本文整理汇总了C++中PIDController::GetSetpoint方法的典型用法代码示例。如果您正苦于以下问题：C++ PIDController::GetSetpoint方法的具体用法？C++ PIDController::GetSetpoint怎么用？C++ PIDController::GetSetpoint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PIDController的用法示例。
在下文中一共展示了PIDController::GetSetpoint方法的5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: UpdateDashboard
void UpdateDashboard() {
float r = 0.00001 * i;
SmartDashboard::PutNumber("State", currentState + r);
SmartDashboard::PutNumber("PID Turn Error",
turnController->GetError() + r);
SmartDashboard::PutNumber("PID Target",
turnController->GetSetpoint() + r);
// SmartDashboard::PutBoolean("Straight", straight);
SmartDashboard::PutData("test", turnController);
SmartDashboard::PutNumber("Yaw:", ahrs->GetYaw() + r);
SmartDashboard::PutNumber("Roll:", ahrs->GetRoll() + r);
SmartDashboard::PutNumber("Pitch", ahrs->GetPitch() + r);
SmartDashboard::PutNumber("Scissor 1", pdp->GetCurrent(1) + r);
SmartDashboard::PutNumber("Scissor 2", pdp->GetCurrent(2) + r);
SmartDashboard::PutNumber("Left Drive 1", pdp->GetCurrent(12) + r);
SmartDashboard::PutNumber("Left Drive 2", pdp->GetCurrent(13) + r);
SmartDashboard::PutNumber("Right Drive 1", pdp->GetCurrent(14) + r);
SmartDashboard::PutNumber("Right Drive 2", pdp->GetCurrent(15) + r);
SmartDashboard::PutNumber("Constant Lift", constantLift);
SmartDashboard::PutNumber("Rotate Rate", rotateRate + r);
i = (i + 1) % 2;
printf("2.1");
// .PutLong("test1.2", 1337);
printf("2.2");
// mqServer.PutDouble("test",DriverStation::GetInstance().GetMatchTime());
printf("2.3");
// mqServer.PutString("test1.1","YOLO_SWAGINS");
printf("2.4");
// SmartDashboard::PutString("test1.2", mqServer.GetString("test1.1"));
// SmartDashboard::PutNumber("test1", mqServer.GetDouble("test"));
// SmartDashboard::PutNumber("test1.3", mqServer.GetLong("test1.2"));
// SmartDashboard::PutNumber("test2", DriverStation::GetInstance().GetMatchTime());
}示例2: stateAiming
void stateAiming() {
stateTimer++;
if (stateTimer == 1) {
// calculate launcher angle
double angle = calcLaunchAngle(m_targets[0].block.y);
LOGGER(INFO) << "[stateAiming] Setting Launch Angle: " << angle;
if (angle > 46.0) {
LOGGER(ERROR) << "[stateAiming] Target is out of range";
robotState = kOperatorControl;
return;
}
launchController->SetSetpoint(angle);
launchController->Enable();
return;
} else if (stateTimer < 5) {
return;
} else if (stateTimer < 150) {
LOGGER(DEBUG) << "[stateAiming] Timer: " << stateTimer << " SetPoint: " << launchController->GetSetpoint()
<< " Angle: " << launchPIDSource.PIDGet() << " Correction: " << launchPIDOutput.correction;
elevator->Set(-launchPIDOutput.correction);
if ((fabs(launchPIDOutput.correction) < 0.2) &&
(fabs(launchPIDSource.PIDGet()-launchController->GetSetpoint()) < 0.25)) {
elevator->Set(0.0);
launchController->Disable();
robotState = kLaunching;
stateTimer = 0;
LOGGER(DEBUG) << "[stateAiming] Target x: " << m_targets[0].block.x << " y: " << m_targets[0].block.y
<< " h: " << m_targets[0].block.height << " w: " << m_targets[0].block.width;
}
} else {
launchController->Disable();
elevator->Set(0.0);
robotState = kOperatorControl;
LOGGER(ERROR) << "[stateAiming] Aiming Failed, Timer: " << stateTimer << " Correction: "
<< launchPIDOutput.correction;
}
}示例3: stateCentering
void stateCentering() {
stateTimer++;
if (stateTimer == 1) {
turnController->SetSetpoint(0.0);
turnController->Enable();
return;
} else if (stateTimer < 10) {
return;
} else if (stateTimer < 120) {
if (!turnPIDSource->acquired()) {
robotState = kOperatorControl;
turnController->Disable();
turnPIDSource->reset();
LOGGER(ERROR) << "[stateCentering] No Target Found";
return;
}
drive->ArcadeDrive(0.0, -turnPIDOutput.correction, false);
LOGGER(DEBUG) << "[stateCentering] Timer: " << stateTimer << " SetPoint: " << turnController->GetSetpoint()
<< " Offset: " << turnPIDSource->PIDGet() << " Correction: " << turnPIDOutput.correction;
if ((fabs(turnPIDOutput.correction) < 0.10) && (fabs(turnPIDSource->PIDGet()) < 3)) {
drive->ArcadeDrive(0.0, 0.0, false);
turnController->Disable();
robotState = kAiming;
stateTimer = 0;
turnPIDSource->reset();
}
} else {
turnController->Disable();
turnPIDSource->reset();
drive->ArcadeDrive(0.0, 0.0, false);
robotState = kOperatorControl;
LOGGER(ERROR) << "[stateCentering] FAILED, Timer: " << stateTimer << " SetPoint: " << turnController->GetSetpoint()
<< " Offset: " << turnPIDSource->PIDGet() << " Correction: " << turnPIDOutput.correction;
}
}示例4: OperatorControl
//.........这里部分代码省略.........
