Java Encoder.setDistancePerPulse方法代碼示例

import edu.wpi.first.wpilibj.Encoder; //導入方法依賴的package包/類
/**
 * Constructs left and right encoders to be used by the subsystem
 * @param leftChannelA DIO port for the left encoder and channel a
 * @param leftChannelB DIO port for the left encoder and channel b
 * @param rightChannelA DIO port for the right encoder and channel a
 * @param rightChannelB DIO port for the right encoder and channel b
 * @param maxPeriod max period to be considered stopped
 * @param minRate max rate to be considered stopped
 * @param distancePerPulse value to convert a pulse into a distance. This is based on encoder resolution and wheel size.
 * @param reverseDirection should the encoder direction be reversed
 * @param samplesToAverage number of samples to average to calculate period
 */
public DriveEncoders(int leftChannelA, int leftChannelB, int rightChannelA,int rightChannelB,
                     double maxPeriod, int minRate, double distancePerPulse, boolean reverseDirection,int samplesToAverage) {

    encoderLeft  = new Encoder(leftChannelA, leftChannelB, reverseDirection, Encoder.EncodingType.k4X);
    encoderRight  = new Encoder(rightChannelA, rightChannelB, reverseDirection, Encoder.EncodingType.k4X);

    encoderLeft.setMaxPeriod(maxPeriod);
    encoderLeft.setMinRate(minRate);
    encoderLeft.setDistancePerPulse(distancePerPulse);
    encoderLeft.setSamplesToAverage(samplesToAverage);
    encoderRight.setMaxPeriod(maxPeriod);
    encoderRight.setMinRate(minRate);
    encoderRight.setDistancePerPulse(distancePerPulse);
    encoderRight.setSamplesToAverage(samplesToAverage);
}
 

import edu.wpi.first.wpilibj.Encoder; //導入方法依賴的package包/類
public Arm() {
super("arm", kP, kI, kD);

motor = new Talon(RobotMap.ArmMap.PWM_MOTOR);
motor.setInverted(RobotMap.ArmMap.INV_MOTOR);

encoder = new Encoder(RobotMap.ArmMap.DIO_ENCODER_A, RobotMap.ArmMap.DIO_ENCODER_B);
encoder.setDistancePerPulse(RobotMap.ArmMap.DISTANCE_PER_PULSE);
encoder.setReverseDirection(RobotMap.ArmMap.INV_ENCODER);

upperLimit = new DigitalInput(RobotMap.ArmMap.DIO_LIMIT_TOP);
bottomLimit = new DigitalInput(RobotMap.ArmMap.DIO_LIMIT_BOTTOM);

setAbsoluteTolerance(0.05);
getPIDController().setContinuous(false);
   }
 

import edu.wpi.first.wpilibj.Encoder; //導入方法依賴的package包/類
public Shooter() {

		shooterLeftSide = new Talon(RobotMap.Pwm.LeftShooterMotor);
		shooterRightSide = new Talon(RobotMap.Pwm.RightShooterMotor);

		encoderLeft = new Encoder(RobotMap.Digital.ShooterLeftChannelA, RobotMap.Digital.ShooterLeftChannelB);
		encoderRight = new Encoder(RobotMap.Digital.ShooterRightChannelA, RobotMap.Digital.ShooterRightChannelB);

		encoderLeft.setPIDSourceType(PIDSourceType.kRate);
		encoderRight.setPIDSourceType(PIDSourceType.kRate);
		encoderLeft.setDistancePerPulse(distancePerPulse);
		encoderRight.setDistancePerPulse(distancePerPulse);

		// leftPID = new PIDSpeedController(encoderLeft, shooterLeftSide, "Shooter", "Left Wheel");
		// rightPID = new PIDSpeedController(encoderRight, shooterRightSide, "Shooter", "Right Wheel");

