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20c60a5fe6
Reads values from quadrature encoder and displays them on the SmartDashbord. Also added Encoder with Motor Control example, which is identical to the Motor Control sample but displays an encoder value on the SmartDashboard.
56 lines
1.9 KiB
C++
56 lines
1.9 KiB
C++
#include "WPILib.h"
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/**
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* This sample program shows how to control a motor using a joystick. In the operator
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* control part of the program, the joystick is read and the value is written to the motor.
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* An Encoder is then used to read the total distance that the motor has turned and
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* to display it on the SmartDashboard.
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*
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* Joystick analog values range from -1 to 1 and speed controller inputs as range from
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* -1 to 1 making it easy to work together. The program also delays a short time in the loop
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* to allow other threads to run. This is generally a good idea, especially since the joystick
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* values are only transmitted from the Driver Station once every 20ms.
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*/
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class Robot : public SampleRobot {
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Joystick m_stick;
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// The motor to control with the Joystick.
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// This uses a Talon speed controller; use the Victor or Jaguar classes for
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// other speed controllers.
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Talon 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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Encoder m_encoder;
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public:
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Robot() :
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m_stick(0), // Initialize Joystick on port 0.
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m_motor(2), // Initialize the Talon on channel 0.
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m_encoder(1, 2) // Iniitialize encoder connected on DIO ports 1 and 2.
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{
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// Distance will give total rotations of the motor, assuming a 360 count encoder.
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m_encoder.SetDistancePerPulse(1.0 / 360.0);
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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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* Simultaneously displays encoder values on the SmartDashboard.
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*/
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void OperatorControl() {
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while (IsOperatorControl()) {
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// Set the motor controller's output.
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// This takes a number from -1 (100% speed in reverse) to +1 (100% speed forwards).
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m_motor.Set(m_stick.GetY());
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// Display the total displacement of the encoder, in rotations.
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SmartDashboard::PutNumber("Encoder Distance", m_encoder.GetDistance());
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Wait(kUpdatePeriod); // Wait 5ms for the next update.
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}
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}
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};
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START_ROBOT_CLASS(Robot);
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