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https://github.com/wpilibsuite/allwpilib
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28a41e4ac2
Currently, the JNI bindings are generated by Swig and, unfortunately, the interface available through Java is lower-level than that for C++ (ie, direct access to the ctre code through the JNI bindings, rather than an interface on top of that), but it does work. See eclipse plugins for some short samples. There are a couple of short unit tests as placeholders. Still needs some cleaning up. Change-Id: Iae2f74693ca6b80bf7d5aca0625c66aa6e0b7f85 Added quick samples for C++/Java CAN Talon stuff. Change-Id: I3acb27d6fd5568d88931e0d678c09973d436735d
37 lines
966 B
C++
37 lines
966 B
C++
#include "WPILib.h"
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/**
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* This is a quick sample program to show how to use the new Talon SRX over CAN.
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* As of the time of this writing (11/20/14), the only mode supported on the SRX is the
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* straight-up throttle (status info, such as current and temperature should work).
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*
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*/
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class Robot : public SampleRobot {
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CANTalon m_motor;
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// update every 0.005 seconds/5 milliseconds.
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double kUpdatePeriod = 0.005;
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public:
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Robot()
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: m_motor(1) // Initialize the Talon as device 1. Use the roboRIO web
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// interface to change the device number on the talons.
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{}
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/**
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* Runs the motor from the output of a Joystick.
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*/
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void OperatorControl() {
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talon.EnableControl();
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while (IsOperatorControl() && IsEnabled()) {
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// Takes a number from -1.0 (full reverse) to +1.0 (full forwards).
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m_motor.Set(0.5);
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Wait(kUpdatePeriod); // Wait 5ms for the next update.
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}
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m_motor.Set(0.0);
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}
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};
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START_ROBOT_CLASS(Robot);
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