本文整理汇总了Java中com.ctre.CANTalon.configEncoderCodesPerRev方法的典型用法代码示例。如果您正苦于以下问题：Java CANTalon.configEncoderCodesPerRev方法的具体用法？Java CANTalon.configEncoderCodesPerRev怎么用？Java CANTalon.configEncoderCodesPerRev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com.ctre.CANTalon的用法示例。
在下文中一共展示了CANTalon.configEncoderCodesPerRev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Java代码示例。
示例1: initTalonConfig
import com.ctre.CANTalon; //导入方法依赖的package包/类
public void initTalonConfig() {
talons = new CANTalon[] {
new CANTalon(TALONS_FRONT_LEFT), new CANTalon(TALONS_FRONT_RIGHT),
new CANTalon(TALONS_REAR_LEFT), new CANTalon(TALONS_REAR_RIGHT)};
talons[MotorType.kFrontLeft.value].setInverted(true);
talons[MotorType.kFrontRight.value].setInverted(false);
talons[MotorType.kRearLeft.value].setInverted(true);
talons[MotorType.kRearRight.value].setInverted(false);
for (CANTalon t: talons) {
t.changeControlMode(CANTalon.TalonControlMode.PercentVbus);
t.enableBrakeMode(false);
t.setFeedbackDevice(FeedbackDevice.QuadEncoder);
t.configEncoderCodesPerRev(ENC_CODES_PER_REV);
t.setEncPosition(0);
t.set(0);
}
robotDrive = new RobotDrive(talons[MotorType.kFrontLeft.value], talons[MotorType.kRearLeft.value],
talons[MotorType.kFrontRight.value], talons[MotorType.kRearRight.value]);
robotDrive.setSafetyEnabled(false);
}
示例2: Shooter
import com.ctre.CANTalon; //导入方法依赖的package包/类
public Shooter() {
super();
shooterFeeder = new CANTalon(8);
LiveWindow.addActuator("Shooter", "Feeder", shooterFeeder);
shooterFeeder.enableBrakeMode(false);
shooterShootMotor = new CANTalon(7);
LiveWindow.addActuator("Shooter", "ShootMotor", shooterShootMotor);
shooterShootMotor.enableBrakeMode(false);
/* choose the sensor */
shooterShootMotor.setFeedbackDevice(FeedbackDevice.QuadEncoder);
shooterShootMotor.reverseSensor(true);
shooterShootMotor.configEncoderCodesPerRev(PulsesPerRevolution); // if using FeedbackDevice.QuadEncoder
/* set the peak and nominal outputs, 12V means full */
shooterShootMotor.configNominalOutputVoltage(+0.0f, -0.0f);
shooterShootMotor.configPeakOutputVoltage(+12.0f, -12.0f);
/* set closed loop gains in slot0 */
shooterShootMotor.setProfile(0);
shooterShootMotor.setF(pidF);
shooterShootMotor.setP(pidP);
//only change I and D to smooth out control
shooterShootMotor.setI(0);
shooterShootMotor.setD(0);
shooterAgitator = new CANTalon(10);
LiveWindow.addActuator("Shooter", "Agitator", shooterAgitator);
shooterAgitator.enableBrakeMode(false);
}
示例3: configureMaster
import com.ctre.CANTalon; //导入方法依赖的package包/类
private void configureMaster(CANTalon talon) {
logger.info("init master: " + talon.getDeviceID());
talon.changeControlMode(CANTalon.TalonControlMode.Voltage);
talon.setFeedbackDevice(CANTalon.FeedbackDevice.QuadEncoder);
talon.configEncoderCodesPerRev(RobotMap.QUAD_ENCODER_TICKS_PER_REV);
talon.configNominalOutputVoltage(+0.0f, -0.0f);
talon.configPeakOutputVoltage(+12.0f, -12.0f);
talon.setProfile(0);
talon.setF(0);
talon.setP(0.5);
talon.setI(0.0001);
talon.setD(1.0);
talon.setPosition(0);
talon.enableBrakeMode(true);
}
示例4: Drivebase
import com.ctre.CANTalon; //导入方法依赖的package包/类
public Drivebase() {
super();
left = new CANTalon(FRONT_LEFT_MOTOR_DEVICE_NUMBER);
leftSlave = new CANTalon(BACK_LEFT_MOTOR_DEVICE_NUMBER);
leftSlave.changeControlMode(CANTalon.TalonControlMode.Follower);
leftSlave.set(FRONT_LEFT_MOTOR_DEVICE_NUMBER);
right = new CANTalon(FRONT_RIGHT_MOTOR_DEVICE_NUMBER);
rightSlave = new CANTalon(BACK_RIGHT_MOTOR_DEVICE_NUMBER);
rightSlave.changeControlMode(CANTalon.TalonControlMode.Follower);
rightSlave.set(FRONT_RIGHT_MOTOR_DEVICE_NUMBER);
left.setInverted(true);
right.setInverted(true);
leftSlave.setInverted(true);
rightSlave.setInverted(true);
left.setFeedbackDevice(CANTalon.FeedbackDevice.QuadEncoder);
right.setFeedbackDevice(CANTalon.FeedbackDevice.QuadEncoder);
left.configEncoderCodesPerRev(TICS_PER_REVOLUTION);
right.configEncoderCodesPerRev(TICS_PER_REVOLUTION);
left.reverseSensor(true);
right.reverseSensor(true);
// PID Stuff
left.setPID(0.1, 0, 0, 0.025, 0, 1, 0);
right.setPID(0.1, 0, 0, 0.025, 0, 1, 0);
left.configNominalOutputVoltage(+0, -0);
right.configPeakOutputVoltage(+12, -12);
left.setProfile(0);
right.setProfile(0);
robotDrive = new RobotDrive(left, right);
}
示例5: configure
import com.ctre.CANTalon; //导入方法依赖的package包/类
public void configure(CANTalon talon) {
talon.setFeedbackDevice(getDevice());
talon.reverseSensor(reversed);
logger.info(
"{}: encoder {} {} reversed", talon.getDescription(), getDevice(), reversed ? "" : "not");
if (unitScalingEnabled) {
talon.configEncoderCodesPerRev(ticksPerRevolution);
logger.info(
"{}: configured {} encoder codes per revolution",
talon.getDescription(),
ticksPerRevolution);
}
checkEncoder(talon);
}