本文整理汇总了C++中PIDController::IsEnabled方法的典型用法代码示例。如果您正苦于以下问题：C++ PIDController::IsEnabled方法的具体用法？C++ PIDController::IsEnabled怎么用？C++ PIDController::IsEnabled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::IsEnabled方法的4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: DistToSetpoint
float DistToSetpoint()
{
if(!(controlLift->IsEnabled()))
return UNINIT_VAL;
else
return (liftEncoder->GetDistance() - pidPosSetPoint);
}示例2: AtSetpoint
bool AtSetpoint()
{
if(!(controlLift->IsEnabled()))
return false;
else
return (abs(DistToSetpoint()) < PID_POS_TOL*LIFT_ENCODER_DIST_PER_PULSE);
}示例3: OperatorControl
//.........这里部分代码省略.........
}
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]);
}
else
{
frontLeftMotor->Set(0);
rearLeftMotor->Set(0);
}
if(stickYAbs[1] > 0.05)
{
frontRightMotor->Set(-stickY[1]);
rearRightMotor->Set(-stickY[1]);
}
else
{
frontRightMotor->Set(0);
rearRightMotor->Set(0);
}
}
if(stickL.GetRawButton(2) && stickL.GetRawButton(3) && stickR.GetRawButton(2) &&
stickR.GetRawButton(3) && BACKWARDBUTTON && !(count%5)) bDrivePID = !bDrivePID;
if((SHIFTBUTTON && shiftHigh) || DEMOSWITCH)示例4: TeleopPeriodic
void TeleopPeriodic()
{
char myString [STAT_STR_LEN];
if (running)
{
enterHoldCommand = joystick->GetRawButton(BUT_JS_ENT_POS_HOLD);
exitHoldCommand = joystick->GetRawButton(BUT_JS_EXIT_POS_HOLD);
switch (liftState)
{
case raising:
if (GetLiftLimitSwitchMax())
{
SetLiftMotor(MOTOR_SPEED_STOP);
if(!liftEncFullRanged)
{
maxLiftEncDist = liftEncoder->GetDistance();
liftEncFullRanged = true;
}
motorSpeed = -MOTOR_SPEED_DOWN;
liftState = lowering;
SetLiftMotor(motorSpeed);
}
if (enterHoldCommand && liftEncZeroed && liftEncFullRanged)
{
liftState = holding;
}
break;
case lowering:
if (GetLiftLimitSwitchMin())
{
SetLiftMotor(MOTOR_SPEED_STOP);
if(!liftEncZeroed)
{
liftEncoder->Reset();
liftEncZeroed = true;
}
motorSpeed=MOTOR_SPEED_UP;
liftState = raising;
SetLiftMotor(motorSpeed);
}
if (enterHoldCommand && liftEncZeroed && liftEncFullRanged)
{
liftState = holding;
}
break;
case holding:
if(!(controlLift->IsEnabled()))
{
pidPosSetPoint = SP_RANGE_FRACTION*maxLiftEncDist; //go to the midpoint of the range
controlLift->SetSetpoint(pidPosSetPoint);
#if BUILD_VERSION == COMPETITION
controlLift2->SetSetpoint(pidPosSetPoint);
#endif
controlLift->Enable();
#if BUILD_VERSION == COMPETITION
controlLift2->Enable();
#endif
}
if(exitHoldCommand)
{
controlLift->Disable();
#if BUILD_VERSION == COMPETITION
controlLift2->Disable();
#endif
motorSpeed = -MOTOR_SPEED_DOWN;
liftState = lowering;
SetLiftMotor(motorSpeed);
}
break;
}
}
//status
sprintf(myString, "running: %d\n", running);
SmartDashboard::PutString("DB/String 0", myString);
sprintf(myString, "State: %d\n", liftState);
SmartDashboard::PutString("DB/String 1", myString);
sprintf(myString, "motorSpeed: %f\n", motorSpeed);
SmartDashboard::PutString("DB/String 2", myString);
sprintf(myString, "lift encoder zeroed: %d\n", liftEncZeroed);
SmartDashboard::PutString("DB/String 3", myString);
sprintf(myString, "max enc set: %d\n", liftEncFullRanged);
SmartDashboard::PutString("DB/String 4", myString);
sprintf(myString, "maxLiftEncDist: %f\n", maxLiftEncDist);
SmartDashboard::PutString("DB/String 5", myString);
sprintf(myString, "enc dist: %f\n", liftEncoder->GetDistance());
SmartDashboard::PutString("DB/String 6", myString);
sprintf(myString, "pid: %d\n", controlLift->IsEnabled());
SmartDashboard::PutString("DB/String 7", myString);
sprintf(myString, "dist to sp : %f\n", DistToSetpoint());
SmartDashboard::PutString("DB/String 8", myString);
sprintf(myString, "at sp : %d\n", AtSetpoint());
//.........这里部分代码省略.........