Java Encoder.reset方法代码示例

import edu.wpi.first.wpilibj.Encoder; //导入方法依赖的package包/类
public DriveTrain(boolean isCan)
{
    
    shifter = new Piston(SHIFTER_EXTEND_PORT, SHIFTER_RETRACT_PORT);
    left = new BTMotor(LEFT_JAG_PORT, isCan, isVoltage);
    left_2 = new BTMotor(LEFT_JAG_PORT_2, isCan, isVoltage);
    right = new BTMotor(RIGHT_JAG_PORT, isCan, isVoltage);
    right_2 = new BTMotor(RIGHT_JAG_PORT_2, isCan, isVoltage);
    shiftSpeed = new Encoder(DRIVE_ENCODER_A_PORT, DRIVE_ENCODER_B_PORT, true, CounterBase.EncodingType.k1X);
    shiftSpeed.setDistancePerPulse(distance);
    shiftSpeed.start();
    shiftSpeed.reset();
    
    left.setBTVoltageRampRate(ramprate);
    left_2.setBTVoltageRampRate(ramprate);
    right.setBTVoltageRampRate(ramprate);
    right_2.setBTVoltageRampRate(ramprate);
}
 

import edu.wpi.first.wpilibj.Encoder; //导入方法依赖的package包/类
public void resetEncoders() {

		for (Encoder encoder: encoderArr) {
			encoder.reset();
		}

		for (PIDController wheelSpeedPID: wheelSpeedPIDArr) {
			wheelSpeedPID.setSetpoint(0.0);
		}

	}
 

import edu.wpi.first.wpilibj.Encoder; //导入方法依赖的package包/类
private void initializeWinch() {
	winchEncoder = new Encoder(RobotMap.SHOOTER_WINCH_ENCODER_A, RobotMap.SHOOTER_WINCH_ENCODER_B);
	winchEncoder.reset();
	winchEncoder.setDistancePerPulse(1);
	winchEncoder.setPIDSourceParameter(Encoder.PIDSourceParameter.kDistance);
	winchEncoder.start();
	controller = new PIDController(P, I, D, winchEncoder, winch);
	controller.setOutputRange(-1, 1);
	controller.setPID(P, I, D);
}
 

import edu.wpi.first.wpilibj.Encoder; //导入方法依赖的package包/类
public RPMEncoder(int aSlot, int aChannel, int bSlot, int bChannel, boolean reverseDirection, double pulsesPerRotation, int numAveragedCycles) {
        m_pulsesPerRotation = pulsesPerRotation;
        m_numAveragedCycles = numAveragedCycles;
    
        m_encoder = new Encoder(aSlot, aChannel, bSlot, bChannel, reverseDirection, CounterBase.EncodingType.k4X);

        m_motorRPM = new double[numAveragedCycles];
        m_encoder.reset();
        resetMotorRPM();
}
 

import edu.wpi.first.wpilibj.Encoder; //导入方法依赖的package包/类
public Shooter(int encoderA, int encoderB, int victor1, int victor2, int victor3) {
    m_encode = new Encoder(encoderA, encoderB);
    m_encode.start();
    m_encode.reset();
    m_motor1 = new Victor(victor1);
    m_motor2 = new Victor(victor2);
    m_motor3 = new Victor(victor3);
    m_shootTimer = new Timer();
    m_retractTimer = new Timer();

}
 

import edu.wpi.first.wpilibj.Encoder; //导入方法依赖的package包/类
public void initialize() 
{
	rearLeftMotor = new Jaguar(0);
	frontLeftMotor = new Jaguar(1);
	liftMotor = new Jaguar(2);
	liftMotor2 = new Jaguar(3);
	liftEncoder = new Encoder(6, 7, false, EncodingType.k4X);
	
	drivetrain = new RobotDrive(rearLeftMotor, frontLeftMotor);	
	
	drivetrain.setInvertedMotor(MotorType.kFrontLeft, true);
	drivetrain.setInvertedMotor(MotorType.kFrontRight, true);

	halsensor = new DigitalInput(0);
	
	horizontalCamera = new Servo(8);
	verticalCamera = new Servo(9);
	
	solenoid = new DoubleSolenoid(0,1);
	
	gyro = new Gyro(1);
	accelerometer = new BuiltInAccelerometer();
	
	liftEncoder.reset();
	
	RobotHardwareWoodbot hardware = (RobotHardwareWoodbot)Robot.bot;
	
	LiveWindow.addActuator("Drive Train", "Front Left Motor", (Jaguar)hardware.frontLeftMotor);
	LiveWindow.addActuator("Drive Train", "Back Left Motor", (Jaguar)hardware.rearLeftMotor);
	//LiveWindow.addActuator("Drive Train", "Front Right Motor", (Jaguar)hardware.frontRightMotor);
	//LiveWindow.addActuator("Drive Train", "Back Right Motor", (Jaguar)hardware.rearRightMotor);
}
 

import edu.wpi.first.wpilibj.Encoder; //导入方法依赖的package包/类
void init() {
    gy = new Gyro(RobotMap.gyroport);
    gy.reset();
    rotaryEncoder = new Encoder(1,2);
    rotaryEncoder.start();
    rotaryEncoder.reset();//Justin Case, attorney at law!
    feederLimit = new DigitalInput(14);
}
 

import edu.wpi.first.wpilibj.Encoder; //导入方法依赖的package包/类
public DriveTrain() {
    super();
    frontLeft = new CANTalon(RobotMap.DRIVE_TRAIN_FRONT_LEFT);
    frontRight = new CANTalon(RobotMap.DRIVE_TRAIN_FRONT_RIGHT);
    backLeft = new CANTalon(RobotMap.DRIVE_TRAIN_BACK_LEFT);
    backRight = new CANTalon(RobotMap.DRIVE_TRAIN_BACK_RIGHT);

    frontLeft.set(0);
    frontRight.set(0);
    backLeft.set(0);
    backRight.set(0);
    
    double voltageRampRate = 150;//20;
    frontLeft.setVoltageRampRate(voltageRampRate);
    frontRight.setVoltageRampRate(voltageRampRate);
    backLeft.setVoltageRampRate(voltageRampRate);
    backRight.setVoltageRampRate(voltageRampRate);
    
    //backRight.setCurrentLimit(0);

    setBrake(false);

    drive = new RobotDrive(frontLeft, backLeft, frontRight, backRight);

    // Scale encoder pulses to distance in inches
    double wheelDiameter = 4.0; // inches
    double encoderToShaftRatio = 3; // 3X gear reduction
    double pulsesPerRevolution = 256;
    double stage3Ratio = 50.0 / 34.0;
    double distancePerPulse = Math.PI * wheelDiameter / (encoderToShaftRatio * pulsesPerRevolution);
    distancePerPulse /= stage3Ratio;

    leftEncoder = new Encoder(RobotMap.DRIVE_TRAIN_ENCODER_LEFT_A, RobotMap.DRIVE_TRAIN_ENCODER_LEFT_B,
    		true, EncodingType.k4X);
    leftEncoder.reset();
    leftEncoder.setDistancePerPulse(distancePerPulse);
    rightEncoder = new Encoder(RobotMap.DRIVE_TRAIN_ENCODER_RIGHT_A, RobotMap.DRIVE_TRAIN_ENCODER_RIGHT_B,
    		true, EncodingType.k4X);
    rightEncoder.reset();
    rightEncoder.setDistancePerPulse(distancePerPulse);
}
 

import edu.wpi.first.wpilibj.Encoder; //导入方法依赖的package包/类
public WsDriveBase(String name) {
    super(name);

