static DriveTestBase()
{
SimPWMController lMotor = new SimPWMController(0);
SimPWMController rMotor = new SimPWMController(1);
SimEncoder lEncoder = new SimEncoder(0);
SimEncoder rEncoder = new SimEncoder(1);
DriveWheelMechanism left = new DriveWheelMechanism(DCMotor.MakeCIM(), lMotor, 1, 1, lEncoder);
DriveWheelMechanism right = new DriveWheelMechanism(DCMotor.MakeCIM(), rMotor, 1, 1, rEncoder);
_drive = new TankDriveTrainMechanism(left, right, 11);
}
/// <summary>
/// Creates a new arm which is driven by an encoder
/// </summary>
/// <param name="input">The motor driving the system</param>
/// <param name="output">The encoder giving feedback to the system</param>
/// <param name="encoderCPR">The CPR of the encoder. If not a 1:1 ratio on the axle, scale this beforehand</param>
/// <param name="model">The transmission model to use</param>
/// <param name="startRotations">The location in rotations you want the system to start at.</param>
/// <param name="invertInput">Inverts the motor input</param>
public AngularEncoderMechanism(ISimSpeedController input, SimEncoder output, double encoderCPR, DCMotor model,
double startRotations, bool invertInput)
{
m_input = input;
m_output = output;
m_model = model;
m_invert = invertInput;
m_scaler = encoderCPR / (Math.PI * 2);
CurrentRadians = 0;
m_offset = startRotations * (Math.PI * 2);
AdjustedRadians = m_offset;
m_maxRadians = double.MaxValue;
m_minRadians = double.MinValue;
}
/// <summary>
/// Initializes a new instance of the <see cref="LinearEncoderMechanism"/> class.
/// </summary>
/// <param name="input">The motor driving the system.</param>
/// <param name="output">The encoder giving feedback to the system.</param>
/// <param name="encoderCpr">The CPR of the encoder. If not a 1:1 ratio on the axle, scale this beforehand.</param>
/// <param name="model">The transmission model to use.</param>
/// <param name="spoolRadius">The radius of your spool in Meters. (Use the radius of the up spool if using a cascade elevator).</param>
/// <param name="startHeight">The start height of your elevator relative to the reset sensor in meters. If no reset sensor then use 0.</param>
/// <param name="invertInput">if set to <c>true</c> [invert input].</param>
public LinearEncoderMechanism(ISimSpeedController input, SimEncoder output, double encoderCpr, DCMotor model,
double spoolRadius, double startHeight, bool invertInput)
{
m_input = input;
m_output = output;
m_model = model;
m_invert = invertInput;
RadiansPerMeter = 1 / spoolRadius;
m_scaler = encoderCpr / (Math.PI * 2);
m_offset = startHeight;
CurrentMeters = m_offset;
m_maxRadians = double.MaxValue;
m_minRadians = double.MinValue;
}
