C++ SendableChooser::AddObject方法代码示例

	void RobotInit() override {
		chooser = new SendableChooser();
		chooser->AddDefault("Low Bar Low Goal", new Option(1));
		chooser->AddObject("Low Bar High Goal", new Option(2));
		SmartDashboard::PutData("Auto", chooser);

		CameraServer::GetInstance()->SetQuality(30);
		CameraServer::GetInstance()->StartAutomaticCapture("cam0");

		lstick = new Joystick(0);
		rstick = new Joystick(1);
		controller = new Joystick(2);

		myRobot = new SigmaDrive();
		myRobot->setExpiration(0.1);

		mySword = new ShooterIntake();

		Robot *bot = this;
		Modes = new AutonomousModes(myRobot, mySword);

		Drive = new Task("Drive", driveWrapper, bot);
		Shooter_Intake= new Task("ShooterIntake", shootWrapper, bot);

		myRobot->ResetDisplacement();
		myRobot->gyro->Calibrate();
	}

	void RobotInit()
	{
		camImage = imaqCreateImage(IMAQ_IMAGE_RGB, 0);
		binImage = imaqCreateImage(IMAQ_IMAGE_U8, 0);
		imMask = new ImageMask(camImage, binImage, imaqError = 0);

		chooser = new SendableChooser();
		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
		SmartDashboard::PutData("Auto Modes", chooser);

		imaqError = IMAQdxOpenCamera("cam1", IMAQdxCameraControlModeController, &session);
		if(imaqError != IMAQdxErrorSuccess){
			DriverStation::ReportError("IMAQdxOpencamera error: " + std::to_string((long)imaqError));
		}
		imaqError = IMAQdxConfigureGrab(session);
		if(imaqError != IMAQdxErrorSuccess){
			DriverStation::ReportError("IMAQdxConfigureGram error: " + std::to_string((long)imaqError));
		}
		/*
		CameraServer::GetInstance()->SetQuality(50);
		//the camera name (ex "cam0") can be found through the roborio web interface
		CameraServer::GetInstance()->StartAutomaticCapture("cam1");
		*/
		//camImage = imaqCreateImage(IMAQ_IMAGE_RGB, 0);

		//tal = new CANTalon(1);
		//banner = new DigitalInput(4);
		//banner2 = new DigitalInput(5);
		//tal->SetFeedbackDevice(CANTalon::CtreMagEncoder_Absolute);
		//x = 0;
	}

	void RobotInit()
	{
		chooser = new SendableChooser();
		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
		SmartDashboard::PutData("Auto Modes", chooser);
	}

	void RobotInit()
	{
		chooser = new SendableChooser();
		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
		SmartDashboard::PutData("Auto Modes", chooser);
		triggerPin = new DigitalOutput(8);
		echoPin = new DigitalInput(9);
	}

		Robot2009Kinect (void):
			joystickManipulator(MANIPULATOR_JOYSTICK_USB_PORT),
			joystickDriveLeft(LEFT_DRIVE_JOYSTICK_USB_PORT),
			joystickDriveRight(RIGHT_DRIVE_JOYSTICK_USB_PORT),
			kinectDrive(DRIVE_KINECT_IDENT),
			kinectManipulator(MANIPULATOR_KINECT_IDENT),
			motorDriveLeft(LEFT_DRIVE_MOTOR_PORT),
			motorDriveRight(RIGHT_DRIVE_MOTOR_PORT),
			motorShooter(SHOOTER_MOTOR_PORT),
			motorTurret(TURRET_MOTOR_PORT),
			motorPickup(PICKUP_MOTOR_PORT),
			motorFeed(FEED_MOTOR_PORT)
		{
			GetWatchdog().SetEnabled(false); // If you're just beginning, and nothing's going on, there's no need for Watchdog to be doing anything.
			