    WHEEL_DIAMETER_config = new DoubleConfigFileParameter(this.getClass().getName(), "wheel_diameter", 6);
    TICKS_PER_ROTATION_config = new DoubleConfigFileParameter(this.getClass().getName(), "ticks_per_rotation", 360.0);
    THROTTLE_LOW_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "throttle_low_gear_accel_factor", 0.250);
    HEADING_LOW_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "heading_low_gear_accel_factor", 0.500);
    THROTTLE_HIGH_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "throttle_high_gear_accel_factor", 0.125);
    HEADING_HIGH_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "heading_high_gear_accel_factor", 0.250);
    MAX_HIGH_GEAR_PERCENT_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_high_gear_percent", 0.80);
    ENCODER_GEAR_RATIO_config = new DoubleConfigFileParameter(this.getClass().getName(), "encoder_gear_ratio", 7.5);
    DEADBAND_config = new DoubleConfigFileParameter(this.getClass().getName(), "deadband", 0.05);
    SLOW_TURN_FORWARD_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "slow_turn_forward_speed", 0.16);
    SLOW_TURN_BACKWARD_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "slow_turn_backward_speed", -0.19);
    FEED_FORWARD_VELOCITY_CONSTANT_config = new DoubleConfigFileParameter(this.getClass().getName(), "feed_forward_velocity_constant", 1.00);
    FEED_FORWARD_ACCELERATION_CONSTANT_config = new DoubleConfigFileParameter(this.getClass().getName(), "feed_forward_acceleration_constant", 0.00018);
    MAX_ACCELERATION_DRIVE_PROFILE_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_acceleration_drive_profile", 600.0);
    MAX_SPEED_INCHES_LOWGEAR_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_speed_inches_lowgear", 90.0);
    DECELERATION_VELOCITY_THRESHOLD_config = new DoubleConfigFileParameter(this.getClass().getName(), "deceleration_velocity_threshold", 48.0);
    DECELERATION_MOTOR_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "deceleration_motor_speed", 0.3);
    STOPPING_DISTANCE_AT_MAX_SPEED_LOWGEAR_config = new DoubleConfigFileParameter(this.getClass().getName(), "stopping_distance_at_max_speed_lowgear", 10.0);
    DRIVE_OFFSET_config = new AutonomousDoubleConfigFileParameter("DriveOffset", 1.00);
    USE_LEFT_SIDE_FOR_OFFSET_config = new AutonomousBooleanConfigFileParameter("UseLeftDriveForOffset", true);
    QUICK_TURN_CAP_config = new DoubleConfigFileParameter(this.getClass().getName(), "quick_turn_cap", 10.0);
    QUICK_TURN_ANTITURBO_config = new DoubleConfigFileParameter(this.getClass().getName(), "quick_turn_antiturbo", 10.0);

    //Anti-Turbo button
    registerForJoystickButtonNotification(WsJoystickButtonEnum.DRIVER_BUTTON_8);
    //Turbo button
    registerForJoystickButtonNotification(WsJoystickButtonEnum.DRIVER_BUTTON_7);
    //Shifter Button
    registerForJoystickButtonNotification(WsJoystickButtonEnum.DRIVER_BUTTON_6);
    //Left/right slow turn buttons
    registerForJoystickButtonNotification(WsJoystickButtonEnum.DRIVER_BUTTON_1);
    registerForJoystickButtonNotification(WsJoystickButtonEnum.DRIVER_BUTTON_3);

    //Initialize the drive base encoders
    leftDriveEncoder = new Encoder(2, 3, true, EncodingType.k4X);
    leftDriveEncoder.reset();
    leftDriveEncoder.start();
    rightDriveEncoder = new Encoder(4, 5, false, EncodingType.k4X);
    rightDriveEncoder.reset();
    rightDriveEncoder.start();

    //Initialize the gyro
    //@TODO: Get the correct port
    driveHeadingGyro = new Gyro(1);