	}
 

import edu.wpi.first.wpilibj.Encoder; //導入方法依賴的package包/類
/**
 * Instantiates the Sensor Input module to read all sensors connected to the roboRIO.
 */
private SensorInput() {	
	limit_left = new DigitalInput(ChiliConstants.left_limit);
	limit_right = new DigitalInput(ChiliConstants.right_limit);
	accel = new BuiltInAccelerometer(Accelerometer.Range.k2G);
	gyro = new Gyro(ChiliConstants.gyro_channel);
	pdp = new PowerDistributionPanel();
	left_encoder = new Encoder(ChiliConstants.left_encoder_channelA, ChiliConstants.left_encoder_channelB, false);
	right_encoder = new Encoder(ChiliConstants.right_encoder_channelA, ChiliConstants.right_encoder_channelB, true);
	gyro_i2c = new GyroITG3200(I2C.Port.kOnboard);
	
	gyro_i2c.initialize();
	gyro_i2c.reset();
	gyro.initGyro();
	
	left_encoder.setDistancePerPulse(ChiliConstants.kDistancePerPulse);
	right_encoder.setDistancePerPulse(ChiliConstants.kDistancePerPulse);
}
 

import edu.wpi.first.wpilibj.Encoder; //導入方法依賴的package包/類
private Drive()
{
    drive = new RobotDrive(new Talon(1),new Talon(2),new Talon(3),new Talon(4));
    drive.setSafetyEnabled(false);

    
    e1 = new Encoder(RobotMap.ENCODER_1_A, RobotMap.ENCODER_1_B, false, CounterBase.EncodingType.k4X);
    e2 = new Encoder(RobotMap.ENCODER_2_A, RobotMap.ENCODER_2_B, false, CounterBase.EncodingType.k4X);
    
    //A calculated constant to convert from encoder ticks to feet on 4 inch diameter wheels
    e1.setDistancePerPulse(0.0349065850388889/12);
    e2.setDistancePerPulse(0.0349065850388889/12);
    startEncoders();
    
    drive.setInvertedMotor(RobotDrive.MotorType.kFrontLeft, true);      
    drive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, true);
    
    sonic = new Ultrasonic(RobotMap.ULTRASONIC_A, RobotMap.ULTRASONIC_B);
    sonic.setAutomaticMode(true);
    sonic.setEnabled(true);
    
    
    shifter = new DoubleSolenoid(RobotMap.SHIFTER_ENGAGE, RobotMap.SHIFTER_DISENGAGE);
}
 

import edu.wpi.first.wpilibj.Encoder; //導入方法依賴的package包/類
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; //導入方法依賴的package包/類
public TankDrivePIDSubsystem(double p, double i, double d, 
        DriveSideWrapper motors, 
        int encoderAChannel, int encoderBChannel, 
        double distancePerPulse) {
    super("LeftTankDrivePIDSubsystem", p, i, d);

    // Use these to get going:
    // setSetpoint() -  Sets where the PID controller should move the system
    //                  to
    // enable() - Enables the PID controller.

    this.motors = motors;
    encoder = new Encoder(encoderAChannel, encoderBChannel);
    encoder.start();
    encoder.setDistancePerPulse(distancePerPulse);
    
    rampTimer = new Timer();
    rampTimer.start();
}
 

import edu.wpi.first.wpilibj.Encoder; //導入方法依賴的package包/類
public RightTankDrivePIDSubsystem() {
    super("LeftTankDrivePIDSubsystem", Kp, Ki, Kd);

    // Use these to get going:
    // setSetpoint() -  Sets where the PID controller should move the system
    //                  to
    // enable() - Enables the PID controller.
    frontRightMotor = new Victor(RobotMap.FRONT_RIGHT_DRIVE_MOTOR);
    backRightMotor = new Victor(RobotMap.BACK_RIGHT_DRIVE_MOTOR);
    
    rightEncoder = new Encoder(RobotMap.FRONT_RIGHT_ENCODER_A, RobotMap.FRONT_RIGHT_ENCODER_B);
    rightEncoder.start();
    rightEncoder.setDistancePerPulse(1.0);
    
    rampTimer = new Timer();
    rampTimer.start();
}
 

import edu.wpi.first.wpilibj.Encoder; //導入方法依賴的package包/類
public LeftTankDrivePIDSubsystem() {
    super("LeftTankDrivePIDSubsystem", Kp, Ki, Kd);

