Java Utility.getFPGATime方法代码示例

import edu.wpi.first.wpilibj.Utility; //导入方法依赖的package包/类
public boolean isTriggered()
{	
	double gyroAngle = getGyroAngle();
	
	if (Math.abs(gyroAngle - targetAngleDeg) > errorDeg) {
		
		// outside error range...
		// reset timer and return false
		startTimeUs = Utility.getFPGATime();	
		return false;
	}
	
	long currentTimeUs = Utility.getFPGATime();
	double delta = (currentTimeUs - startTimeUs)/1e6;
	//System.out.println("delta = " + delta + " duration = " + durationSec);
	
	if (delta < durationSec)
	{
		// within error range, but not for enough time
		return false;
	}
	
	System.out.println("ClosedLoopAngleEvent triggered!");
	return true;
}
 

import edu.wpi.first.wpilibj.Utility; //导入方法依赖的package包/类
private static void checkShooterControls() {
	// fire controls - using a timer to debounce
	double currentTime = Utility.getFPGATime();

	// if not enough time has passed, no polling allowed!
	if ((currentTime - initTriggerTime) < TRIGGER_CYCLE_WAIT_US)
		return;

	// shooter commands
	if (gamepad.getRawButton(HardwareIDs.FIRE_HIGH_BUTTON))
		setShooterStrength(MOTOR_HIGH);			
	
	if (gamepad.getRawButton(HardwareIDs.FIRE_MEDIUM_BUTTON))
		setShooterStrength(MOTOR_MEDIUM);			

	if (gamepad.getRawButton(HardwareIDs.FIRE_LOW_BUTTON))
		setShooterStrength(MOTOR_LOW);			
	
	if (gamepad.getRawButton(HardwareIDs.HOLD_BUTTON))
		setShooterStrength(MOTOR_OFF);
	
}
 

import edu.wpi.first.wpilibj.Utility; //导入方法依赖的package包/类
public static void teleopInit() {
			
	gearTrayOn();
	//collectorOff();    // keep collector off until gamepad control pressed
	resetMotors();
	
	// spawn a wait thread to turn relays back off after a number of seconds
	/*
	new Thread() {
		public void run() {
			try {
				Thread.sleep(3000);  // wait a number of sec before starting to feed
				gearTrayOff();	 	 // turn relays off
			} catch (Exception e) {
				e.printStackTrace();
			}
		}
	}.start();
	*/
	
       initTriggerTime = Utility.getFPGATime();
       
}
 

import edu.wpi.first.wpilibj.Utility; //导入方法依赖的package包/类
public void updateMotorRPM() { 
	long currentTimeMicroSeconds = Utility.getFPGATime();
	long deltaTimeMicroSeconds = currentTimeMicroSeconds - m_lastTimeMicroSeconds;
	m_lastTimeMicroSeconds = currentTimeMicroSeconds;
	
	// RPM = counts/microsec * 1000000 microsec/sec * 60 sec/min * 1/counts_per_rev
	double replacedMotorRPM = m_motorRPM[m_rpmIndex];
	double currentRPM = (m_encoder.get() / (double)deltaTimeMicroSeconds) * 60000000.0 / m_pulsesPerRotation;
    if (currentRPM > MAX_RPM) {
        currentRPM = MAX_RPM;
    }
    m_motorRPM[m_rpmIndex] = currentRPM;
    m_encoder.reset();
 
	m_averagedMotorRPM += (m_motorRPM[m_rpmIndex] - replacedMotorRPM) / m_numAveragedCycles;
	
    m_rpmIndex++;
	if (m_rpmIndex == m_numAveragedCycles) {
        m_rpmIndex = 0;
	}
}
 

import edu.wpi.first.wpilibj.Utility; //导入方法依赖的package包/类
protected boolean isFinished() 
{
    log("Gyro Angle:      "+driveTrain.getGyro().getAngle() + "                 bearing: "+bearing);
    
    //if by time
    if (driveTime > 0 && Utility.getFPGATime() >= startTime + driveTime)
    {
        driveTrain.tankDrive(0, 0);
        state = FINISHED;
        return true;
    }
    else if (distance > 0 && driveTrain.getDistanceToWall() <= distance && lockedOnIterations >= 3)
    {
        return true;
    }
    
    return false;
}
 

import edu.wpi.first.wpilibj.Utility; //导入方法依赖的package包/类
protected boolean isFinished() 
{
    
    //if by time
    if (driveTime > 0 && Utility.getFPGATime() >= startTime + driveTime)
    {
        driveTrain.tankDrive(0, 0);
        state = FINISHED;
        return true;
    }
    else if (distance > 0 && driveTrain.getDistanceToWall() <= distance && lockedOnIterations >= 3)
    {
        return true;
    }
    
    return false;
}
 

import edu.wpi.first.wpilibj.Utility; //导入方法依赖的package包/类
public boolean isTriggered()
{
	long currentTimeUs = Utility.getFPGATime();
	double delta = (currentTimeUs - startTimeUs)/1e6;
	//System.out.println("delta = " + delta + " duration = " + durationSec);
	
	if (delta > durationSec)
	{
		System.out.println("TimeEvent triggered!");
		return true;
	}
	
	return false;
}
 

import edu.wpi.first.wpilibj.Utility; //导入方法依赖的package包/类
public void start(double period, boolean periodic) {
  synchronized (m_processLock) {
    m_periodic = periodic;
    m_period = period;
    m_expirationTime = Utility.getFPGATime() * 1e-6 + m_period;
    updateAlarm();
  }
}
 

import edu.wpi.first.wpilibj.Utility; //导入方法依赖的package包/类
public void initialize()
{
	//System.out.println("TimeEvent initialized!");
	startTimeUs = Utility.getFPGATime();
	
	super.initialize();
}
 

import edu.wpi.first.wpilibj.Utility; //导入方法依赖的package包/类
public void initialize()
{
	//System.out.println("GyroAngleEvent initialized!");
	
	startTimeUs = Utility.getFPGATime();
	
	super.initialize();
}
 

import edu.wpi.first.wpilibj.Utility; //导入方法依赖的package包/类
public static void autoInit() {
			
	gearTrayOff();
	//collectorOff();
	resetMotors();
	
       initTriggerTime = Utility.getFPGATime();
}
 

import edu.wpi.first.wpilibj.Utility; //导入方法依赖的package包/类
public boolean isTriggered()
{		
	// measure current position error
	double actualPosInches = AutoDriveAssembly.getDistanceInches();
	double errorPosInches = Math.abs(targetPosInches - actualPosInches);
	if (errorPosInches > errorThresholdInches)
	{
		// outside error range...
		// reset timer
		startTimeUs = Utility.getFPGATime();
		return false;
	}

	long currentTimeUs = Utility.getFPGATime();
	double delta = (currentTimeUs - startTimeUs)/1e6;
	//System.out.println("delta = " + delta + " duration = " + durationSec);
	
	if (delta < durationSec)
	{
		// within error range, but not for enough time
		return false;
	}
	
	// within error range for enough time
	System.out.println("ClosedLoopPositionEvent triggered!");
	return true;
}
 

import edu.wpi.first.wpilibj.Utility; //导入方法依赖的package包/类
/**
 * Create a new time system that uses the FPGA clock. At this time, the precision of the resulting clock has not been
 * verified or tested.
 *
 * @return the FPGA-based clock; never null
 * @throws StrongbackRequirementException if the FPGA hardware is not available
 */
public static Clock fpga() {
    try {
        Utility.getFPGATime();
        // If we're here, then the method did not throw an exception and there is FPGA hardware on this platform ...
        return Utility::getFPGATime;
    } catch (UnsatisfiedLinkError | NoClassDefFoundError e) {
        throw new StrongbackRequirementException("Missing FPGA hardware or software", e);
    }
}
 

import edu.wpi.first.wpilibj.Utility; //导入方法依赖的package包/类
public void resetMotorRPM() {
    for (int i = 0; i < m_numAveragedCycles; i++) {
    	m_motorRPM[i] = 0.0;
    }
    m_lastTimeMicroSeconds = Utility.getFPGATime();
    m_averagedMotorRPM = 0;
    m_encoder.start();
}
 

import edu.wpi.first.wpilibj.Utility; //导入方法依赖的package包/类
public void setMoveMotorSpeed(double percentVbus) {
        double deltaTimeMicroSeconds = Utility.getFPGATime() - m_startTimeMicroSeconds;
        double deltaTimeSeconds = deltaTimeMicroSeconds / 1000000;

        percentVbus = limitAccel(percentVbus, m_maxSpeed, deltaTimeSeconds);
        double steeringError = m_rightEncoder.getDistance() - m_leftEncoder.getDistance();
//        double steeringError = m_yawGyro.getAngle();
        double steerOffset = STEERING_ZERO_OFFSET;
//        if (percentVbus > 0) {  // neg = forward
//            steerOffset = -steerOffset;
//        }
        m_drive.arcadeDrive(percentVbus, steerOffset + steeringError * KP_MOVE_STEERING);
//        System.out.println("Time = " + System.currentTimeMillis() + ", PercentVbus = " + percentVbus + ", Distance = " + returnPIDInput() + ", Steer error = " + steeringError + ", Left Distance = " + m_leftEncoder.getDistance() + ", Right Distance = " + m_rightEncoder.getDistance());
    }