    //Initialize the PIDs
    driveDistancePidInput = new WsDriveBaseDistancePidInput();
    driveDistancePidOutput = new WsDriveBaseDistancePidOutput();
    driveDistancePid = new WsPidController(driveDistancePidInput, driveDistancePidOutput, "WsDriveBaseDistancePid");

    driveHeadingPidInput = new WsDriveBaseHeadingPidInput();
    driveHeadingPidOutput = new WsDriveBaseHeadingPidOutput();
    driveHeadingPid = new WsPidController(driveHeadingPidInput, driveHeadingPidOutput, "WsDriveBaseHeadingPid");

    driveSpeedPidInput = new WsDriveBaseSpeedPidInput();
    driveSpeedPidOutput = new WsDriveBaseSpeedPidOutput();
    driveSpeedPid = new WsSpeedPidController(driveSpeedPidInput, driveSpeedPidOutput, "WsDriveBaseSpeedPid");
    continuousAccelerationFilter = new ContinuousAccelFilter(0, 0, 0);
    init();
}
 

import edu.wpi.first.wpilibj.Encoder; //导入方法依赖的package包/类
public DriveBase(String name) {
    super(name);

    WHEEL_DIAMETER_config = new DoubleConfigFileParameter(this.getClass().getName(), "wheel_diameter", 6);
    TICKS_PER_ROTATION_config = new DoubleConfigFileParameter(this.getClass().getName(), "ticks_per_rotation", 360.0);
    THROTTLE_LOW_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "throttle_low_gear_accel_factor", 0.250);
    HEADING_LOW_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "heading_low_gear_accel_factor", 0.500);
    THROTTLE_HIGH_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "throttle_high_gear_accel_factor", 0.125);
    HEADING_HIGH_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "heading_high_gear_accel_factor", 0.250);
    MAX_HIGH_GEAR_PERCENT_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_high_gear_percent", 0.80);
    ENCODER_GEAR_RATIO_config = new DoubleConfigFileParameter(this.getClass().getName(), "encoder_gear_ratio", 7.5);
    DEADBAND_config = new DoubleConfigFileParameter(this.getClass().getName(), "deadband", 0.05);
    SLOW_TURN_FORWARD_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "slow_turn_forward_speed", 0.16);
    SLOW_TURN_BACKWARD_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "slow_turn_backward_speed", -0.19);
    FEED_FORWARD_VELOCITY_CONSTANT_config = new DoubleConfigFileParameter(this.getClass().getName(), "feed_forward_velocity_constant", 1.00);
    FEED_FORWARD_ACCELERATION_CONSTANT_config = new DoubleConfigFileParameter(this.getClass().getName(), "feed_forward_acceleration_constant", 0.00018);
    MAX_ACCELERATION_DRIVE_PROFILE_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_acceleration_drive_profile", 600.0);
    MAX_SPEED_INCHES_LOWGEAR_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_speed_inches_lowgear", 90.0);
    DECELERATION_VELOCITY_THRESHOLD_config = new DoubleConfigFileParameter(this.getClass().getName(), "deceleration_velocity_threshold", 48.0);
    DECELERATION_MOTOR_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "deceleration_motor_speed", 0.3);
    STOPPING_DISTANCE_AT_MAX_SPEED_LOWGEAR_config = new DoubleConfigFileParameter(this.getClass().getName(), "stopping_distance_at_max_speed_lowgear", 10.0);
    DRIVE_OFFSET_config = new AutonomousDoubleConfigFileParameter("DriveOffset", 1.00);
    USE_LEFT_SIDE_FOR_OFFSET_config = new AutonomousBooleanConfigFileParameter("UseLeftDriveForOffset", true);
    QUICK_TURN_CAP_config = new DoubleConfigFileParameter(this.getClass().getName(), "quick_turn_cap", 10.0);
    QUICK_TURN_ANTITURBO_config = new DoubleConfigFileParameter(this.getClass().getName(), "quick_turn_antiturbo", 10.0);

