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https://github.com/wpilibsuite/allwpilib
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767686ae2e
Anywhere in the sample programs where there was just a isOperatorControl() in the while loop for Teleop, added an "&& isEnabled()". Change-Id: Ib81e8bab79923e262c314a073a591855cbf06846
48 lines
1.5 KiB
C++
48 lines
1.5 KiB
C++
#include "WPILib.h"
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/**
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* This is a sample program showing how to retrieve information from
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* the Power Distribution Panel via CAN.
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* The information will be displayed under variables through the SmartDashboard.
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*/
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class Robot: public SampleRobot
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{
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// Object for dealing with the Power Distribution Panel (PDP).
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PowerDistributionPanel m_pdp;
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// Update every 5milliseconds/0.005 seconds.
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const double kUpdatePeriod = 0.005;
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public:
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Robot() {
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}
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/**
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* Retrieve information from the PDP over CAN and
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* displays it on the SmartDashboard interface.
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* SmartDashboard::PutNumber takes a string (for a label) and a double;
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* GetCurrent takes a channel number and returns a double for current,
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* in Amperes. Channel numbers are printed on the PDP and range from 0-15.
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*/
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void OperatorControl()
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{
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while (IsOperatorControl() && IsEnabled())
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{
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// Get the current going through channel 7, in Amperes.
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// The PDP returns the current in increments of 0.125A.
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// At low currents the current readings tend to be less accurate.
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SmartDashboard::PutNumber("Current Channel 7", m_pdp.GetCurrent(7));
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// Get the voltage going into the PDP, in Volts.
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// The PDP returns the voltage in increments of 0.05 Volts.
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SmartDashboard::PutNumber("Voltage", m_pdp.GetVoltage());
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// Retrieves the temperature of the PDP, in degrees Celsius.
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SmartDashboard::PutNumber("Temperature", m_pdp.GetTemperature());
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Wait(kUpdatePeriod);
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}
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}
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};
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START_ROBOT_CLASS(Robot);
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