本文整理汇总了C++中Victor类的典型用法代码示例。如果您正苦于以下问题：C++ Victor类的具体用法？C++ Victor怎么用？C++ Victor使用的例子？那么, 这里精选的类代码示例或许可以为您提供帮助。
在下文中一共展示了Victor类的15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: GetVictorRaw
/**
* Get the PWM value directly from the hardware.
*
* Read a raw value from a PWM channel.
*
* @param channel The PWM channel used for this Victor
* @return Raw PWM control value. Range: 0 - 255.
*/
UINT8 GetVictorRaw(UINT32 channel)
{
Victor *victor = (Victor *) AllocatePWM(channel, CreateVictorStatic);
if (victor)
return victor->GetRaw();
else
return 0;
}示例2: MecanumDrive
void RobotDemo::MecanumDrive(float x, float y, float rotation, float gyroAngle)
{
const float EPSILONFL=1.f, EPSILONFR=1.f, EPSILONBL=1.f, EPSILONBR=1.f;
double xIn = x;
double yIn = y;
// Negate y for the joystick.
yIn = -yIn;
// Compenstate for gyro angle.
RotateVector(xIn, yIn, gyroAngle);
double wheelSpeeds[kMaxNumberOfMotors];
wheelSpeeds[0] = xIn + yIn + rotation;
wheelSpeeds[1] = -xIn + yIn - rotation;
wheelSpeeds[2] = -xIn + yIn + rotation;
wheelSpeeds[3] = xIn + yIn - rotation;
Normalize(wheelSpeeds);
uint8_t syncGroup = 0x80;
victorFL->Set(EPSILONFL*wheelSpeeds[0] * 1, syncGroup);
victorFR->Set(EPSILONFR*wheelSpeeds[1] * -1, syncGroup);
victorBL->Set(EPSILONBL*wheelSpeeds[2] * 1, syncGroup);
victorBR->Set(EPSILONBR*wheelSpeeds[3] * -1, syncGroup);
CANJaguar::UpdateSyncGroup(syncGroup);
}示例3: TeleopPeriodic
void TeleopPeriodic() {
if(m_driver->GetRawButton(BUTTON_LB)) {
// PYRAMID
m_PIDController->SetSetpoint(PLATE_PYRAMID_THREE_POINT);
m_PIDController->Enable();
} else if(m_driver->GetRawButton(BUTTON_RB)) {
// FEEDER
m_PIDController->SetSetpoint(PLATE_FEEDER_THREE_POINT);
m_PIDController->Enable();
} else if(m_driver->GetRawAxis(TRIGGERS) > 0.5) {
m_PIDController->SetSetpoint(PLATE_TEN_POINT_CLIMB);
m_PIDController->Enable();
} else {
// MANUAL CONTROL
m_PIDController->Disable();
m_plate1->Set(-deadband(m_driver->GetRawAxis(LEFT_Y)));
m_plate2->Set(-deadband(m_driver->GetRawAxis(LEFT_Y)));
}
// ----- PRINT -----
SmartDashboard::PutNumber("Plate Position: ", m_plateSensor->GetVoltage());
SmartDashboard::PutNumber("PID GET: ", m_plateSensor->PIDGet());
} // TeleopPeriodic()示例4: dumb_climber_code
void RobotDemo::dumb_climber_code()
{
//printf("Top:%i Bottom:%i " , top_claw_limit_switch->Get() , bottom_claw_limit_switch->Get());
if (drive_stick_prim ->GetRawButton(climber_hold_up))
{
if (top_claw_limit_switch->Get() == 1)
{
climbing_motor->Set(0.0);
//printf("STOPPED\n");
}
else
{
climbing_motor->Set(1);
//printf("GOING UP\n");
}
} // not climber hold up
else if (drive_stick_prim->GetRawButton(climber_hold_down))
{
if (bottom_claw_limit_switch->Get() == 0)
{
climbing_motor->Set(0.0);
//printf("STOPED\n");
}
else
{
climbing_motor->Set(-1);
//printf("GOING DOWN\n");
}
} // hold down button
else
{ // no js buttons pushed
climbing_motor->Set(0.0);
}
}示例5: OperatorControl
/**
* Runs the motors with arcade steering.
