = 0;
		dist = abs(dist);
		
		// The encoder.Reset() method seems not to set Get() values back to zero,
		// so we use a variable to capture the initial value.
		dsLCD->PrintfLine(DriverStationLCD::kUser_Line2, "initial=%d\n", leftDriveEncoder.Get());
		dsLCD->UpdateLCD();

		// Start moving the robot
		robotDrive.Drive(speed, 0.0);
		
		while ((IsAutonomous()) && (reading <= dist))
		{
			reading = abs(leftDriveEncoder.Get());				
			dsLCD->PrintfLine(DriverStationLCD::kUser_Line3, "reading=%d\n", reading);
			dsLCD->UpdateLCD();
		}

		robotDrive.Drive(0.0, 0.0);
		
		leftDriveEncoder.Stop();
	}	

	void OperatorControl(void)
	{
		NetTest();
		return;
		myRobot.SetSafetyEnabled(true);
		digEncoder.Start();
		const double ppsTOrpm = 60.0/250.0;   //Convert from Pos per Second to Rotations per Minute by multiplication
                                              // (See the second number on the back of the encoder to replace 250 for different encoders)
        const float VoltsToIn = 41.0;         // Convert from volts to cm by multiplication (volts from ultrasonic).
                                              // This value worked for distances between 1' and 10'.
		
		while (IsOperatorControl())
		{
			if (stick.GetRawButton(4)) {
				myRobot.MecanumDrive_Cartesian(stick.GetX(), stick.GetY(), -1);
			} 
			else if (stick.GetRawButton(5))
			{
				myRobot.MecanumDrive_Cartesian(stick.GetX(), stick.GetY(), 1);
			}
			else 
			{
				myRobot.MecanumDrive_Cartesian(stick.GetX(), stick.GetY(), 0);
			}
			
			myRobot.MecanumDrive_Cartesian(stick.GetX(), stick.GetY(), 0);
			
			SmartDashboard::PutNumber("Digital Encoder RPM", abs(digEncoder.GetRate()*ppsTOrpm));
			SmartDashboard::PutNumber("Ultrasonic Distance inch", (double) ultra.GetAverageVoltage()*VoltsPerInch);
			SmartDashboard::PutNumber("Ultrasonic Voltage", (double) ultra.GetAverageVoltage());

			Wait(0.1);
		}
		digEncoder.Stop();
	}

	void OperatorControl(void)
	{
		digEncoder.Start();
		const double ppsTOrpm = 60.0/250.0;	//This converts from Pos per Second to Rotations per Minute (See second number on back of encoder to replace 250 if you need it)
		
		while (IsOperatorControl())
		{
			SmartDashboard::PutNumber("Digital Encoder RPM", digEncoder.GetRate()*ppsTOrpm);
			Wait(0.1);
		}
		digEncoder.Stop();
	}

	/**
	 * Runs during test mode	```````
	 */
	void Test() {
		TestMode tester(m_ds);
		driveDistanceRight.Reset();
		driveDistanceRight.Start();
		ballGrabber.resetSetPoint();
		shooter.motorShutOff();
		while (IsTest() && IsEnabled()){
			lcd->Clear();
			tester.PerformTesting(&gamePad, &driveDistanceRight, lcd, &rightJoyStick, &leftJoyStick,
								  &testSwitch, &testTalons, &frontUltrasonic, &backUltrasonic,
								  &ballGrabber.ballDetector, &analogTestSwitch,
								  &shooter, &ballGrabber
								  );
			lcd->UpdateLCD();
			Wait(0.1);
			
		}
		driveDistanceRight.Stop();
		}

/**
 * Stops the counting for the encoder object.
 * Stops the counting for the Encoder. It still retains the count, but it doesn't change
 * with pulses until it is started again.
 *
 * @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 StopEncoder(UINT32 aSlot, UINT32 aChannel, UINT32 bSlot, UINT32 bChannel)
{
	Encoder *encoder = AllocateEncoder(aSlot, aChannel, bSlot, bChannel);
	if (encoder != NULL)
		encoder->Stop();
}