			kinectMode = false;
			
			kinectModeSelector = new SendableChooser();
			kinectModeSelector->AddDefault("Kinect Mode - OFF", (void*) false);
			kinectModeSelector->AddObject("Kinect Mode - ON", (void*) true);
			
			demoMode = false;
			
			demoModeSelector = new SendableChooser();
			demoModeSelector->AddDefault("Demo Mode - OFF", (void*) false);
			demoModeSelector->AddObject("Demo Mode - ON", (void*) true);
			
			const100 = 1;
			const90 = 0.9;
			const80 = 0.8;
			const70 = 0.7;
			const60 = 0.6;
			const50 = 0.5;
			const40 = 0.4;
			const30 = 0.3;
			const20 = 0.2;
			const10 = 0.1;
			const0 = 0;
			
			speedModeMult = &const100;
			
			speedModeSelector = new SendableChooser();
			speedModeSelector->AddDefault("Speed - 100%", &const100);
			speedModeSelector->AddObject("Speed - 90%", &const90);
			speedModeSelector->AddObject("Speed - 80%", &const80);
			speedModeSelector->AddObject("Speed - 70%", &const70);
			speedModeSelector->AddObject("Speed - 60%", &const60);
			speedModeSelector->AddObject("Speed - 50%", &const50);
			speedModeSelector->AddObject("Speed - 40%", &const40);
			speedModeSelector->AddObject("Speed - 30%", &const30);
			speedModeSelector->AddObject("Speed - 20%", &const20);
			speedModeSelector->AddObject("Speed - 10%", &const10);
			speedModeSelector->AddObject("Speed - 0%", &const0);
		}

	void RobotInit()
	{
		joystick = new Joystick(0);
		chooser = new SendableChooser();
		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
		SmartDashboard::PutData("Auto Modes", chooser);
		holder=new Holder(HOLDER_GATE,HOLDER_PUSHER,REVGATELIMIT,FWDGATELIMIT,IRSENSOR);
		state = WAIT_FOR_BUTTON;
	}

 CommandBasedRobot() {
     compressor = new Compressor(PRESSURE_SWITCH_PORT, COMPRESSOR_RELAY_PORT);
     compressor->Start();
     
     driveStyle = new SendableChooser();
     driveStyle->AddDefault("Arcade", new ArcadeDrive());
     driveStyle->AddObject("Tank", new TankDrive());
     
     CommandBase::init();
 }

	void RobotInit() override {
		lw = LiveWindow::GetInstance();
		drive->SetExpiration(20000);
		drive->SetSafetyEnabled(false);
		//Gyroscope stuff
		try {
			/* Communicate w/navX-MXP via the MXP SPI Bus.                                       */
			/* Alternatively:  I2C::Port::kMXP, SerialPort::Port::kMXP or SerialPort::Port::kUSB */
			/* See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface/ for details.   */
			ahrs = new AHRS(SPI::Port::kMXP);
		} catch (std::exception ex) {
			std::string err_string = "Error instantiating navX-MXP:  ";
			err_string += ex.what();
			//DriverStation::ReportError(err_string.c_str());
		}

		if (ahrs) {
			LiveWindow::GetInstance()->AddSensor("IMU", "Gyro", ahrs);
			ahrs->ZeroYaw();

			// Kp	  Ki	 Kd		Kf    PIDSource PIDoutput
			turnController = new PIDController(0.015f, 0.003f, 0.100f, 0.00f,
					ahrs, this);
			turnController->SetInputRange(-180.0f, 180.0f);
			turnController->SetOutputRange(-1.0, 1.0);
			turnController->SetAbsoluteTolerance(2); //tolerance in degrees
			turnController->SetContinuous(true);
		}
		chooser.AddDefault("No Auto", new int(0));
		chooser.AddObject("GyroTest Auto", new int(1));
		chooser.AddObject("Spy Auto", new int(2));
		chooser.AddObject("Low Bar Auto", new int(3));
		chooser.AddObject("Straight Spy Auto", new int(4));
		chooser.AddObject("Adjustable Straight Auto", new int(5));
		SmartDashboard::PutNumber(AUTO_LENGTH, AUTO_LENGTH_DEFAULT);
		SmartDashboard::PutNumber(AUTO_SPEED, AUTO_SPEED_DEFAULT);
		SmartDashboard::PutNumber(AUTO_INTAKE_SPEED, AUTO_INTAKE_SPEED_DEFAULT);
		SmartDashboard::PutData("Auto Modes", &chooser);
		liftdown->Set(false);
		comp->Start();
	}

	void RobotInit()
	{
		chooser = new SendableChooser();
		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
		SmartDashboard::PutData("Auto Modes", chooser);

		imu = new ADIS16448_IMU;
		imu->Reset();
		imu->Calibrate();