    //Anti-Turbo button
    registerForJoystickButtonNotification(JoystickButtonEnum.DRIVER_BUTTON_8);
    //Turbo button
    registerForJoystickButtonNotification(JoystickButtonEnum.DRIVER_BUTTON_7);
    //Shifter Button
    registerForJoystickButtonNotification(JoystickButtonEnum.DRIVER_BUTTON_6);

    //Initialize the drive base encoders
    leftDriveEncoder = new Encoder(2, 3, true, EncodingType.k4X);
    leftDriveEncoder.reset();
    leftDriveEncoder.start();
    rightDriveEncoder = new Encoder(4, 5, false, EncodingType.k4X);
    rightDriveEncoder.reset();
    rightDriveEncoder.start();

    //Initialize the gyro
    //@TODO: Get the correct port
    driveHeadingGyro = new Gyro(1);

    continuousAccelerationFilter = new ContinuousAccelFilter(0, 0, 0);
    driveSpeedPidInput = new DriveBaseSpeedPidInput();
    driveSpeedPidOutput = new DriveBaseSpeedPidOutput();
    driveSpeedPid = new SpeedPidController(driveSpeedPidInput, driveSpeedPidOutput, "DriveBaseSpeedPid");
    init();
}
 

import edu.wpi.first.wpilibj.Encoder; //导入方法依赖的package包/类
public WsDriveBase(String name) {
    super(name);

    WHEEL_DIAMETER_config = new DoubleConfigFileParameter(this.getClass().getName(), "wheel_diameter", 6);
    TICKS_PER_ROTATION_config = new DoubleConfigFileParameter(this.getClass().getName(), "ticks_per_rotation", 360.0);
    THROTTLE_LOW_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "throttle_low_gear_accel_factor", 0.250);
    HEADING_LOW_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "heading_low_gear_accel_factor", 0.500);
    THROTTLE_HIGH_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "throttle_high_gear_accel_factor", 0.125);
    HEADING_HIGH_GEAR_ACCEL_FACTOR_config = new DoubleConfigFileParameter(this.getClass().getName(), "heading_high_gear_accel_factor", 0.250);
    MAX_HIGH_GEAR_PERCENT_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_high_gear_percent", 0.80);
    ENCODER_GEAR_RATIO_config = new DoubleConfigFileParameter(this.getClass().getName(), "encoder_gear_ratio", 7.5);
    DEADBAND_config = new DoubleConfigFileParameter(this.getClass().getName(), "deadband", 0.05);
    SLOW_TURN_FORWARD_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "slow_turn_forward_speed", 0.16);
    SLOW_TURN_BACKWARD_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "slow_turn_backward_speed", -0.19);
    FEED_FORWARD_VELOCITY_CONSTANT_config = new DoubleConfigFileParameter(this.getClass().getName(), "feed_forward_velocity_constant", 1.00);
    FEED_FORWARD_ACCELERATION_CONSTANT_config = new DoubleConfigFileParameter(this.getClass().getName(), "feed_forward_acceleration_constant", 0.00018);
    MAX_ACCELERATION_DRIVE_PROFILE_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_acceleration_drive_profile", 600.0);
    MAX_SPEED_INCHES_LOWGEAR_config = new DoubleConfigFileParameter(this.getClass().getName(), "max_speed_inches_lowgear", 90.0);
    DECELERATION_VELOCITY_THRESHOLD_config = new DoubleConfigFileParameter(this.getClass().getName(), "deceleration_velocity_threshold", 48.0);
    DECELERATION_MOTOR_SPEED_config = new DoubleConfigFileParameter(this.getClass().getName(), "deceleration_motor_speed", 0.3);
    STOPPING_DISTANCE_AT_MAX_SPEED_LOWGEAR_config = new DoubleConfigFileParameter(this.getClass().getName(), "stopping_distance_at_max_speed_lowgear", 10.0);
    DRIVE_OFFSET_config = new AutonomousDoubleConfigFileParameter("DriveOffset", 1.00);
    USE_LEFT_SIDE_FOR_OFFSET_config = new AutonomousBooleanConfigFileParameter("UseLeftDriveForOffset", true);
    QUICK_TURN_CAP_config = new DoubleConfigFileParameter(this.getClass().getName(), "quick_turn_cap", 10.0);
    QUICK_TURN_ANTITURBO_config = new DoubleConfigFileParameter(this.getClass().getName(), "quick_turn_antiturbo", 10.0);

