public void EnhancedEncoderSetDistancePerPulseTest()
{
using (Encoder e = new Encoder(0, 1))
{
e.SetDistancePerPulse(4, 256);
Assert.AreEqual(0.04908, e.DistancePerPulse, 0.0001);
}
}
public static void TestRotational()
{
using (Encoder left = new Encoder(0, 1), right = new Encoder(2, 3))
{
DriveEncoders e = new DriveEncoders(left, right);
SimData.Encoder[0].Count = 4000;
SimData.Encoder[1].Count = -4000;
Assert.AreEqual(1000, e.TurnDistance);
}
}
/// <summary>
/// Instantiates the Motor COntrollers, Encoders, Gyroscope.
/// </summary>
public Drive()
{
#region Instantiating
L1 = new RampMotor<Talon>(Constants.Drive_L1Channel);
L2 = new RampMotor<Talon>(Constants.Drive_L2Channel);
L3 = new RampMotor<Talon>(Constants.Drive_L3Channel);
R1 = new RampMotor<Talon>(Constants.Drive_R1Channel);
R2 = new RampMotor<Talon>(Constants.Drive_R2Channel);
R3 = new RampMotor<Talon>(Constants.Drive_R3Channel);
LShift = new Solenoid(Constants.Drive_LShiftChannel);
RShift = new Solenoid(Constants.Drive_RShiftChannel);
LEncode = new Encoder(Constants.Drive_LEncoderAChannel, Constants.Drive_LEncoderBChannel);
REncode = new Encoder(Constants.Drive_REncoderAChannel, Constants.Drive_REncoderBChannel);
LSpeedFilter = new InputFilter(0);
RSpeedFilter = new InputFilter(0);
gyro = new Gyro(Constants.Drive_GyroChannel);
#endregion
//Invert the Right Side Motors and Encoder
R1.Inverted = true;
R2.Inverted = true;
R3.Inverted = true;
REncode.ReverseDirection = true;
L1.MaxChange = Constants.Drive_MaxPowerChange;
L2.MaxChange = Constants.Drive_MaxPowerChange;
L3.MaxChange = Constants.Drive_MaxPowerChange;
R1.MaxChange = Constants.Drive_MaxPowerChange;
R2.MaxChange = Constants.Drive_MaxPowerChange;
R3.MaxChange = Constants.Drive_MaxPowerChange;
gyro.Reset();
LShift.Set(false);
RShift.Set(false);
//Secondary Motors are set to the same max acceleration as the primary motors by default, until we get these numbers tuned.
shiftingMotorValue = Constants.Drive_MaxPowerChange;
}
private static void AddEncoder(string key, Encoder encoder)
{
EncoderKeys.Add(key);
Encoders.Add(key, encoder);
}
/// <summary>
/// Removes the <see cref="Encoder"/> from this glitch filter
/// </summary>
/// <param name="encoder">The <see cref="Encoder"/> to remove.</param>
public void Remove(Encoder encoder)
{
Remove(encoder.m_aSource);
Remove(encoder.m_bSource);
}
/// <summary>
/// Assigns the <see cref="Encoder"/> to this glitch filter
/// </summary>
/// <param name="encoder">The <see cref="Encoder"/> to add.</param>
public void Add(Encoder encoder)
{
Add(encoder.m_aSource);
Add(encoder.m_bSource);
}
/// <summary>
/// Encapsulates a Left and Right Encoder, with the right encoder reversed.
/// </summary>
/// <param name="left">Left Encoder</param>
/// <param name="right">Right Encoder</param>
public DriveEncoders(Encoder left, Encoder right)
{
Left = left;
Right = right;
Right.SetReverseDirection(true);
}
private static void InitializeElevator()
{
ElevatorEncoder = new Encoder(8, 9, false, EncodingType.K1X);
ElevatorEncoder.DistancePerPulse = 1;
TopLimitSwitch = new DigitalInput(7);
BottomLimitSwitch = new DigitalInput(4);
var setpoints = new List<Setpoint>
{
new Setpoint(2, 0),
new Setpoint(4, 325),
new Setpoint(3, 750),
new Setpoint(5, 1475),
new Setpoint(8, 1200),
new Setpoint(9, 2800)
};
Setpoints = new SetpointMapWrapper(setpoints);
}