*/
void OperatorControl(void)
{
while (IsOperatorControl())
{
left.Set(cont.GetRawAxis(2));
right.Set(cont.GetRawAxis(4));
}
}示例6: dumb_drive_code
void RobotDemo::dumb_drive_code()
{
#if DUMB_DRIVE_CODE
left_drive_motor_A->Set(-drive_stick_sec ->GetY());
left_drive_motor_B->Set(-drive_stick_sec->GetY());
right_drive_motor_A->Set(drive_stick_prim->GetY());
right_drive_motor_B->Set(drive_stick_prim->GetY());
#endif
}示例7: AutonomousPeriodic
void AutonomousPeriodic(void)
{
// Basic motor test code
leftFrontDrive->Set(1);
leftRearDrive->Set(1);
rightRearDrive->Set(1);
rightFrontDrive->Set(1);
}示例8: AutonomousPeriodic
/**
* This method is called every 20ms to update the robots components during autonomous.
* There should be no blocking calls in this method (connection requests, large data collection, etc),
* failing to comply with this could result in inconsistent robot behavior
*/
void AutonomousPeriodic()
{
//In the first two seconds of auto, drive forwardat half power
if(Timer::GetFPGATimestamp() - autoTimer >= 0 && Timer::GetFPGATimestamp() < 2)
{
rd->SetLeftRightMotorOutputs(.5, .5);
}
else if(Timer::GetFPGATimestamp() - autoTimer >= 2 && Timer::GetFPGATimestamp() < 4)
{
//2 to 4 seconds, stop drivetrain and spin shooter wheels
rd->SetLeftRightMotorOutputs(0, 0);
shoot1->Set(1);
shoot2->Set(1);
}
else if(Timer::GetFPGATimestamp() - autoTimer >= 4 && Timer::GetFPGATimestamp() < 8 && !kickerSwitch->Get())
{
//4 to 8 seconds and while kicker switch is not true, spin shooter wheels and kicker
shoot1->Set(1);
shoot2->Set(1);
kicker->Set(-1);
}
else
{
//After all that, stop everything
rd->SetLeftRightMotorOutputs(0, 0);
shoot1->Set(0);
shoot2->Set(0);
kicker->Set(0);
}
}示例9: Reset
void Reset() {
m_talonCounter->Reset();
m_victorCounter->Reset();
m_jaguarCounter->Reset();
m_talon->Set(0.0f);
m_victor->Set(0.0f);
m_jaguar->Set(0.0f);
}示例10: TeleopPeriodic
/**
* This method is called every 20ms to update the robots components during teleop.
* There should be no blocking calls in this method (connection requests, large data collection, etc),
* failing to comply with this could result in inconsistent robot behavior
*/
void TeleopPeriodic()
{
//Make the robot move like an arcade stick controlled device
rd->ArcadeDrive(j1);
//If button 1 on the joystick is pressed, spin the shooter wheels up,
//otherwise stop them
if(j1->GetRawButton(1))
{
shoot1->Set(1);
shoot2->Set(2);
}
else
{
shoot1->Set(0);
shoot2->Set(0);
}
//If button 2 on the joystick is pressed, spin the kicker, otherwise stop the kicker
if(j1->GetRawButton(2))
{
kicker->Set(-1);
}
else
{
kicker->Set(0);
}
}示例11: Autonomous
void Autonomous()
{
compressor.Start();//start compressor
myRobot.SetSafetyEnabled(false);
myRobot.Drive(-0.5, 0.0); // drive forwards half speed
Wait(2.0); // for 2 seconds
myRobot.Drive(0.0, 0.0); // stop robot
while (!shoot.Get()){//while shooter isnt cocked pull it back
shooter.SetSpeed(1); //set motor
}
shooterSole.Set(shooterSole.kForward);//Sets Solenoid forward, shoot ball
shooterSole.Set(shooterSole.kReverse);//Sets Solenoid backward
myRobot.Drive(1.0, -1.0);//turn around for 0.5 seconds, we have to check to see if it takes that long
Wait(0.5);//wait for 0.5 seconds
myRobot.Drive(0.0, 0.0);//stop robot
}示例12: ShootModeSet
void ShootModeSet()
{
if (controller.GetRawButton(BTN_MODE_RELOAD) == true && ShootMode == eShoot)
{
ShootMode = eReload;
spinspeed = 0;
shootertime.Stop();
shootertime.Reset();
shottime.Stop();
shottime.Reset();
}
else if (controller.GetRawButton(BTN_MODE_SHOOT) == true && ShootMode == eReload)
{
ShootMode = eShoot;
spinspeed = 1; // CHANGE BACK TO 1. 40% IS BUTTERZONE FOR CHILDREN
shootertime.Start();
shottime.Start();
}
spin1.Set(-spinspeed);
}示例13: Disabled
void Disabled(void)
{
bool stopped = false;
while(!IsOperatorControl() && !IsAutonomous())
{
if(!stopped)
{
frontLeftMotor->Set(0.0);
rearLeftMotor->Set(0.0);
frontRightMotor->Set(0.0);
rearRightMotor->Set(0.0);
liftMotor1->Set(0.0);
liftMotor2->Set(0.0);
gripMotor1->Set(0.0);
//gripMotor2->Set(0.0);
PIDLift->Reset();
PIDDriveLeft->Reset();
PIDDriveRight->Reset();
PIDGrip->Reset();
stopped = true;
}
}
}示例14: TeleopPeriodic
void TeleopPeriodic()
{
char myString[64];
float y;
// get the joystick position and filter the deadband
y = -joystick->GetY();
if (y > -0.1 && y < 0.1)
y = 0;
sprintf(myString, "joystick setting: %f\n", y);
SmartDashboard::PutString("DB/String 1", myString);
motor->Set(y, 0); // set the speed of the motor
sprintf(myString, "gear count: %d\n", gearToothCounter->Get());
SmartDashboard::PutString("DB/String 2", myString);
sprintf(myString, "gear stopped: %d\n", gearToothCounter->GetStopped());
SmartDashboard::PutString("DB/String 3", myString);
// sprintf(myString, "In val: %d\n", toothInput->GetValue());
// SmartDashboard::PutString("DB/String 2", myString);
}示例15: OperatorControl
void OperatorControl (void) {
GetWatchdog().SetEnabled(true); // We do want Watchdog in Teleop, though.
DriverStationLCD *dsLCD = DriverStationLCD::GetInstance();
dsLCD->Printf(DriverStationLCD::kUser_Line1, 1, " ");
dsLCD->Printf(DriverStationLCD::kUser_Line1, 1, "Joystick Mode");
SmartDashboard::GetInstance()->PutData("kinectMode?", kinectModeSelector);
SmartDashboard::GetInstance()->PutData("demoMode?", demoModeSelector);
SmartDashboard::GetInstance()->PutData("speedMode?", speedModeSelector);
while (IsOperatorControl() && IsEnabled()) {
GetWatchdog().Feed(); // Feed the Watchdog.
