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e017f93f16
Also added some references/smart pointers to a couple places that seemed convenient to the user. I haven't updated the constructors for RobotDrive() related examples, pending the results of gerrit change https://usfirst.collab.net/gerrit/#/c/960/ A few things that we are noticing: --It might be nice if ReturnPIDInput() didn't have to be const; when people try to override it, they have to remember to put the const in and if they don't, then the compiler error isn't the most obvious (especially since this is a change). This would also apply to PIDGet() in the PIDSource interface. --SendableChooser still takes raw pointers. This could lead to an issue I had to debug briefly where you accidentally call GetSelected() on autoChooser and put the resulting raw pointer into a unique_ptr, which destroys the pointer when it goes out of scope. Specifically, I was testing the PacGoat example and I ended up with a situation where if auto mode was run once, it was fine, but if it was run twice, the selected command would have been destroyed by the unique_ptr. I believe that this just requires updating SendableChosser to take shared_ptr. --When the samples are compiled with -pedantic, it points out that START_ROBOT_CLASS macro expansion results in a redundant semicolon. Change-Id: Ib4c025a61263d0d2780d4253faa31713e15333a5
78 lines
2.9 KiB
C++
78 lines
2.9 KiB
C++
#include "WPILib.h"
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/**
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* This is a sample program showing the use of the solenoid classes during
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* operator control.
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* Three buttons from a joystick will be used to control two solenoids:
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* One button to control the position of a single solenoid and the other
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* two buttons to control a double solenoid.
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* Single solenoids can either be on or off, such that the air diverted through
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* them goes through either one channel or the other.
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* Double solenoids have three states: Off, Forward, and Reverse. Forward and
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* Reverse divert the air through the two channels and correspond to the
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* on and off of a single solenoid, but a double solenoid can also be "off",
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* where both channels are diverted to exhaust such that there is no pressure
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* in either channel.
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* Additionally, double solenoids take up two channels on your PCM whereas
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* single solenoids only take a single channel.
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* During Operator Control, the loop waits for a brief time before continuing
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* in order to allow other threads to run. This is generally a good idea,
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* especially as joystick values are only received every 20ms.
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*/
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class Robot: public SampleRobot
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{
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// Joystick with buttons to control solenoids with.
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Joystick m_stick;
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// Solenoids to control with the joystick.
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// Solenoid corresponds to a single solenoid.
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Solenoid m_solenoid;
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// DoubleSolenoid corresponds to a double solenoid.
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DoubleSolenoid m_doubleSolenoid;
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// Update every 5milliseconds/0.005 seconds.
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const double kUpdatePeriod = 0.005;
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// Numbers of the buttons to use for triggering the solenoids.
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const int kSolenoidButton = 1;
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const int kDoubleSolenoidForward = 2;
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const int kDoubleSolenoidReverse = 3;
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public:
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Robot() :
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m_stick(0), // Use joystick on port 0.
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m_solenoid(0), // Use solenoid on channel 0.
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// Use double solenoid with Forward Channel of 1 and Reverse of 2.
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m_doubleSolenoid(1, 2)
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{
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}
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/**
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* Sets the solenoids from the position of joystick buttons.
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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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// The output of GetRawButton is true/false depending on whether
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// the button is pressed; Set takes a boolean for for whether to
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// use the default (false) channel or the other (true).
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m_solenoid.Set(m_stick.GetRawButton(kSolenoidButton));
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// In order to set the double solenoid, we will say that if neither
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// button is pressed, it is off, if just one button is pressed,
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// set the solenoid to correspond to that button, and if both
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// are pressed, set the solenoid to Forwards.
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if (m_stick.GetRawButton(kDoubleSolenoidForward))
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m_doubleSolenoid.Set(DoubleSolenoid::kForward);
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else if (m_stick.GetRawButton(kDoubleSolenoidReverse))
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m_doubleSolenoid.Set(DoubleSolenoid::kReverse);
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else
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m_doubleSolenoid.Set(DoubleSolenoid::kOff);
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Wait(kUpdatePeriod); // wait for a motor update time
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}
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}
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};
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START_ROBOT_CLASS(Robot)
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