/** 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 = CTRE.TalonSrx.ControlMode.kPercentVbus;
}
if (btnBtmLeftShoulder)
{
_mode = CTRE.TalonSrx.ControlMode.kMotionMagic;
}
/* calc the Talon output based on mode */
if (_mode == CTRE.TalonSrx.ControlMode.kPercentVbus)
{
float output = leftY; // [-1, +1] percent duty cycle
_talon.SetControlMode(_mode);
_talon.Set(output);
}
else if (_mode == CTRE.TalonSrx.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 static void Main()
{
//Gamepad for input
CTRE.Gamepad _gamepad = new CTRE.Gamepad(CTRE.UsbHostDevice.GetInstance());
//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);
}
}
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.Gamepad _gamepad = new CTRE.Gamepad(CTRE.UsbHostDevice.GetInstance());
//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(CTRE.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 static void Main()
{
CTRE.Gamepad _gamepad = new CTRE.Gamepad(new CTRE.UsbHostDevice());
//0 - left x
//1 - left y
//2 - right x
//
//5 - LB
//6 - RB
ledSpike.SetControlMode(CTRE.TalonSrx.ControlMode.kVoltage);
ledSpike.SetCurrentLimit(1);
while (true)
{
float y = -_gamepad.GetAxis(1);
float turn = _gamepad.GetAxis(2);
Deadband(ref y);
Deadband(ref turn);
if (_gamepad.GetConnectionStatus() == CTRE.UsbDeviceConnection.Connected)
{
if (_gamepad.GetButton(5))
{
ArcadeDrive(y, turn);
/* feed watchdog to keep Talon's enabled */
CTRE.Watchdog.Feed();
}
if (_gamepad.GetButton(6))
{
ledSpike.Set(3.5f);
CTRE.Watchdog.Feed();
}
else
{
ledSpike.Set(0);
}
}
/* run this task every 10ms */
Thread.Sleep(10);
}
}
/** get all buttons from a gamepad */
public static void FillBtns(CTRE.Gamepad gamepad, ref bool[] btns, ref int pov)
{
gamepad.GetAllValues(ref _gamepadValues);
pov = _gamepadValues.pov;
for (uint i = 1; i < btns.Length; ++i)
{
btns[i] = gamepad.GetButton(i);
}
}
public bool GetButton(Button button)
{
if (controller.GetButton((uint)button))
{
return(true);
}
else
{
return(false);
}
}
public int GetFirstButton(CTRE.Gamepad 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.Gamepad _gamepad = new CTRE.Gamepad(CTRE.UsbHostDevice.GetInstance());
//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.)...
CTRE.PWMSpeedController pwmSpeedController = new CTRE.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();
}
}
public void RunForever()
{
/* enable XInput, if gamepad is in DInput it will disable robot. This way you can
* use X mode for drive, and D mode for disable (instead of vice versa as the
* stock HERO implementation traditionally does). */
CTRE.UsbHostDevice.EnableXInputDevices();
while (true)
{
if (_gamepad.GetConnectionStatus() == CTRE.UsbDeviceConnection.Connected)
{
CTRE.Watchdog.Feed();
}
/* get buttons */
bool[] btns = new bool[_buttons.Length];
for (uint i = 1; i < 20; ++i)
{
btns[i] = _gamepad.GetButton(i);
}
/* get sticks */
for (uint i = 0; i < _sticks.Length; ++i)
{
_sticks[i] = _gamepad.GetAxis(i);
}
/* yield for a bit, and track timeouts */
System.Threading.Thread.Sleep(10);
if (_rumblingTimeMs < 5000)
{
_rumblingTimeMs += 10;
}
/* update the Talon using the shoulder analog triggers */
_tal.Set((_sticks[5] - _sticks[4]) * 0.60f);
/* fire some solenoids based on buttons */
_driver.Set(0, _buttons[1]);
_driver.Set(1, _buttons[2]);
_driver.Set(2, _buttons[3]);
_driver.Set(3, _buttons[4]);
/* rumble state machine */
switch (_rumblinSt)
{
/* rumbling is disabled, require some off time to save battery */
case 0:
_gamepad.SetLeftRumble(0);
_gamepad.SetRightRumble(0);
if (_rumblingTimeMs < 100)
{
/* waiting for off-time */
}
else if ((btns[1] && !_buttons[1])) /* button off => on */
{
/* off time long enough, user pressed btn */
_rumblingTimeMs = 0;
_rumblinSt = 1;
_gamepad.SetLeftRumble(0xFF);
}
else if ((btns[2] && !_buttons[2])) /* button off => on */
{
/* off time long enough, user pressed btn */
