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https://github.com/wpilibsuite/allwpilib
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Add examples for DMA, DutyCycle, DutyCycleEncoder and AddressableLED (#2100)
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
5891628112
commit
500c43fb84
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.examples.addressableled;
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import edu.wpi.first.wpilibj.RobotBase;
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/**
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* Do NOT add any static variables to this class, or any initialization at all.
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* Unless you know what you are doing, do not modify this file except to
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* change the parameter class to the startRobot call.
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*/
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public final class Main {
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private Main() {
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}
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/**
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* Main initialization function. Do not perform any initialization here.
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*
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* <p>If you change your main robot class, change the parameter type.
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*/
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public static void main(String... args) {
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RobotBase.startRobot(Robot::new);
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}
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}
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.examples.addressableled;
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import edu.wpi.first.wpilibj.AddressableLED;
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import edu.wpi.first.wpilibj.AddressableLEDBuffer;
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import edu.wpi.first.wpilibj.TimedRobot;
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public class Robot extends TimedRobot {
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private AddressableLED m_led;
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private AddressableLEDBuffer m_ledBuffer;
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private int m_count;
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@Override
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public void robotInit() {
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// PWM port 0
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// Must be a PWM header, not MXP or DIO
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m_led = new AddressableLED(0);
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// Default to a length of 12, start empty output
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// Length is expensive to set, so only set it once, then just update data
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m_led.setLength(12);
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// Reuse buffer
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m_ledBuffer = new AddressableLEDBuffer(12);
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m_led.setData(m_ledBuffer);
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m_led.start();
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}
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@Override
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public void robotPeriodic() {
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// Zero out all LEDS
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for (int i = 0; i < m_ledBuffer.getLength(); i++) {
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m_ledBuffer.setLED(i, 0, 0, 0);
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}
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// Set 1 single LED to red
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m_ledBuffer.setLED(m_count, 50, 0, 0);
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// Continue moving LED
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m_count++;
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if (m_count >= 12) {
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m_count = 0;
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}
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// Buffer must be written to update.
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m_led.setData(m_ledBuffer);
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}
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}
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@@ -0,0 +1,29 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.examples.dutycycleencoder;
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import edu.wpi.first.wpilibj.RobotBase;
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/**
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* Do NOT add any static variables to this class, or any initialization at all.
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* Unless you know what you are doing, do not modify this file except to
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* change the parameter class to the startRobot call.
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*/
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public final class Main {
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private Main() {
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}
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/**
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* Main initialization function. Do not perform any initialization here.
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*
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* <p>If you change your main robot class, change the parameter type.
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*/
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public static void main(String... args) {
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RobotBase.startRobot(Robot::new);
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}
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}
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@@ -0,0 +1,49 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.examples.dutycycleencoder;
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import edu.wpi.first.wpilibj.DigitalInput;
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import edu.wpi.first.wpilibj.DutyCycleEncoder;
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import edu.wpi.first.wpilibj.TimedRobot;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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@SuppressWarnings({"PMD.SingularField"})
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public class Robot extends TimedRobot {
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private DigitalInput m_input;
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private DutyCycleEncoder m_dutyCycleEncoder;
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@Override
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public void robotInit() {
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m_input = new DigitalInput(0);
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m_dutyCycleEncoder = new DutyCycleEncoder(m_input);
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// Set to 0.5 units per rotation
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m_dutyCycleEncoder.setDistancePerRotation(0.5);
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}
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@Override
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public void robotPeriodic() {
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// Connected can be checked, and uses the frequency of the encoder
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boolean connected = m_dutyCycleEncoder.isConnected();
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// Duty Cycle Frequency in Hz
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int frequency = m_dutyCycleEncoder.getFrequency();
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// Output of encoder
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double output = m_dutyCycleEncoder.get();
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// Output scaled by DistancePerPulse
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double distance = m_dutyCycleEncoder.getDistance();
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SmartDashboard.putBoolean("Connected", connected);
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SmartDashboard.putNumber("Frequency", frequency);
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SmartDashboard.putNumber("Output", output);
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SmartDashboard.putNumber("Distance", distance);
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}
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}
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@@ -0,0 +1,29 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.examples.dutycycleinput;
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import edu.wpi.first.wpilibj.RobotBase;
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/**
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* Do NOT add any static variables to this class, or any initialization at all.
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* Unless you know what you are doing, do not modify this file except to
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* change the parameter class to the startRobot call.
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*/
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public final class Main {
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private Main() {
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}
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/**
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* Main initialization function. Do not perform any initialization here.
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*
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* <p>If you change your main robot class, change the parameter type.
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*/
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public static void main(String... args) {
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RobotBase.startRobot(Robot::new);
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}
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}
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@@ -0,0 +1,39 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.examples.dutycycleinput;
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import edu.wpi.first.wpilibj.DigitalInput;
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import edu.wpi.first.wpilibj.DutyCycle;
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import edu.wpi.first.wpilibj.TimedRobot;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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@SuppressWarnings({"PMD.SingularField"})
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public class Robot extends TimedRobot {
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private DigitalInput m_input;
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private DutyCycle m_dutyCycle;
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@Override
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public void robotInit() {
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m_input = new DigitalInput(0);
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m_dutyCycle = new DutyCycle(m_input);
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}
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@Override
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public void robotPeriodic() {
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// Duty Cycle Frequency in Hz
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int frequency = m_dutyCycle.getFrequency();
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// Output of duty cycle, ranging from 0 to 1
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// 1 is fully on, 0 is fully off
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double output = m_dutyCycle.getOutput();
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SmartDashboard.putNumber("Frequency", frequency);
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SmartDashboard.putNumber("Duty Cycle", output);
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}
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}
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@@ -449,5 +449,38 @@
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"gradlebase": "java",
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"mainclass": "Main",
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"commandversion": 1
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},
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{
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"name": "Duty Cycle Encoder",
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"description": "Demonstrates the use of the Duty Cycle Encoder class",
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"tags": [
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"Getting Started with Java"
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],
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"foldername": "dutycycleencoder",
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"gradlebase": "java",
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"mainclass": "Main",
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"commandversion": 2
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},
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{
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"name": "Duty Cycle Input",
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"description": "Demonstrates the use of the Duty Cycle class",
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"tags": [
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"Getting Started with Java"
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],
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"foldername": "dutycycleinput",
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"gradlebase": "java",
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"mainclass": "Main",
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"commandversion": 2
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},
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{
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"name": "Addressable LED",
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"description": "Demonstrates the use of the Addressable LED class",
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"tags": [
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"Getting Started with Java"
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],
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"foldername": "addressableled",
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"gradlebase": "java",
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"mainclass": "Main",
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"commandversion": 2
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}
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]
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