示例#1
0
        static void Run()
        {
            float x = _gamepad.GetAxis(1);

            Deadband(ref x);

            //Set the Maximum Current Limit for the Talon (in Amps)
            talon.SetCurrentLimit(10);
            //Enable the Current Limiting Feature.
            talon.EnableCurrentLimit(true);

            talon.Set(x);

            float current = talon.GetOutputCurrent();

            stringBuilder.Append("\t");
            stringBuilder.Append(current);
            stringBuilder.Append("\t");
        }
示例#2
0
        public static void Main()
        {
            RCDGamepad gamepad = new RCDGamepad(new CTRE.UsbHostDevice());

            TalonSrx driveTalon = new TalonSrx(1);

            driveTalon.SetInverted(true);
            driveTalon.SetCurrentLimit(1);
            driveTalon.EnableCurrentLimit(true);
            driveTalon.ConfigNeutralMode(TalonSrx.NeutralMode.Coast);

            TalonSrx flywheelTalon = new TalonSrx(2);

            flywheelTalon.SetCurrentLimit(40);
            flywheelTalon.EnableCurrentLimit(true);
            flywheelTalon.ConfigNeutralMode(TalonSrx.NeutralMode.Coast);

            PigeonImu centerOfMassIMU = new PigeonImu(1);
            PigeonImu headIMU         = new PigeonImu(2);

            uint pulsePeriod   = 20000;
            uint pulseDuration = 1500;

            PWM pwm_tilt      = new PWM(CTRE.HERO.IO.Port3.PWM_Pin9, pulsePeriod, pulseDuration, PWM.ScaleFactor.Microseconds, false);
            PWM pwm_headRoll  = new PWM(CTRE.HERO.IO.Port3.PWM_Pin7, pulsePeriod, pulseDuration, PWM.ScaleFactor.Microseconds, false);
            PWM pwm_headPitch = new PWM(CTRE.HERO.IO.Port3.PWM_Pin6, pulsePeriod, pulseDuration, PWM.ScaleFactor.Microseconds, false);
            PWM pwm_headSpin  = new PWM(CTRE.HERO.IO.Port3.PWM_Pin8, pulsePeriod, pulseDuration, PWM.ScaleFactor.Microseconds, false);
            PWM pwm_disco     = new PWM(CTRE.HERO.IO.Port3.PWM_Pin4, pulsePeriod, pulseDuration, PWM.ScaleFactor.Microseconds, false);

            pwm_tilt.Start();
            pwm_headRoll.Start();
            pwm_headPitch.Start();
            pwm_headSpin.Start();
            pwm_disco.Start();

            RCDTalonSpeedController driveSpeedController = new RCDTalonSpeedController("Primary Drive");

            driveSpeedController.loggingEnabled = false;
            driveSpeedController.rampingEnabled = false;

            bool previousButtonX      = false;
            bool previousButtonY      = false;
            bool previousButtonB      = false;
            bool previousButtonA      = false;
            bool previousStickButtonL = false;
            bool previousStickButtonR = false;

            bool staticOperationMode = false;

            ConfigureBodyLightColors();
            int orientationCompensation = -1;

            while (true)
            {
                if (gamepad.GetConnectionStatus() != UsbDeviceConnection.Connected)
                {
                    continue;
                }

                CTRE.Watchdog.Feed();

                // Check for whether we need to flip orientation
                bool currentButtonY = gamepad.buttonY;
                if (!currentButtonY && previousButtonY)
                {
                    orientationCompensation *= -1;

                    // No (working) interface for haptic feedback currently exists
                    // RumbleForDuration(gamepad, 0.25);
                }
                previousButtonY = currentButtonY;

                // Check for whether we need to switch control modes between driving and static modes
                bool currentButtonB = gamepad.buttonB;
                if (!currentButtonB && previousButtonB)
                {
                    staticOperationMode = !staticOperationMode;

                    // No (working) interface for haptic feedback currently exists
                    // RumbleForDuration(gamepad, 0.25);
                }
                previousButtonB = currentButtonB;

                uint discoDuration = 0;

                // Check for whether we need to send happy beeps
                bool currentButtonA = gamepad.buttonA;
                if (currentButtonA)
                {
                    discoDuration = 1500;
                }
                previousButtonA = currentButtonA;

                // Check if we need to send sad beeps
                bool currentButtonX = gamepad.buttonX;
                if (currentButtonX)
                {
                    discoDuration = 2500;
                }
                previousButtonX = currentButtonX;

                // Check if we need to send volume down
                bool currentStickButtonL = gamepad.buttonLeftJoyClick;
                if (currentStickButtonL)
                {
                    discoDuration = 3500;
                }
                previousStickButtonL = currentStickButtonL;

                // Check if we need to send volume up
                bool currentStickButtonR = gamepad.buttonRightJoyClick;
                if (currentStickButtonR)
                {
                    discoDuration = 4500;
                }
                previousStickButtonR = currentStickButtonR;
                pwm_disco.Duration   = discoDuration;

                /* Capture button states for gamepad  */
                Vector leftVec      = gamepad.leftVector;
                Vector rightVec     = gamepad.rightVector;
                bool   leftBumper   = gamepad.leftBumper;
                bool   rightBumper  = gamepad.rightBumper;
                bool   leftTrigger  = gamepad.leftTrigger;
                bool   rightTrigger = gamepad.rightTrigger;

                uint servoZero = 1500;
                pwm_headRoll.Duration  = (uint)((rightVec.x * -600 * orientationCompensation) + servoZero);
                pwm_headPitch.Duration = (uint)((rightVec.y * 600 * orientationCompensation) + servoZero);

                if (staticOperationMode)
                {
                    // Not driving or tilting while in static mode
                    driveTalon.Set(0);
                    pwm_tilt.Duration = servoZero;

                    pwm_headSpin.Duration = (uint)((leftVec.x * 600 * orientationCompensation) + servoZero);
                }
                else
                {
                    // Drive forward/backward
                    float driveValue = leftVec.y * orientationCompensation;
                    driveValue = driveSpeedController.ComputeCurrentValue(driveValue);
                    driveTalon.Set(driveValue);

                    uint headSpinScalar   = 500;
                    uint headSpinPosition = servoZero;
                    headSpinPosition     += (uint)(leftTrigger ? -headSpinScalar * orientationCompensation : 0);
                    headSpinPosition     += (uint)(rightTrigger ? headSpinScalar * orientationCompensation : 0);
                    pwm_headSpin.Duration = headSpinPosition;

                    pwm_tilt.Duration = (uint)((leftVec.x * 600 * orientationCompensation) + servoZero);
                }

                /* Throttle buttons are additive so they cancel if pressed simultaneously */
                float flywheelThrottle  = 0;
                float flywheelMagnitude = 1.0F;
                flywheelThrottle += leftBumper ? flywheelMagnitude : 0;
                flywheelThrottle += rightBumper ? -flywheelMagnitude : 0;
                flywheelTalon.Set(flywheelThrottle);

                // No current (working) interface for Logitech remote's rumble feature.
                // Commenting out so we don't waste cycles
                // UpdateRumbleState(gamepad);

                // Wait a bit
                System.Threading.Thread.Sleep(5);
            }
        }