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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
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() && IsEnabled()) {
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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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