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Run wpiformat on merged repo (#1021)

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This commit is contained in:
Tyler Veness
2018-05-13 17:09:56 -07:00
committed by Peter Johnson
parent 0babbf317c
commit 6729a7d6b1
481 changed files with 9581 additions and 6828 deletions
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127
wpilibcExamples/src/main/cpp/examples/Encoder/src/Robot.cpp
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@@ -11,84 +11,73 @@
/**
* Sample program displaying the value of a quadrature encoder on the
* SmartDashboard.
* SmartDashboard.
*
* Quadrature Encoders are digital sensors which can detect the amount the
* encoder has rotated since starting as well as the direction in which the
* encoder shaft is rotating. However, encoders can not tell you the absolute
* position of the encoder shaft (ie, it considers where it starts to be the
* zero position, no matter where it starts), and so can only tell you how
* much the encoder has rotated since starting.
* Depending on the precision of an encoder, it will have fewer or greater
* ticks per revolution; the number of ticks per revolution will affect the
* conversion between ticks and distance, as specified by DistancePerPulse.
* encoder has rotated since starting as well as the direction in which the
* encoder shaft is rotating. However, encoders can not tell you the absolute
* position of the encoder shaft (ie, it considers where it starts to be the
* zero position, no matter where it starts), and so can only tell you how much
* the encoder has rotated since starting.
*
* Depending on the precision of an encoder, it will have fewer or greater ticks
* per revolution; the number of ticks per revolution will affect the conversion
* between ticks and distance, as specified by DistancePerPulse.
*
* One of the most common uses of encoders is in the drivetrain, so that the
* distance that the robot drives can be precisely controlled during the
* autonomous mode.
* distance that the robot drives can be precisely controlled during the
* autonomous mode.
*/
class Robot : public frc::IterativeRobot {
public:
Robot() {
/* Defines the number of samples to average when determining the
* rate.
* On a quadrature encoder, values range from 1-255; larger
* values
* result in smoother but potentially less accurate rates than
* lower
* values.
*/
m_encoder.SetSamplesToAverage(5);
public:
Robot() {
/* Defines the number of samples to average when determining the rate.
* On a quadrature encoder, values range from 1-255; larger values result in
* smoother but potentially less accurate rates than lower values.
*/
m_encoder.SetSamplesToAverage(5);
/* Defines how far the mechanism attached to the encoder moves
* per pulse.
* In this case, we assume that a 360 count encoder is directly
* attached
* to a 3 inch diameter (1.5inch radius) wheel, and that we want
* to
* measure distance in inches.
*/
m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5);
/* Defines how far the mechanism attached to the encoder moves per pulse. In
* this case, we assume that a 360 count encoder is directly attached to a 3
* inch diameter (1.5inch radius) wheel, and that we want to measure
* distance in inches.
*/
m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5);
/* Defines the lowest rate at which the encoder will not be
* considered
* stopped, for the purposes of the GetStopped() method.
* Units are in distance / second, where distance refers to the
* units
* of distance that you are using, in this case inches.
*/
m_encoder.SetMinRate(1.0);
}
/* Defines the lowest rate at which the encoder will not be considered
* stopped, for the purposes of the GetStopped() method. Units are in
* distance / second, where distance refers to the units of distance that
* you are using, in this case inches.
*/
m_encoder.SetMinRate(1.0);
}
void TeleopPeriodic() override {
// Retrieve the net displacement of the Encoder since the last
// Reset.
frc::SmartDashboard::PutNumber(
"Encoder Distance", m_encoder.GetDistance());
void TeleopPeriodic() override {
// Retrieve the net displacement of the Encoder since the last Reset.
frc::SmartDashboard::PutNumber("Encoder Distance", m_encoder.GetDistance());
// Retrieve the current rate of the encoder.
frc::SmartDashboard::PutNumber(
"Encoder Rate", m_encoder.GetRate());
}
// Retrieve the current rate of the encoder.
frc::SmartDashboard::PutNumber("Encoder Rate", m_encoder.GetRate());
}
private:
/**
* The Encoder object is constructed with 4 parameters, the last two
* being
* optional.
* The first two parameters (1, 2 in this case) refer to the ports on
* the
* roboRIO which the encoder uses. Because a quadrature encoder has
* two signal wires, the signal from two DIO ports on the roboRIO are
* used.
* The third (optional) parameter is a boolean which defaults to false.
* If you set this parameter to true, the direction of the encoder
* will
* be reversed, in case it makes more sense mechanically.
* The final (optional) parameter specifies encoding rate (k1X, k2X, or
* k4X)
* and defaults to k4X. Faster (k4X) encoding gives greater positional
* precision but more noise in the rate.
*/
frc::Encoder m_encoder{1, 2, false, Encoder::k4X};
private:
/**
* The Encoder object is constructed with 4 parameters, the last two being
* optional.
*
* The first two parameters (1, 2 in this case) refer to the ports on the
* roboRIO which the encoder uses. Because a quadrature encoder has two signal
* wires, the signal from two DIO ports on the roboRIO are used.
*
* The third (optional) parameter is a boolean which defaults to false. If you
* set this parameter to true, the direction of the encoder will be reversed,
* in case it makes more sense mechanically.
*
* The final (optional) parameter specifies encoding rate (k1X, k2X, or k4X)
* and defaults to k4X. Faster (k4X) encoding gives greater positional
* precision but more noise in the rate.
*/
frc::Encoder m_encoder{1, 2, false, Encoder::k4X};
};
START_ROBOT_CLASS(Robot)