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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
64 lines
2.5 KiB
C++
64 lines
2.5 KiB
C++
#include "WPILib.h"
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/**
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* This is a quick sample program to show how to use the new Talon SRX over CAN.
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* This particular sample demonstrates running a basic PID control loop with an
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* analog potentiometer.
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*
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*/
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class Robot : public SampleRobot {
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CANTalon m_motor;
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public:
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Robot()
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: m_motor(1) // Initialize the Talon as device 1. Use the roboRIO web
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// interface to change the device number on the m_motors.
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{
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// This sets the mode of the m_motor. The options are:
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// kPercentVbus: basic throttle; no closed-loop.
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// kCurrent: Runs the motor with the specified current if possible.
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// kSpeed: Runs a PID control loop to keep the motor going at a constant
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// speed using the specified sensor.
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// kPosition: Runs a PID control loop to move the motor to a specified move
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// the motor to a specified sensor position.
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// kVoltage: Runs the m_motor at a constant voltage, if possible.
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// kFollower: The m_motor will run at the same throttle as the specified other talon.
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m_motor.SetControlMode(CANSpeedController::kPosition);
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// This command allows you to specify which feedback device to use when doing
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// closed-loop control. The options are:
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// AnalogPot: Basic analog potentiometer
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// QuadEncoder: Quadrature Encoder
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// AnalogEncoder: Analog Encoder
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// EncRising: Counts the rising edges of the QuadA pin (allows use of a
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// non-quadrature encoder)
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// EncFalling: Same as EncRising, but counts on falling edges.
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m_motor.SetFeedbackDevice(CANTalon::AnalogPot);
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// This sets the basic P, I , and D values (F, Izone, and rampRate can also
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// be set, but are ignored here).
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// These must all be positive floating point numbers (SetSensorDirection will
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// multiply the sensor values by negative one in case your sensor is flipped
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// relative to your motor).
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// These values are in units of throttle / sensor_units where throttle ranges
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// from -1023 to +1023 and sensor units are from 0 - 1023 for analog
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// potentiometers, encoder ticks for encoders, and position / 10ms for
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// speeds.
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m_motor.SetPID(1.0, 0.0, 0.0);
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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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*/
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void OperatorControl() {
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while (IsOperatorControl() && IsEnabled()) {
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// In closed loop mode, this sets the goal in the units mentioned above.
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// Since we are using an analog potentiometer, this will try to go to
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// the middle of the potentiometer range.
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m_motor.Set(512);
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Wait(5.0);
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}
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}
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};
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START_ROBOT_CLASS(Robot)
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