private void OpenGrabber()
{
Robotmap map = Robotmap.GetInstance();
float pulses = LinearInterpolation.Calculate(OPENGRABBER, -1.0f, minPWMSignalRange, 1.0f, maxPWMSignalRange);
float percentOut = pulses / pwmOutput;
CANController.SetPWMOutput(map.GetFlagGrabberServo_ID(), pulses); //move servo
} //FLAGSURVO LOOK LOOK LOOOK LOOK LOOK LOOK LOOK DO THIS FIX IT HE SHOWED YOU YOU GOTTA DO IT LLLLLLOOOOOOOOOOOK
private void CloseGrabber()
{
Robotmap map = Robotmap.GetInstance();
float pulses = LinearInterpolation.Calculate(CLOSEGRABBER, -1.0f, minPWMSignalRange, 1.0f, maxPWMSignalRange);
float percentOut = pulses / pwmOutput;
CANController.SetPWMOutput(map.GetFlagGrabberServo_ID(), percentOut); //move servo
}
private void deliver()
{
Robotmap map = Robotmap.GetInstance();
float pulses = LinearInterpolation.Calculate(DELIVER, -1.0f, minPWMSignalRange, 1.0f, maxPWMSignalRange);
float percentOut = pulses / pwmOutput;
deliverServo.EnablePWMOutput((int)map.GetDeliverMec_ID(), true);
deliverServo.SetPWMOutput(map.GetDeliverMec_ID(), percentOut); //move servo
}
public void OnLoop()
{
float pulse = Platform.Tasks.taskMeasurePulseSensors.GetMeasuredPulseWidthsUs(CANifier.PWMChannel.PWMChannel3);
/* scale [0,8000] us to [0,360' Hue Deg */
float hue = LinearInterpolation.Calculate(pulse, 0f, 0f, 8000f, 360f);
Platform.Tasks.taskHSV_ControlLedStrip.Hue = hue;
Platform.Tasks.taskHSV_ControlLedStrip.Saturation = 1;
Platform.Tasks.taskHSV_ControlLedStrip.Value = 0.05f; /* hardcode the brightness */
}
bool _running; //!< Track if we are running so TaskMainLoop can keep "starting" this task with no extra init work.
public void OnLoop()
{
/* just grab three axis and direct control the components */
float axis = Hardware.gamepad.GetAxis(Constants.GamePadAxis_y);
/* scale to typical pwm withds */
float pulseUs = LinearInterpolation.Calculate(axis, -1, 1000f, +1, 2000f); /* [-1,+1] => [1000,2000]us */
/* scale to period */
float periodUs = 4200; // hardcoded for now, this will be settable in future firmware update.
_percentOut = pulseUs / periodUs;
/* set it */
Hardware.canifier.SetPWMOutput(Constants.kMotorControllerCh, _percentOut);
}
public float GetDutyCyclePerc(Channel channel)
{
float retval = GetDutyCycleUs(channel);
retval = LinearInterpolation.Calculate(retval, 1000, -1, 2000, 1);
if (retval < -1)
{
retval = -1;
}
else if (retval > +1)
{
retval = +1;
}
return(retval);
}
public void OnLoop()
{
float rightStickY = Hardware.gamepad.GetAxis(5); // Ensure Positive is turn-right, negative is turn-left
CTRE.Util.Deadband(ref rightStickY);
_percentOut = rightStickY; // [-1,1]
_percentOut = LinearInterpolation.Calculate(_percentOut, -1, -13f, +1, +13f); // scale to [-13V, +13V]
_percentOut = CTRE.Util.Cap(_percentOut, 13f); // cap to 13V
Subsystems.Wheel.SetPercentOutput(_percentOut);
/* if Talon was reset, redo config. This is generally not necessary */
if (Subsystems.Wheel.MotorController.HasResetOccured())
{
Subsystems.Wheel.Setup();
}
}