Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-25 01:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[examples] add motor safety and invert to motor snip (#8924)

Browse Source
This commit is contained in:
sciencewhiz
2026-05-28 20:09:07 -07:00
committed by GitHub
parent 14db070c2c
commit 1e12408a7d
3 changed files with 39 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
wpilibcExamples/src/main/cpp/snippets/MotorControl/cpp/Robot.cpp
View File

@@ -20,6 +20,10 @@
*
* In addition, the encoder value of an encoder connected to ports 0 and 1 is
* consistently sent to the Dashboard.
*
* Finally, short code snippets show how to invert the motor direction and how
* to use the motor safety for frc-docs.
* https://docs.wpilib.org/en/stable/docs/software/hardware-apis/motors/wpi-drive-classes.html
*/
class Robot : public wpi::TimedRobot {
public:
@@ -37,6 +41,15 @@ class Robot : public wpi::TimedRobot {
// Use SetDistancePerPulse to set the multiplier for GetDistance
// This is set up assuming a 6 inch wheel with a 360 CPR encoder.
encoder.SetDistancePerPulse((std::numbers::pi * 6) / 360.0);
// show motor inversion
motor.SetInverted(true);
// show motor safety features
motor.SetSafetyEnabled(true);
motor.SetSafetyEnabled(false);
motor.SetExpiration(0.1_s);
motor.Feed();
}
private: