Esempio n. 1
0
        //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
                }
            }
        }
Esempio n. 2
0
        public bool IsLow()
        {
            float vbat;

            vbat = _talon.GetBusVoltage();

            if (vbat > 10.50)
            {
                _dnCnt = 0;
                if (_upCnt < 100)
                {
                    ++_upCnt;
                }
            }
            else if (vbat < 10.00)
            {
                _upCnt = 0;
                if (_dnCnt < 100)
                {
                    ++_dnCnt;
                }
            }

            if (_dnCnt > 50)
            {
                batIsLow = true;
            }
            else if (_upCnt > 50)
            {
                batIsLow = false;
            }
            else
            {
                //don't change filter ouput
            }
            return(batIsLow);
        }