_rumblingTimeMs = 0;
_rumblinSt = 1;
_gamepad.SetRightRumble(0xFF);
}
break;
/* already vibrating, track the time */
case 1:
if (_rumblingTimeMs > 500)
{
/* vibrating too long, turn off now */
_rumblingTimeMs = 0;
_rumblinSt = 0;
_gamepad.SetLeftRumble(0);
_gamepad.SetRightRumble(0);
}
else if ((btns[3] && !_buttons[3])) /* button off => on */
{
/* immedietely turn off */
_rumblingTimeMs = 0;
_rumblinSt = 0;
_gamepad.SetLeftRumble(0);
_gamepad.SetRightRumble(0);
}
else if ((btns[1] && !_buttons[1])) /* button off => on */
{
_gamepad.SetLeftRumble(0xFF);
}
else if ((btns[2] && !_buttons[2])) /* button off => on */
{
_gamepad.SetRightRumble(0xFF);
}
break;
}
/* this will likley be replaced with a strongly typed interface,
* control the LEDs on the center XBOX emblem. */
if (btns[5] && !_buttons[5])
{
_gamepad.SetLEDCode(6);
}
if (btns[6] && !_buttons[6])
{
_gamepad.SetLEDCode(7);
}
if (btns[7] && !_buttons[7])
{
_gamepad.SetLEDCode(8);
}
if (btns[8] && !_buttons[8])
{
_gamepad.SetLEDCode(9);
}
/* build line to print */
StringBuilder sb = new StringBuilder();
foreach (float stick in _sticks)
{
sb.Append(Format(stick));
sb.Append(",");
}
sb.Append("-");
for (uint i = 1; i < _buttons.Length; ++i)
{
if (_buttons[i])
{
sb.Append("b" + i + ",");
}
}
/* print useful info */
sb.AppendLine();
Debug.Print(sb.ToString());
/* save button states for button-change states */
_buttons = btns;
}
}
////////////////// Function where all the code is executed ///////////////////
public static void Main()
{
// Invert the Motors to the correct direction
InitializeMotors();
// Everything in the While Loop will continuously run until the robot is turned off
while (true)
{
// If the Controller is connected to the HERO Development Board, the user can drive the robot
if (controller.GetConnectionStatus() == CTRE.UsbDeviceConnection.Connected)
{
// Get the Joystick Values and Deadband them
// Since moving the Joysticks up on the y-axis is in the negative direction, the value of the
// left Joystick Y Axis is multiplied by -1 so it's treated as being positive
deadbandedLeftJoystickYAxisValue = -DeadbandJoystick(controller.GetAxis(LEFT_Y_AXIS_INDEX));
deadbandedLeftJoystickXAxisValue = DeadbandJoystick(controller.GetAxis(LEFT_X_AXIS_INDEX));
deadbandedRightJoystickXAxisValue = DeadbandJoystick(controller.GetAxis(RIGHT_X_AXIS_INDEX));
// Button used to switch between different Driving Modes
// The Button is programmed as a toggle between the two Driving Modes
if (controller.GetButton(buttonSelect))
{
if (selectButtonPressed == false)
{
arcadeDriveSelection = !arcadeDriveSelection;
selectButtonPressed = true;
}
}
else
{
selectButtonPressed = false;
}
if (arcadeDriveSelection == ARCADE_DRIVE)
{
// If the Right X Axis Joystick Value does not equal zero, the robot will rotate.
// Control with the Left Joystick will be disabled if the user decides to rotate the robot
// This essentially allows the user to rotate the robot if he/she moves the Right X Axis Joystick Value out
// of the Deadband
if (deadbandedRightJoystickXAxisValue != 0.0f)
{
RotateRobot(deadbandedRightJoystickXAxisValue);
}
// If the Right X Axis Joystick Value is zero, control the direction and magnitude of the speed
// of the robot with the Left Joystick
else
{
DriveKiwiBotWithJoystickValuesNoRotation(deadbandedLeftJoystickYAxisValue, deadbandedLeftJoystickXAxisValue);
}
}
else if (arcadeDriveSelection == DRIVING_WITH_STEERING)
{
DriveRobotWithSteeringControl(deadbandedLeftJoystickYAxisValue, deadbandedRightJoystickXAxisValue);
}
}
// If the Controller is not connected to the HERO Development Board, the user cannot move the robot
else
{
StopAllMotors();
}
// Update the Motor Powers calculated in the above code
CTRE.Watchdog.Feed();
// Wait 10ms
// All the code in the While Loop will execute every 10ms
System.Threading.Thread.Sleep(10);
}
}