printf("PID GO PID GO PID GO PID GO PID GO \n");
}
*/
//when liftPos is positive, measures position
//when liftPos = -10, is pidding
//when liftPos = -20, has just released brake
}
else //(MODESWITCH)
{
if(PIDLift->IsEnabled()) PIDLift->Reset();
liftPower = .8*pow(2*((log(LIFTSLIDER + 0.003/.0208116511)/LOG17) + 0.116), 2)*(2*((log(LIFTSLIDER + 0.003/.0208116511)/LOG17) + 0.116)/fabs(2*((log(LIFTSLIDER + 0.003/.0208116511)/LOG17) + 0.116)));
liftPowerAbs = fabs(liftPower);
if(liftPowerAbs > 1) liftPower /= liftPowerAbs;
//if(!(count%5)) printf("Slider: %f", liftPower);
if(lift->isBraking() && liftPowerAbs > 0.05) lift->brakeOff();
else if(!lift->isBraking() && liftPowerAbs <= 0.05 && !(count%5)) lift->brakeOn();
if (liftPowerAbs > 0.05)
{
liftMotor1->Set(liftPower);
liftMotor2->Set(liftPower);
}
else
{
liftMotor1->Set(0);
liftMotor2->Set(0);
}
}
if(MODESWITCH && LIFTLOW1BUTTON && LIFTMID1BUTTON && LIFTHIGH1BUTTON) liftEncoder->Reset();
/*
if(!(count%5))
{
printf("Lift pos: %f Lift error: %f Lift SP: %f \n", liftPIDSource->PIDGet(),
PIDLift->GetError(), PIDLift->GetSetpoint());
}
*/
if(!(count%5) && MODESWITCH && GRIPPERPOSUP && GRIPPERPOSDOWN && GRIPPERPOP)
{
gripPIDOn = !gripPIDOn;
printf("Switch'd\n");
}
if(gripPIDOn)
{
if(!PIDGrip->IsEnabled()) PIDGrip->Enable();
if(GRIPPERPOSUP && !GRIPPERPOSDOWN)
{
goalGripSP = 0;
}
else if(GRIPPERPOSDOWN && !GRIPPERPOSUP && lift->getPosition() < 0.5)
{
goalGripSP = 1;
}
/*
else if(!GRIPPERPOSDOWN && !GRIPPERPOSUP)
{
goalGripSP = 0.5;
}
*/
gripError = PIDGrip->GetError();
gripErrorAbs = fabs(gripError);
PIDGrip->SetSetpoint(goalGripSP);
if(gripErrorAbs < 0.4) PIDGrip->SetOutputRange(-0.4, 0.6); //negative is up
else PIDGrip->SetOutputRange(-0.9, 0.8); //negative is up
if(gripErrorAbs > 0.0 && gripErrorAbs < 0.2)示例5: Autonomous
//.........这里部分代码省略.........
}
else */if (false){//(avgEncoderCount <= SECONDBREAKDISTANCE){
followLine();
}
#else
if (getDistance() > 24){
frontLeftMotor->Set(-leftSpeed);
rearLeftMotor->Set(-leftSpeed);
frontRightMotor->Set(rightSpeed);
rearRightMotor->Set(rightSpeed);
if(leftEncoder->Get() > rightEncoder->Get() && leftSpeed == .2){
rightSpeed += .03;
}else if(leftEncoder->Get() >rightEncoder->Get() && leftSpeed > .2){
leftSpeed -= .03;
}else if(leftEncoder->Get() < rightEncoder->Get() && rightSpeed == .2){
leftSpeed += .03;
}else if(leftEncoder->Get() < rightEncoder->Get() && rightSpeed > .2){
rightSpeed -= .03;
}
}
#endif
else{
if(counts % 100 == 0) {printf("DISTANCE: %2.2f\n",getDistance());}
switch(FOLLOWLINE)
{
case STRAIGHTLINEMODE: //Straight line. Scores on middle column of left or right grid.
//if(lineFollowDone && !(counts %50)) printf("Lift error: %f \n", PIDLift->GetError());
lastLiftSP = liftSP;
if(!lineFollowDone)
{
followLine();
}
else if(!PIDLift->GetSetpoint() && !popstage && !backStart)
{
//if(counts % 50 == 0)printf("Go backward\n");
frontLeftMotor->Set(.3);
rearLeftMotor->Set(.3);
frontRightMotor->Set(-.3);
rearRightMotor->Set(-.3);
//PIDLift->SetSetpoint(LIFTMID2);
liftSP = LIFTHIGH2 + 0.025;
//fancyWaiter = counts;
backStart = GetClock();
printf("Setpoint set setpoint set setpoint set \n");
/*
if(leftValue && middleValue && rightValue)
{
printf("Stopped 2nd time\n");
goPop = true;
frontLeftMotor->Set(0);
rearLeftMotor->Set(0);
frontRightMotor->Set(0);
rearRightMotor->Set(0);
PIDLift->SetSetpoint(LIFTHIGH2);
}
*/
}
#if 1 //if we've backed up for half a second and we're not popping
else if((backTime - backStart) > 0.65 && !backDone)
{
printf("Stopping!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!ONE\n");
frontLeftMotor->Set(0);
rearLeftMotor->Set(0);
frontRightMotor->Set(0);
rearRightMotor->Set(0);