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[hal, wpilib] Add initial systemcore counter implementation (#7723)

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This commit is contained in:
Thad House
2025-01-28 08:58:34 -08:00
committed by GitHub
parent b799b285b3
commit 48ce2dcc8d
47 changed files with 201 additions and 4357 deletions
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10
wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
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@@ -5,7 +5,6 @@
#include <frc/Encoder.h>
#include <frc/Joystick.h>
#include <frc/TimedRobot.h>
#include <frc/Ultrasonic.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc/event/BooleanEvent.h>
@@ -18,16 +17,16 @@
static const auto SHOT_VELOCITY = 200_rpm;
static const auto TOLERANCE = 8_rpm;
static const auto KICKER_THRESHOLD = 15_mm;
class Robot : public frc::TimedRobot {
public:
Robot() {
m_controller.SetTolerance(TOLERANCE.value());
frc::BooleanEvent isBallAtKicker{&m_loop, [&kickerSensor = m_kickerSensor] {
return kickerSensor.GetRange() <
KICKER_THRESHOLD;
frc::BooleanEvent isBallAtKicker{&m_loop, [] {
return false;
// return kickerSensor.GetRange() <
// KICKER_THRESHOLD;
}};
frc::BooleanEvent intakeButton{
&m_loop, [&joystick = m_joystick] { return joystick.GetRawButton(2); }};
@@ -88,7 +87,6 @@ class Robot : public frc::TimedRobot {
frc::SimpleMotorFeedforward<units::radians> m_ff{0.1_V, 0.065_V / 1_rpm};
frc::PWMSparkMax m_kicker{1};
frc::Ultrasonic m_kickerSensor{2, 3};
frc::PWMSparkMax m_intake{3};

57
wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp
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@@ -1,57 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "Robot.h"
#include <frc/smartdashboard/SmartDashboard.h>
#include <units/length.h>
Robot::Robot() {
// Add the ultrasonic on the "Sensors" tab of the dashboard
// Data will update automatically
frc::SmartDashboard::PutData("Sensors", &m_rangeFinder);
}
void Robot::TeleopPeriodic() {
// We can read the distance
units::meter_t distance = m_rangeFinder.GetRange();
// units auto-convert
units::millimeter_t distanceMillimeters = distance;
units::inch_t distanceInches = distance;
// We can also publish the data itself periodically
frc::SmartDashboard::PutNumber("Distance[mm]", distanceMillimeters.value());
frc::SmartDashboard::PutNumber("Distance[inch]", distanceInches.value());
}
void Robot::TestInit() {
// By default, the Ultrasonic class polls all ultrasonic sensors in a
// round-robin to prevent them from interfering from one another. However,
// manual polling is also possible -- note that this disables automatic mode!
m_rangeFinder.Ping();
}
void Robot::TestPeriodic() {
if (m_rangeFinder.IsRangeValid()) {
// Data is valid, publish it
units::millimeter_t distanceMillimeters = m_rangeFinder.GetRange();
units::inch_t distanceInches = m_rangeFinder.GetRange();
frc::SmartDashboard::PutNumber("Distance[mm]", distanceMillimeters.value());
frc::SmartDashboard::PutNumber("Distance[inch]", distanceInches.value());
// Ping for next measurement
m_rangeFinder.Ping();
}
}
void Robot::TestExit() {
// Enable automatic mode
frc::Ultrasonic::SetAutomaticMode(true);
}
#ifndef RUNNING_FRC_TESTS
int main() {
return frc::StartRobot<Robot>();
}
#endif

25
wpilibcExamples/src/main/cpp/examples/Ultrasonic/include/Robot.h
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@@ -1,25 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <frc/TimedRobot.h>
#include <frc/Ultrasonic.h>
/**
* This is a sample program demonstrating how to read from a ping-response
* ultrasonic sensor with the {@link Ultrasonic class}.
*/
class Robot : public frc::TimedRobot {
public:
Robot();
void TeleopPeriodic() override;
void TestInit() override;
void TestPeriodic() override;
void TestExit() override;
private:
// Creates a ping-response Ultrasonic object on DIO 1 and 2.
frc::Ultrasonic m_rangeFinder{1, 2};
};

30
wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp
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@@ -1,30 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "Robot.h"
Robot::Robot() {
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_left);
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_right);
}
void Robot::AutonomousInit() {
// Set setpoint of the pid controller
m_pidController.SetSetpoint(kHoldDistance.value());
}
void Robot::AutonomousPeriodic() {
units::millimeter_t measurement = m_ultrasonic.GetRange();
units::millimeter_t filteredMeasurement = m_filter.Calculate(measurement);
double pidOutput = m_pidController.Calculate(filteredMeasurement.value());
// disable input squaring -- PID output is linear
m_robotDrive.ArcadeDrive(pidOutput, 0, false);
}
#ifndef RUNNING_FRC_TESTS
int main() {
return frc::StartRobot<Robot>();
}
#endif

52
wpilibcExamples/src/main/cpp/examples/UltrasonicPID/include/Robot.h
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@@ -1,52 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <frc/TimedRobot.h>
#include <frc/Ultrasonic.h>
#include <frc/controller/PIDController.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/filter/MedianFilter.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <units/length.h>
/**
* This is a sample program to demonstrate the use of a PIDController with an
* ultrasonic sensor to reach and maintain a set distance from an object.
*/
class Robot : public frc::TimedRobot {
public:
Robot();
void AutonomousInit() override;
void AutonomousPeriodic() override;
// distance the robot wants to stay from an object
static constexpr units::millimeter_t kHoldDistance = 1_m;
static constexpr int kLeftMotorPort = 0;
static constexpr int kRightMotorPort = 1;
static constexpr int kUltrasonicPingPort = 0;
static constexpr int kUltrasonicEchoPort = 1;
private:
// proportional speed constant
static constexpr double kP = 0.001;
// integral speed constant
static constexpr double kI = 0.0;
// derivative speed constant
static constexpr double kD = 0.0;
// Ultrasonic sensors tend to be quite noisy and susceptible to sudden
// outliers, so measurements are filtered with a 5-sample median filter
frc::MedianFilter<units::millimeter_t> m_filter{5};
frc::Ultrasonic m_ultrasonic{kUltrasonicPingPort, kUltrasonicEchoPort};
frc::PWMSparkMax m_left{kLeftMotorPort};
frc::PWMSparkMax m_right{kRightMotorPort};
frc::DifferentialDrive m_robotDrive{
[&](double output) { m_left.Set(output); },
[&](double output) { m_right.Set(output); }};
frc::PIDController m_pidController{kP, kI, kD};
};

25
wpilibcExamples/src/main/cpp/examples/examples.json
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@@ -112,31 +112,6 @@
"gradlebase": "cpp",
"commandversion": 2
},
{
"name": "Ultrasonic",
"description": "View values from a ping-response ultrasonic sensor.",
"tags": [
"Hardware",
"Ultrasonic",
"SmartDashboard"
],
"foldername": "Ultrasonic",
"gradlebase": "cpp",
"commandversion": 2
},
{
"name": "UltrasonicPID",
"description": "Maintain a set distance from an obstacle with an ultrasonic sensor and PID control.",
"tags": [
"Basic Robot",
"Ultrasonic",
"PID",
"Differential Drive"
],
"foldername": "UltrasonicPID",
"gradlebase": "cpp",
"commandversion": 2
},
{
"name": "Gyro",
"description": "Drive a differential drive straight with a gyro sensor.",