	}

	virtual void RobotInit() {
		CommandBase::init();
		
		DriverStationLCD *dsLCD = DriverStationLCD::GetInstance();
		dsLCD->Clear();
		dsLCD->UpdateLCD();
		
		//Wait(0.1);

		//_autonomousCommand = new AutonomousCommand();
		_autonomousCommand = NULL;
		_teleopCommand = NULL;
		
		_moveToAndDropBridgeCmd = new MoveToAndDropBridgeCmd();
		_noOpCmd = new NoOpCmd();
		_driveInSquareCmd = new DriveInSquareCmd();
		_kinectDriveCmd = new KinectDriveCmd(CommandBase::oi->kinectLeft, CommandBase::oi->kinectRight, CommandBase::oi->kinectBridgeBtn);
		_testRobotCmd = new TestRobotCmd(CommandBase::oi->driveTrigger);
		_autoFireCmd = new AutonomousFireCmd();

		//_driveWithJoysticksCmd = new DriveWithJoysticksCmd();
		
		
		_autoChooser = new SendableChooser();
		//		_autoChooser->AddDefault("Autonomous Fire", _autoFireCmd);
		_autoChooser->AddDefault("Move To And Drop Bridge", _moveToAndDropBridgeCmd);
//		_autoChooser->AddObject("Move To And Drop Bridge", _moveToAndDropBridgeCmd);
		_autoChooser->AddObject("Autonomous Fire", _autoFireCmd);
		_autoChooser->AddObject("Drive with Kinect", _kinectDriveCmd);
		_autoChooser->AddObject("Drive In Square", _driveInSquareCmd);
		SmartDashboard::GetInstance()->PutData("AutoMenu", _autoChooser);
		
		_teleopChooser = new SendableChooser();
		_teleopChooser->AddDefault("Drive With Joysticks", _noOpCmd);
		_teleopChooser->AddObject("Test Robot", _testRobotCmd);
		SmartDashboard::GetInstance()->PutData("TeleopMenu", _teleopChooser);
//		SmartDashboard::GetInstance()->PutData("SchedulerData", Scheduler::GetInstance());
//		SmartDashboard::GetInstance()->PutData("DriveTrainSubsystem", CommandBase::driveTrainSubsystem);
//		SmartDashboard::GetInstance()->PutData("AzimuthSubsystem", CommandBase::azimuthSubsystem);
	}

	void RobotInit()
	{
		frontLeft = new Talon( frontLeftChannel );
		backLeft = new Talon( backLeftChannel );
		frontRight = new Talon( frontRightChannel );
		backRight = new Talon( backRightChannel );

		MasterInterLink = new InterLinkElite( Master_InterLink_ID );
		SlaveInterLink = new InterLinkElite( Slave_InterLink_ID );
		ds = DriverStation::GetInstance();
		lw = LiveWindow::GetInstance();

		BuddyBoxEnableChooser = new SendableChooser();
		BuddyBoxEnableChooser->AddDefault( "Buddy Box Disabled", (void*) false );
		BuddyBoxEnableChooser->AddObject( "Buddy Box Enabled", (void*) true );
		SmartDashboard::PutData( "BuddyBoxEnableChooser", BuddyBoxEnableChooser );

		SlaveSpeedControlChooser = new SendableChooser();
		SlaveSpeedControlChooser->AddDefault( "Trainer Controls Speed", (void*) false );
		SlaveSpeedControlChooser->AddObject( "Slave Controls Speed", (void*) true );
		SmartDashboard::PutData( "SlaveSpeedControlChooser", SlaveSpeedControlChooser );
	}

	void RobotInit()
	{
		manipArm = new ManipArm();
		drive = new Drive();
		manip = new Manipulator();
		// TJF: new catapult constructor needs pointer to an OperatorInterface
		//catapult = new Catapult();
		oi = new OperatorInterface();
		catapult = new Catapult(oi);
		chooser = new SendableChooser();
		autonomous = new Autonomous();

		chooser->AddDefault("Go Straight Auto", new Autonomous()); //the second parameter require constructor not a function
		chooser->AddObject("Random Auto",  new Autonomous(true));
		SmartDashboard::PutData("Autonomous Modes", chooser); //not displaying because there are no input
	}

	void RobotInit()
	{
		chooser = new SendableChooser();
		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
		SmartDashboard::PutData("Auto Modes", chooser);

		//Initialize the I2C connectin on address 84
		spi = new SPI(SPI::Port::kOnboardCS0); //you can change the port; kOnboardCS0-3
		spi->Init();
		spi->SetClockRate(500000);
		spi->SetMSBFirst();
		spi->SetSampleDataOnFalling();
		spi->SetClockActiveLow();
		spi->SetChipSelectActiveLow();
	}

	void RobotInit()
	{	//pusher = 2, gate = 4
		chooser = new SendableChooser();
		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
		SmartDashboard::PutData("Auto Modes", chooser);
		lidar = new Lidar(I2C::kMXP, 0x62);
		leftWheel = new SRXSpeed(3, P_CONSTANT, 0.0, 0.0, 1);
		rightWheel = new SRXSpeed(1, P_CONSTANT, 0.0, 0.0, 1);
		leftWheel->SetInverted(true);
		stick = new Joystick(0);
		angle = new AngleAccelerometer(I2C::kOnboard);
		angleMotor = new CANTalon(5);
		anglePID = new PIDController(.05, 0, 0, angle, angleMotor);
		launch = new Launcher(leftWheel, rightWheel, anglePID);
	}

	void RobotInit() {

		CameraServer::GetInstance()->SetQuality(50);
		CameraServer::GetInstance()->StartAutomaticCapture("cam0");

		chooser = new SendableChooser();
		chooser->AddDefault(autoNameDefault, (void*) &autoNameDefault);
		chooser->AddObject(autoNameCustom, (void*) &autoNameCustom);
		SmartDashboard::PutData("Auto Modes", chooser);
		SmartDashboard::PutString("hello", "I'm here");
		//LEFTDRIVE1 = new CANTalon(3);
		//LEFTDRIVE2 = new CANTalon(2);
		//RIGHTDRIVE1 = new CANTalon(1);
		//RIGHTDRIVE2 = new CANTalon(4);
		LEFTDRIVE1 = new CANTalon(1);
		LEFTDRIVE2 = new CANTalon(4);
		RIGHTDRIVE1 = new CANTalon(3);
		RIGHTDRIVE2 = new CANTalon(2);
		TOPMOTOR1 = new CANTalon(5);

		//m_canTalonRightRear + m_canTalonRightFront = new CANTalon(RightCANWheels);
		//m_canTalonLeftRear + m_canTalonLeftFront = new CANTalon (LeftCANWheels);
		//m_PWMTalonRightRearTop + m_PWMTalonRightFrontTop = new Talon(RightWheels);
		//m_PWMTalonLeftRearTop + m_PWMTalonLeftFrontTop = new Talon(LeftWheels);

	//	m_PWMTalonRightRearTop = new Talon(8);
	//	m_PWMTalonRightFrontTop = new Talon(6);
	//	m_PWMTalonLeftRearTop = new Talon(9);
	//	m_PWMTalonLeftFrontTop = new Talon(7);



		m_lStick = new Joystick(1);
		//m_rStick = new Joystick(0);

		//drive = new RobotDrive(RightCANWheels, LeftCANWheels, RightWheels, LeftWheels);

		//drive = new RobotDrive(m_PWMTalonLeftFrontTop, m_PWMTalonLeftRearTop,m_PWMTalonRightFrontTop, m_PWMTalonRightRearTop);
		drive = new RobotDrive(LEFTDRIVE1, LEFTDRIVE2, RIGHTDRIVE1, RIGHTDRIVE2);

		//drive->SetInvertedMotor(RobotDrive::kFrontLeftMotor, true);
		//drive->SetInvertedMotor(RobotDrive::kRearLeftMotor, false);
		//drive->SetInvertedMotor(RobotDrive::kRearRightMotor, false);

		leftEncoder = new Encoder(0, 1);
		rightEncoder = new Encoder(2, 3);
	}