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32 lines
1001 B
C++
32 lines
1001 B
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <array>
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#include "wpi/framework/TimedRobot.hpp"
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#include "wpi/hardware/discrete/DigitalOutput.hpp"
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/**
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* This is a sample program demonstrating how to communicate to a light
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* controller from the robot code using the roboRIO's DIO ports.
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*/
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class Robot : public wpi::TimedRobot {
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public:
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// define ports for communication with light controller
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static constexpr int kAlliancePort = 0;
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static constexpr int kEnabledPort = 1;
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static constexpr int kAutonomousPort = 2;
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static constexpr int kAlertPort = 3;
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void RobotPeriodic() override;
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private:
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wpi::DigitalOutput m_allianceOutput{kAlliancePort};
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wpi::DigitalOutput m_enabledOutput{kEnabledPort};
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wpi::DigitalOutput m_autonomousOutput{kAutonomousPort};
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wpi::DigitalOutput m_alertOutput{kAlertPort};
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};
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