    // Use these to get going:
    // setSetpoint() -  Sets where the PID controller should move the system
    //                  to
    // enable() - Enables the PID controller.
    frontLeftMotor = new Victor(RobotMap.FRONT_LEFT_DRIVE_MOTOR);
    backLeftMotor = new Victor(RobotMap.BACK_LEFT_DRIVE_MOTOR);
    
    leftEncoder = new Encoder(RobotMap.FRONT_LEFT_ENCODER_A, RobotMap.FRONT_LEFT_ENCODER_B);
    leftEncoder.start();
    leftEncoder.setDistancePerPulse(1.0);
    
    rampTimer = new Timer();
    rampTimer.start();
}
 

import edu.wpi.first.wpilibj.Encoder; //導入方法依賴的package包/類
public DriveTrain () {
    rightMotors = new VictorSP(Constants.DRIVETRAIN_RIGHT);
    leftMotors = new VictorSP(Constants.DRIVETRAIN_LEFT);

    rightMotors.setInverted(rightInverted);
    leftMotors.setInverted(leftInverted);

    encLeft = new Encoder(Constants.ENCODER_LEFT_1, Constants.ENCODER_LEFT_2);
    encLeft.setDistancePerPulse(Constants.DRIVEWHEEL_CIRCUMFERENCE / Constants.DRIVE_PULSES_PER_REVOLUTION);

    encRight = new Encoder(Constants.ENCODER_RIGHT_1, Constants.ENCODER_RIGHT_2);
    encRight.setDistancePerPulse(Constants.DRIVEWHEEL_CIRCUMFERENCE / Constants.DRIVE_PULSES_PER_REVOLUTION);
}
 

import edu.wpi.first.wpilibj.Encoder; //導入方法依賴的package包/類
public static void init() {

		// Drivetrain
		DRIVETRAIN_ROBOT_DRIVE = new RobotDrive(0, 1);

		DRIVETRAIN_ENCODER_LEFT = new Encoder(0, 1);
		DRIVETRAIN_ENCODER_LEFT.setDistancePerPulse(0.0481);

		DRIVETRAIN_ENCODER_RIGHT = new Encoder(2, 3, true);
		DRIVETRAIN_ENCODER_RIGHT.setDistancePerPulse(0.0481);

		// Floor Gear
		FLOORGEAR_INTAKE = new VictorSP(2);
		FLOORGEAR_LIFTER = new DoubleSolenoid(0, 1);
		FLOORGEAR_BLOCKER = new DoubleSolenoid(2, 3);

		// Climber
		CLIMBER = new VictorSP(3);

		// Passive Gear
		SLOTGEAR_HOLDER = new DoubleSolenoid(4, 5);

		// Vision
		VISION_SERVER = CameraServer.getInstance();

		VISION_CAMERA = VISION_SERVER.startAutomaticCapture("FRONT", 0);

		VISION_CAMERA.getProperty("saturation").set(20);
		VISION_CAMERA.getProperty("gain").set(50);
		VISION_CAMERA.getProperty("exposure_auto").set(1);
		VISION_CAMERA.getProperty("brightness").set(50);
		VISION_CAMERA.getProperty("exposure_absolute").set(1);
		VISION_CAMERA.getProperty("exposure_auto_priority").set(0);

