Changes between Version 4 and Version 5 of ControlSystems/SoftwareTeam/Training/GettingStarted/Autonomous

Timestamp:

Nov 3, 2019, 8:42:47 PM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/Autonomous

@@ -23 +23 @@
 
 *  In robotInit() instantiate the Encoder and Motor objects
-  For PWM Motor Controller robots (Macadamia):
+  * For PWM Motor Controller robots (Macadamia):
   {{{    
     // Quadrature encoder has A and B channels connected to DIO0,1, DIO2,3
@@ -36 +36 @@
     rightMotor = new Talon(1);
   }}}
-
-  For CAN Motor Controller robots (Hazelnut): 
+  * For CAN Motor Controller robots (Hazelnut): 
   {{{
     // CAN motor controllers connected to CAN bus (addrs 3,4)
@@ -51 +50 @@
 
 * In robotPeriodic() display the encoder values
-
   * For PWM controller robots (Macadamia):
   {{{
@@ -57 +55 @@
     SmartDashboard.putNumber("Right", rightEncoder.getDistance());
   }}}
-
   * For CAN motor controllers (Hazelnut) note the use of the [https://www.ctr-electronics.com/downloads/api/java/html/classcom_1_1ctre_1_1phoenix_1_1motorcontrol_1_1can_1_1_base_motor_controller.html#afb934a11682e710df123eec35aba1ba9 getSelectedFeedbackSensor()] method of the motor controller object which returns raw encoder counts.  
   Add the following function to the Robot class:
@@ -63 +60 @@
      double raw2inches(int raw_count, int counts_per_rotation, double wheel_diameter) {
         return (raw_count / counts_per_rotation) * (3.141492 * wheel_diameter);
-  {{{
+     }
+  }}}
   Add the following to the robotPeriodic() method:
     // Encoders connected to CAN controller return raw counts