    //Anti-Turbo button
    Subject subject = WsInputManager.getInstance().getOiInput(WsInputManager.DRIVER_JOYSTICK).getSubject(WsDriverJoystickButtonEnum.BUTTON8);
    subject.attach(this);
    //Turbo button
    subject = WsInputManager.getInstance().getOiInput(WsInputManager.DRIVER_JOYSTICK).getSubject(WsDriverJoystickButtonEnum.BUTTON7);
    subject.attach(this);
    //Shifter Button
    subject = WsInputManager.getInstance().getOiInput(WsInputManager.DRIVER_JOYSTICK).getSubject(WsDriverJoystickButtonEnum.BUTTON6);
    subject.attach(this);
    //Left/right slow turn buttons
    subject = WsInputManager.getInstance().getOiInput(WsInputManager.DRIVER_JOYSTICK).getSubject(WsDriverJoystickButtonEnum.BUTTON1);
    subject.attach(this);
    subject = WsInputManager.getInstance().getOiInput(WsInputManager.DRIVER_JOYSTICK).getSubject(WsDriverJoystickButtonEnum.BUTTON3);
    subject.attach(this);

    //Initialize the drive base encoders
    leftDriveEncoder = new Encoder(2, 3, true, EncodingType.k4X);
    leftDriveEncoder.reset();
    leftDriveEncoder.start();
    rightDriveEncoder = new Encoder(4, 5, false, EncodingType.k4X);
    rightDriveEncoder.reset();
    rightDriveEncoder.start();

    //Initialize the gyro
    //@TODO: Get the correct port
    driveHeadingGyro = new Gyro(1);

    //Initialize the PIDs
    driveDistancePidInput = new WsDriveBaseDistancePidInput();
    driveDistancePidOutput = new WsDriveBaseDistancePidOutput();
    driveDistancePid = new WsPidController(driveDistancePidInput, driveDistancePidOutput, "WsDriveBaseDistancePid");

    driveHeadingPidInput = new WsDriveBaseHeadingPidInput();
    driveHeadingPidOutput = new WsDriveBaseHeadingPidOutput();
    driveHeadingPid = new WsPidController(driveHeadingPidInput, driveHeadingPidOutput, "WsDriveBaseHeadingPid");
    
    driveSpeedPidInput = new WsDriveBaseSpeedPidInput();
    driveSpeedPidOutput = new WsDriveBaseSpeedPidOutput();
    driveSpeedPid = new WsSpeedPidController(driveSpeedPidInput, driveSpeedPidOutput, "WsDriveBaseSpeedPid");
    continuousAccelerationFilter = new ContinuousAccelFilter(0, 0, 0); 
    init();
}
 

import edu.wpi.first.wpilibj.Encoder; //导入方法依赖的package包/类
public WheelRotation(double wheelDiameter, double pulsesPerRevolution){
	
	leftEncoder = new Encoder(0, 1, false);
	rightEncoder = new Encoder(2, 3, false);
	
	inchesPerPulse = Math.PI*wheelDiameter/pulsesPerRevolution; 
	
	leftEncoder.setDistancePerPulse(inchesPerPulse);
	rightEncoder.setDistancePerPulse(inchesPerPulse);
	
	leftEncoder.reset();
	rightEncoder.reset();	
	
	
}