public static void Main()
{
//Gamepad for input
CTRE.Controller.GameController _gamepad = new CTRE.Controller.GameController(CTRE.UsbHostDevice.GetInstance(0), 0);
//Create the DriverModule object by giving it the port you plugged it in to.
CTRE.HERO.Module.DriverModule driver = new CTRE.HERO.Module.DriverModule(CTRE.HERO.IO.Port5);
//these just act as shorter names for the driveLow and pullUp states
bool driveLow = CTRE.HERO.Module.DriverModule.OutputState.driveLow;
bool pullUp = CTRE.HERO.Module.DriverModule.OutputState.pullUp;
while (true)
{
//When the 'X' button is pressed, enable outputs
if (_gamepad.GetButton(1) == true)
{
driver.Set(1, driveLow);
driver.Set(2, driveLow);
}
else
{
driver.Set(1, pullUp);
driver.Set(2, pullUp);
}
System.Threading.Thread.Sleep(10);
}
}
public void SetRef(CTRE.Controller.GameController reference, uint idx)
{
if (idx >= 0 && idx <= 5)
{
_controllers[idx] = reference;
}
}
public int GetFirstButton(CTRE.Controller.GameController gamepad)
{
for (uint i = 0; i < 16; ++i)
{
if (gamepad.GetButton(i))
{
return((int)i);
}
}
return(-1);
}
//Password to module wifi is "password1"
/** entry point of the application */
public static void Main()
{
ds = new CTRE.FRC.DriverStation(wifiport); //Create new Driver station object at port 4
_gamepad = new CTRE.Controller.GameController(ds, 0); //Set controller to look at DS with ID 0
//Create two TalonSrx objects and set their control mode
left1 = new CTRE.TalonSrx(1);
right1 = new CTRE.TalonSrx(2);
left1.SetControlMode(CTRE.TalonSrx.ControlMode.kPercentVbus);
right1.SetControlMode(CTRE.TalonSrx.ControlMode.kPercentVbus);
//Set IP module looks for and is configured with, Computer must set to Static IP
ds.SendIP(new byte[] { 10, 0, 33, 2 }, new byte[] { 10, 0, 33, 5 });
while (true)
{
//Must be called for DS to function
ds.update();
//Send Battery Voltage information to Driver Station
ds.SendBattery(left1.GetBusVoltage());
if (ds.IsAuton() && ds.IsEnabled())
{
//Auton Code while enabled
}
else if (ds.IsAuton() && !ds.IsEnabled())
{
//Auton Code while disabled
}
else if (!ds.IsAuton() && ds.IsEnabled())
{
//Teleop Code while enabled
Drive();
Debug.Print(stringBuilder.ToString());
ds.SendUDP(2550, Encoding.UTF8.GetBytes(stringBuilder.ToString()));
stringBuilder.Clear();
}
else if (!ds.IsAuton() && !ds.IsEnabled())
{
//Teleop Code while disabled
}
}
}
static void Drive()
{
if (null == _gamepad)
{
_gamepad = new CTRE.Controller.GameController(CTRE.UsbHostDevice.GetInstance(0), 0);
}
float x = _gamepad.GetAxis(0); // Positive is strafe-right, negative is strafe-left
float y = -1 * _gamepad.GetAxis(1); // Positive is forward, negative is reverse
float turn = _gamepad.GetAxis(2); // Positive is turn-right, negative is turn-left
Deadband(ref x);
Deadband(ref y);
Deadband(ref turn);
drive.Set(CTRE.Drive.Styles.Basic.PercentOutput, y, x, turn);
}
static void Drive()
{
if (null == _gamepad)
{
_gamepad = new CTRE.Controller.GameController(CTRE.UsbHostDevice.GetInstance(0), 0);
}
float x = _gamepad.GetAxis(0);
float y = -1 * _gamepad.GetAxis(1);
float twist = _gamepad.GetAxis(2);
Deadband(ref x);
Deadband(ref y);
Deadband(ref twist);
drive.Set(CTRE.Drive.Styles.Basic.PercentOutput, y, twist);
}
public static void Main()
{
//Gamepad for input
CTRE.Controller.GameController _gamepad = new CTRE.Controller.GameController(CTRE.UsbHostDevice.GetInstance(0), 0);
//simple PWM for fine control of pulse width, period, timing...
uint period = 50000; //period between pulses
uint duration = 1500; //duration of pulse
PWM pwm_9 = new PWM(CTRE.HERO.IO.Port3.PWM_Pin9, period, duration, PWM.ScaleFactor.Microseconds, false);
pwm_9.Start(); //starts the signal
// ...and just a PWM SpeedController for motor controller (Victor SP, Talon SR, Victor 888, etc.)...
PWMSpeedController pwmSpeedController = new PWMSpeedController(CTRE.HERO.IO.Port3.PWM_Pin4);
while (true)
{
/* only enable motor control (PWM/CAN) if gamepad is connected. Logitech gamepads may be disabled using the X/D switch */
if (_gamepad.GetConnectionStatus() == CTRE.UsbDeviceConnection.Connected)
{
CTRE.Watchdog.Feed();
}
/* let axis control the pwm speed controller */
pwmSpeedController.Set(0.10f); /* 10% */
/* let button1 control the explicit PWM pin duration*/
if (_gamepad.GetButton(1) == true)
{
pwm_9.Duration = 2000; /* 2.0ms */
}
else
{
pwm_9.Duration = 1000; /* 1.0ms */
}
/* yield for a bit, this controls this task's frequency */
System.Threading.Thread.Sleep(10);
}
}