kinectMode = (bool) kinectModeSelector->GetSelected();
demoMode = (bool) demoModeSelector->GetSelected();
speedModeMult = static_cast<double*>(speedModeSelector->GetSelected());
if (kinectMode) {
dsLCD->Printf(DriverStationLCD::kUser_Line1, 1, " ");
dsLCD->Printf(DriverStationLCD::kUser_Line1, 1, "Kinect Mode");
if (!demoMode) {
if (kinectDrive.GetRawButton(KINECT_FORWARD_BUTTON)) {
motorDriveLeft.Set(LEFT_DRIVE_POWER * *speedModeMult);
motorDriveRight.Set(RIGHT_DRIVE_POWER * -1 * *speedModeMult);
} else if (kinectDrive.GetRawButton(KINECT_REVERSE_BUTTON)) {
motorDriveLeft.Set(LEFT_DRIVE_POWER * -1 * *speedModeMult);
motorDriveRight.Set(RIGHT_DRIVE_POWER * *speedModeMult);
} else if (kinectDrive.GetRawButton(KINECT_LEFT_BUTTON)) {
motorDriveLeft.Set(LEFT_DRIVE_POWER * -1 * *speedModeMult);
motorDriveRight.Set(RIGHT_DRIVE_POWER * -1 * *speedModeMult);
} else if (kinectDrive.GetRawButton(KINECT_RIGHT_BUTTON)) {
motorDriveLeft.Set(LEFT_DRIVE_POWER * *speedModeMult);
motorDriveRight.Set(RIGHT_DRIVE_POWER * *speedModeMult);
} else {
motorDriveLeft.Set(0);
motorDriveRight.Set(0);
}
}
if (kinectManipulator.GetRawButton(KINECT_SHOOT_BUTTON)) {
motorShooter.Set(SHOOTER_MOTOR_POWER);
motorFeed.Set(FEED_MOTOR_POWER);
motorPickup.Set(PICKUP_MOTOR_POWER);
} else if (kinectManipulator.GetRawButton(KINECT_SUCK_BUTTON)) {
motorShooter.Set(SHOOTER_MOTOR_POWER * -1);
motorFeed.Set(FEED_MOTOR_POWER * -1);
motorPickup.Set(PICKUP_MOTOR_POWER * -1);
} else {
motorShooter.Set(0);
motorFeed.Set(0);
motorPickup.Set(0);
}
if (kinectManipulator.GetRawButton(KINECT_TURRET_LEFT_BUTTON)) {
motorTurret.Set(TURRET_POWER);
} else if(kinectManipulator.GetRawButton(KINECT_TURRET_RIGHT_BUTTON)) {
motorTurret.Set(TURRET_POWER * -1);
} else {
motorTurret.Set(0);
}
} else {
if (joystickDriveLeft.GetThrottle() == 0) {
dsLCD->Printf(DriverStationLCD::kUser_Line1, 1, " ");
dsLCD->Printf(DriverStationLCD::kUser_Line1, 1, "Xbox Mode");
motorDriveLeft.Set(Deadband(joystickManipulator.GetRawAxis(2) * -1 * *speedModeMult));
motorDriveRight.Set(Deadband(joystickManipulator.GetRawAxis(5) * *speedModeMult));
if (joystickManipulator.GetRawButton(XBOX_SHOOT_BUTTON) || (demoMode && joystickDriveRight.GetRawButton(XBOX_SHOOT_BUTTON))) {
motorShooter.Set(SHOOTER_MOTOR_POWER);
motorFeed.Set(FEED_MOTOR_POWER);
motorPickup.Set(PICKUP_MOTOR_POWER);
} else if (joystickManipulator.GetRawButton(XBOX_SUCK_BUTTON) || (demoMode && joystickDriveRight.GetRawButton(XBOX_SUCK_BUTTON))) {
motorShooter.Set(SHOOTER_MOTOR_POWER * -1);
motorFeed.Set(FEED_MOTOR_POWER * -1);
motorPickup.Set(PICKUP_MOTOR_POWER * -1);
} else {
motorShooter.Set(0);
motorFeed.Set(0);
motorPickup.Set(0);
}
if (joystickManipulator.GetRawAxis(3) > 0.2 || (demoMode && joystickDriveRight.GetRawAxis(3) > 0.2)) {
motorTurret.Set(TURRET_POWER);
} else if(joystickManipulator.GetRawAxis(3) < -0.2 || (demoMode && joystickDriveRight.GetRawAxis(3) < -0.2)) {
motorTurret.Set(TURRET_POWER * -1);
} else {
motorTurret.Set(0);
}
} else {
dsLCD->Printf(DriverStationLCD::kUser_Line1, 1, " ");
dsLCD->Printf(DriverStationLCD::kUser_Line1, 1, "Joystick Mode");
motorDriveLeft.Set(Deadband(joystickDriveLeft.GetY() * -1 * *speedModeMult));
motorDriveRight.Set(Deadband(joystickDriveRight.GetY() * *speedModeMult));
if (joystickManipulator.GetRawButton(MANIPULATOR_SHOOT_BUTTON)) {
//.........这里部分代码省略.........