Пример #1
0
        void Loop10Ms()
        {
            /* get all the buttons */
            FillBtns(ref _btns);


            /* scale the x-axis to go from 0 to sensorRange, left to right */
            float leftAxisX = (((_sensorRange / 2) * _gamepad.GetAxis(0)) + (_sensorRange / 2));

            float rightAxisX = kJoystickScaler * _gamepad.GetAxis(2);

            Deadband(ref rightAxisX);

            if (rightAxisX != 0)
            {
                _talon.SetControlMode(CTRE.TalonSrx.ControlMode.kPercentVbus);
                _talon.Set(rightAxisX);
            }
            else if (_talon.GetControlMode() == CTRE.TalonSrx.ControlMode.kPercentVbus)
            {
                _targetPosition = _talon.GetPosition();

                /* user has let go of the stick, lets closed-loop whereever we happen to be */
                EnableClosedLoop();
            }

            /* When you press the 'A' button on a Logitech Gamepad
            *   and the enable button is pressed                    */
            if (_btns[2] && !_btnsLast[2] && _gamepad.GetButton(kEnableButton))
            {
                _targetPosition = servo(leftAxisX, _talon.GetPosition(), _sensorRange);
                EnableClosedLoop();
            }
        }
Пример #2
0
        public static void Main()
        {
            CTRE.UsbHostDevice.GetInstance().SetSelectableXInputFilter(CTRE.UsbHostDevice.SelectableXInputFilter.BothDInputAndXInput);
            /* loop forever */
            while (true)
            {
                /* get buttons */
                for (uint i = 1; i < 20; ++i)
                {
                    Buttons[i].last = Buttons[i].now;
                    Buttons[i].now  = _gamepad.GetButton(i);
                }

                /* if button one was pressed, toggles field oriented*/
                FieldOriented1 = Buttons[0].WasPressed() ? !FieldOriented1 : FieldOriented1;

                /* kills drivetrain if button 2 is pressed or held */
                if (Buttons[1].now)
                {
                    motorA.Set(0);
                    motorB.Set(0);
                    motorC.Set(0);
                    motorA.ConfigNeutralMode(CTRE.TalonSrx.NeutralMode.Brake);
                    motorB.ConfigNeutralMode(CTRE.TalonSrx.NeutralMode.Brake);
                    motorC.ConfigNeutralMode(CTRE.TalonSrx.NeutralMode.Brake);
                    EStop = true;
                }

                /* turns off estop mode if button 10 was pressed*/
                if (Buttons[9].WasPressed())
                {
                    EStop = false;
                    motorA.ConfigNeutralMode(motorAInitialNeutralMode);
                    motorB.ConfigNeutralMode(motorBInitialNeutralMode);
                    motorC.ConfigNeutralMode(motorCInitialNeutralMode);
                }

                /* resets yaw if button six was pressed*/
                if (Buttons[5].WasPressed())
                {
                    try
                    {
                        Pidgy.SetYaw(0);
                    }
                    catch (Exception) { }
                }

                /* adjust orientation by 120 degrees if button three was pressed*/
                Orientation += Buttons[2].WasPressed() ? (float)System.Math.PI * 2 / 3 : 0;

                /*adjust orientation back by 120 degrees if button four was pressed*/
                Orientation -= Buttons[3].WasPressed() ? (float)System.Math.PI * 2 / 3 : 0;

                /* adjust orientation by 180 degrees if button five was pressed*/
                Orientation += Buttons[4].WasPressed() ? (float)System.Math.PI : 0;

                /* drive robot using gamepad */
                Drive();
                /* print whatever is in our string builder */
                Debug.Print(stringBuilder.ToString());
                stringBuilder.Clear();
                /* feed watchdog to keep Talon's enabled */
                CTRE.Watchdog.Feed();
                /* run this task every 20ms */
                Thread.Sleep(20);
            }
        }
Пример #3
0
        public static void Main()
        {
            CTRE.TalonSrx talon = new CTRE.TalonSrx(0);
            talon.SetControlMode(TalonSrx.ControlMode.kVoltage);
            talon.SetFeedbackDevice(TalonSrx.FeedbackDevice.CtreMagEncoder_Relative);
            talon.SetSensorDirection(false);
            talon.SetVoltageRampRate(0.0f);
            talon.EnableCurrentLimit(false);
            talon.ConfigLimitMode(TalonSrx.LimitMode.kLimitMode_SrxDisableSwitchInputs);

            double time_per_voltage = 20;

            double[] voltages = new double[] { 0, 7 };

            bool time_out = false;

            bool continuous = false;

            /* simple counter to print and watch using the debugger */
            int counter = 0;
            /* loop forever */
            double time_last = DateTime.Now.Hour * 3600 + DateTime.Now.Minute * 60 + DateTime.Now.Second + DateTime.Now.Millisecond / 1000.0;

            while (true)
            {
                /* print the three analog inputs as three columns */
                //Debug.Print("Counter Value: " + counter);
                CTRE.Watchdog.Feed();



                /* increment counter */
                ++counter; /* try to land a breakpoint here and hover over 'counter' to see it's current value.  Or add it to the Watch Tab */

                /* wait a bit */
                //using(System.IO.StreamWriter file = new System.IO.StreamWriter(@"C:\Users\Public\TestFolder\data.srv"))
                //{
                double seconds = DateTime.Now.Hour * 3600 + DateTime.Now.Minute * 60 + DateTime.Now.Second + DateTime.Now.Millisecond / 1000.0;
                UInt64 index   = (UInt64)System.Math.Floor((seconds - time_last) / time_per_voltage);
                double voltage = 0;
                if (continuous)
                {
                    if (index < (UInt64)voltages.Length - 1)
                    {
                        double value = (seconds - time_last) / time_per_voltage;
                        voltage = (voltages[index + 1] - voltages[index]) * (value - index) + voltages[index];
                    }
                    else if (!time_out)
                    {
                        voltage = voltages[voltages.Length - 1];
                    }
                }
                else
                {
                    if (index < (UInt64)voltages.Length)
                    {
                        voltage = voltages[index];
                    }
                    else if (!time_out)
                    {
                        voltage = voltages[voltages.Length - 1];
                    }
                }

                talon.Set((float)voltage);                 //low ish voltage

                //CTRE.TalonSrx.VelocityMeasurementPeriod.Period_100Ms period;
                Debug.Print(seconds.ToString() + "," + talon.GetPosition().ToString() + "," + talon.GetSpeed().ToString() + "," + talon.GetOutputVoltage().ToString()
                            + "," + talon.GetOutputCurrent().ToString() + "," + talon.GetBusVoltage().ToString() + "," + talon.GetTemperature().ToString());


                //talon.SetVelocityMeasurementPeriod(CTRE.TalonSrx.VelocityMeasurementPeriod.Period_10Ms);
                //  file.WriteLine(seconds.ToString() + "," + talon.GetPosition().ToString() + "," + talon.GetSpeed().ToString());
                //}
                System.Threading.Thread.Sleep(10);
            }
        }