/** spin in this routine forever */
public void RunForever()
{
/* config our talon, don't continue until it's successful */
int initStatus = SetupConfig(); /* configuration */
while (initStatus != 0)
{
Instrument.PrintConfigError();
initStatus = SetupConfig(); /* (re)config*/
}
/* robot loop */
while (true)
{
/* get joystick params */
float leftY = -1f * _gamepad.GetAxis(1);
bool btnTopLeftShoulder = _gamepad.GetButton(5);
bool btnBtmLeftShoulder = _gamepad.GetButton(7);
Deadband(ref leftY);
/* keep robot enabled if gamepad is connected and in 'D' mode */
if (_gamepad.GetConnectionStatus() == CTRE.UsbDeviceConnection.Connected)
{
CTRE.Watchdog.Feed();
}
/* set the control mode based on button pressed */
if (btnTopLeftShoulder)
{
_mode = ControlMode.kPercentVbus;
}
if (btnBtmLeftShoulder)
{
_mode = ControlMode.kMotionMagic;
}
/* calc the Talon output based on mode */
if (_mode == ControlMode.kPercentVbus)
{
float output = leftY; // [-1, +1] percent duty cycle
_talon.SetControlMode(_mode);
_talon.Set(output);
}
else if (_mode == ControlMode.kMotionMagic)
{
float servoToRotation = leftY * 10;// [-10, +10] rotations
_talon.SetControlMode(_mode);
_talon.Set(servoToRotation);
}
/* instrumentation */
Instrument.Process(_talon);
/* wait a bit */
System.Threading.Thread.Sleep(5);
}
}
public void run()
{
Loop10Ms();
//if (_gamepad.GetConnectionStatus() == CTRE.UsbDeviceConnection.Connected) // check if gamepad is plugged in OR....
if (_gamepad.GetButton(kEnableButton)) // check if bottom left shoulder buttom is held down.
{
/* then enable motor outputs*/
CTRE.Watchdog.Feed();
}
}
public static void Main()
{
float turn = 0;
timer.Start();
bool leftLast = false;
bool rightLast = false;
while (true)
{
ds.update();
ds.SendBattery(12.34f);
float t = deltaTime();
CTRE.FRC.DriverStation.State s = ds.GetState();
if (ds.IsEnabled())
{
float x = controller.GetAxis(0);
float y = controller.GetAxis(1);
float twist = -controller.GetAxis(4);
if (twist * twist < 0.005)
{
twist = 0;
}
turn += twist * t * 180;
if (controller.GetButton(6) && !leftLast)
{
turn -= 90;
}
if (controller.GetButton(5) && !rightLast)
{
turn += 90;
}
leftLast = controller.GetButton(6);
rightLast = controller.GetButton(5);
drive(x, y, turn);
}
else
{
float[] ypr = new float[3];
pigeon.GetYawPitchRoll(ypr);
turn = ypr[0];
}
byte[] b = new byte[] { (byte)'h', (byte)'e', (byte)'l', (byte)'l', (byte)'o' };
ds.SendUDP(2550, b);
}
}
void FillBtns(ref bool[] btns)
{
for (uint i = 1; i < btns.Length; ++i)
{
btns[i] = _gamepad.GetButton(i);
}
}
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 static void Main()
{
/* enable compressor closed loop. Compressor output will turn automatically
* if pressure switch signals low-pressure. */
_pcm.StartCompressor();
/* loop forever */
while (true)
{
/* Check our gamepad inputs */
bool bActivateSolenoid = _gamepad.GetButton(0);
/* turn on channel 0 if button is held */
_pcm.SetSolenoidOutput(0, bActivateSolenoid);
/* turn on channel 1 if button is NOT held */
_pcm.SetSolenoidOutput(1, !bActivateSolenoid);
/* only enable actuators (PCM/Talons/etc.) if gamepad is present */
if (_gamepad.GetConnectionStatus() == CTRE.UsbDeviceConnection.Connected)
{
CTRE.Watchdog.Feed();
}
/* yield for a while */
System.Threading.Thread.Sleep(10);
}
}
uint [] _debLeftY = { 0, 0 }; // _debLeftY[0] is how many times leftY is zero, _debLeftY[1] is how many times leftY is not zeero.
public void Run()
{
/* first choose the sensor */
_talon.SetFeedbackDevice(TalonSrx.FeedbackDevice.CtreMagEncoder_Relative);
_talon.SetSensorDirection(false);
//_talon.ConfigEncoderCodesPerRev(XXX), // if using CTRE.TalonSrx.FeedbackDevice.QuadEncoder
//_talon.ConfigPotentiometerTurns(XXX), // if using CTRE.TalonSrx.FeedbackDevice.AnalogEncoder or CTRE.TalonSrx.FeedbackDevice.AnalogPot
/* set closed loop gains in slot0 */
_talon.SetP(0, 0.2f); /* tweak this first, a little bit of overshoot is okay */
_talon.SetI(0, 0f);
_talon.SetD(0, 0f);
_talon.SetF(0, 0f); /* For position servo kF is rarely used. Leave zero */
/* use slot0 for closed-looping */
_talon.SelectProfileSlot(0);
/* set the peak and nominal outputs, 12V means full */
_talon.ConfigNominalOutputVoltage(+0.0f, -0.0f);
_talon.ConfigPeakOutputVoltage(+3.0f, -3.0f);
/* how much error is allowed? This defaults to 0. */
_talon.SetAllowableClosedLoopErr(0, 0);
/* zero the sensor and throttle */
ZeroSensorAndThrottle();
/* loop forever */
while (true)
{
Loop10Ms();
//if (_gamepad.GetConnectionStatus() == CTRE.UsbDeviceConnection.Connected) // check if gamepad is plugged in OR....
if (_gamepad.GetButton(kEnableButton)) // check if bottom left shoulder buttom is held down.
{
/* then enable motor outputs*/
CTRE.Watchdog.Feed();
}
/* print signals to Output window */
Instrument();
/* 10ms loop */
Thread.Sleep(10);
}
}
public int GetFirstButton(CTRE.Controller.GameController gamepad)
{
for (uint i = 0; i < 16; ++i)
{
if (gamepad.GetButton(i))
{
return((int)i);
}
}
return(-1);
}
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);
}
}
public void RunForever()
{
while (true)
{
if (_gamepad.GetConnectionStatus() == CTRE.UsbDeviceConnection.Connected)
{
CTRE.Watchdog.Feed();
}
/* get buttons */
for (uint i = 1; i < 20; ++i)
{
_buttons[i].last = _buttons[i].now;
_buttons[i].now = _gamepad.GetButton(i);
}
/* yield for a bit, and track timeouts */
System.Threading.Thread.Sleep(10);
/* pigeon related tasks */
PidgyTask();
}
}