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[wpilib] Rewrite DutyCycleEncoder and AnalogEncoder (#6398)

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This commit is contained in:
Thad House
2024-05-24 11:53:56 -07:00
committed by GitHub
parent 294c9946ae
commit d05c7c125b
18 changed files with 638 additions and 883 deletions
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46
wpilibcExamples/src/main/cpp/examples/DutyCycleEncoder/cpp/Robot.cpp
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@@ -3,17 +3,36 @@
// the WPILib BSD license file in the root directory of this project.
#include <frc/DutyCycleEncoder.h>
#include <frc/MathUtil.h>
#include <frc/TimedRobot.h>
#include <frc/smartdashboard/SmartDashboard.h>
constexpr double fullRange = 1.3;
constexpr double expectedZero = 0.0;
class Robot : public frc::TimedRobot {
// Duty cycle encoder on channel 0
frc::DutyCycleEncoder m_dutyCycleEncoder{0};
// 2nd parameter is the range of values. This sensor will output between
// 0 and the passed in value.
// 3rd parameter is the the physical value where you want "0" to be. How
// to measure this is fairly easy. Set the value to 0, place the mechanism
// where you want "0" to be, and observe the value on the dashboard, That
// is the value to enter for the 3rd parameter.
frc::DutyCycleEncoder m_dutyCycleEncoder{0, fullRange, expectedZero};
public:
void RobotInit() override {
// Set to 0.5 units per rotation
m_dutyCycleEncoder.SetDistancePerRotation(0.5);
// If you know the frequency of your sensor, uncomment the following
// method, and set the method to the frequency of your sensor.
// This will result in more stable readings from the sensor.
// Do note that occasionally the datasheet cannot be trusted
// and you should measure this value. You can do so with either
// an oscilloscope, or by observing the "Frequency" output
// on the dashboard while running this sample. If you find
// the value jumping between the 2 values, enter halfway between
// those values. This number doesn't have to be perfect,
// just having a fairly close value will make the output readings
// much more stable.
m_dutyCycleEncoder.SetAssumedFrequency(967.8_Hz);
}
void RobotPeriodic() override {
@@ -26,13 +45,24 @@ class Robot : public frc::TimedRobot {
// Output of encoder
auto output = m_dutyCycleEncoder.Get();
// Output scaled by DistancePerPulse
auto distance = m_dutyCycleEncoder.GetDistance();
// By default, the output will wrap around to the full range value
// when the sensor goes below 0. However, for moving mechanisms this
// is not usually ideal, as if 0 is set to a hard stop, its still
// possible for the sensor to move slightly past. If this happens
// The sensor will assume its now at the furthest away position,
// which control algorithms might not handle correctly. Therefore
// it can be a good idea to slightly shift the output so the sensor
// can go a bit negative before wrapping. Usually 10% or so is fine.
// This does not change where "0" is, so no calibration numbers need
// to be changed.
double percentOfRange = fullRange * 0.1;
double shiftedOutput = frc::InputModulus(output, 0 - percentOfRange,
fullRange - percentOfRange);
frc::SmartDashboard::PutBoolean("Connected", connected);
frc::SmartDashboard::PutNumber("Frequency", frequency);
frc::SmartDashboard::PutNumber("Output", output.value());
frc::SmartDashboard::PutNumber("Distance", distance);
frc::SmartDashboard::PutNumber("Output", output);
frc::SmartDashboard::PutNumber("ShiftedOutput", shiftedOutput);
}
};