	}
 

import edu.wpi.first.wpilibj.Encoder; //導入方法依賴的package包/類
public TankDrive() {
	super();
	leftMotor1 = new CANTalon(RobotMap.DRIVE_LEFT_MOTOR1);
	leftMotor2 = new CANTalon(RobotMap.DRIVE_LEFT_MOTOR2);
	rightMotor1 = new CANTalon(RobotMap.DRIVE_RIGHT_MOTOR1);
	rightMotor2 = new CANTalon(RobotMap.DRIVE_RIGHT_MOTOR2);
	leftEncoder = new Encoder(RobotMap.DRIVE_LEFT_ENCODERA, RobotMap.DRIVE_LEFT_ENCODERB, false);// would spin clockwise or +; T=-, f=-?
	rightEncoder = new Encoder(RobotMap.DRIVE_RIGHT_ENCODERA, RobotMap.DRIVE_RIGHT_ENCODERB,
			/*RobotMap.ROBOT_TYPE == RobotMap.COMP_BOT_NUM*/ false);// would spin counter-clockwise or -; boolean reverses direction
	leftEncoder.setDistancePerPulse(RobotMap.DRIVE_RATIO);
	rightEncoder.setDistancePerPulse(RobotMap.DRIVE_RATIO);
}
 

import edu.wpi.first.wpilibj.Encoder; //導入方法依賴的package包/類
public DriveTrain() {
	super();
	front_left_motor = new Talon(1);
	back_left_motor = new Talon(2);
	front_right_motor = new Talon(3);
	back_right_motor = new Talon(4);
	drive = new RobotDrive(front_left_motor, back_left_motor,
						   front_right_motor, back_right_motor);
	left_encoder = new Encoder(1, 2);
	right_encoder = new Encoder(3, 4);

	// Encoders may measure differently in the real world and in
	// simulation. In this example the robot moves 0.042 barleycorns
	// per tick in the real world, but the simulated encoders
	// simulate 360 tick encoders. This if statement allows for the
	// real robot to handle this difference in devices.
	if (Robot.isReal()) {
		left_encoder.setDistancePerPulse(0.042);
		right_encoder.setDistancePerPulse(0.042);
	} else {
		// Circumference in ft = 4in/12(in/ft)*PI
		left_encoder.setDistancePerPulse((4.0/12.0*Math.PI) / 360.0);
		right_encoder.setDistancePerPulse((4.0/12.0*Math.PI) / 360.0);
	}

	rangefinder = new AnalogInput(6);
	gyro = new AnalogGyro(1);

	// Let's show everything on the LiveWindow
	LiveWindow.addActuator("Drive Train", "Front_Left Motor", (Talon) front_left_motor);
	LiveWindow.addActuator("Drive Train", "Back Left Motor", (Talon) back_left_motor);
	LiveWindow.addActuator("Drive Train", "Front Right Motor", (Talon) front_right_motor);
	LiveWindow.addActuator("Drive Train", "Back Right Motor", (Talon) back_right_motor);
	LiveWindow.addSensor("Drive Train", "Left Encoder", left_encoder);
	LiveWindow.addSensor("Drive Train", "Right Encoder", right_encoder);
	LiveWindow.addSensor("Drive Train", "Rangefinder", rangefinder);
	LiveWindow.addSensor("Drive Train", "Gyro", gyro);
}
 

import edu.wpi.first.wpilibj.Encoder; //導入方法依賴的package包/類
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; //導入方法依賴的package包/類
public EncoderPIDSubsystem(String name, double kP, double kI, double kD, int motorChannel, int encoderAChannel, int encoderBChannel, boolean reverseEncoder, double gearRatioEncoderToOutput) {
    super(name, kP, kI, kD);
    try {
        m_motorController = new Victor(motorChannel);
        m_encoder = new Encoder(1, encoderAChannel, 1, encoderBChannel, reverseEncoder, CounterBase.EncodingType.k4X);
        double degPerPulse = 360.0 / gearRatioEncoderToOutput / DEFAULT_PULSES_PER_ROTATION;
        m_encoder.setDistancePerPulse(degPerPulse);
        resetZeroPosition();
    } catch (Exception e) {
        System.out.println("Unknown error initializing " + getName() + "-EncoderPIDSubsystem.  Message = " + e.getMessage());
    }
}