Changes between Version 5 and Version 6 of ControlSystems/SoftwareTeam/Training/GettingStarted/Autonomous

Timestamp:

Nov 3, 2019, 8:44:41 PM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/Autonomous

@@ -56 +56 @@
   }}}
   * 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:
-  {{{
-     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
-    double l_raw = leftMotor.getSelectedSensorPosition();
-    double r_raw = rightMotor.getSelectedSensorPosition();
-    // display distances on smart dashboard
-    SmartDashboard.putNumber("Left", raw2inches(l_raw, 360*2, 7.5));
-    SmartDashboard.putNumber("Right", raw2inches(r_raw, 360*2, 7.5));
-  }}}
+     * Add the following function to the Robot class:
+     {{{
+        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
+        double l_raw = leftMotor.getSelectedSensorPosition();
+        double r_raw = rightMotor.getSelectedSensorPosition();
+        // display distances on smart dashboard
+        SmartDashboard.putNumber("Left", raw2inches(l_raw, 360*2, 7.5));
+        SmartDashboard.putNumber("Right", raw2inches(r_raw, 360*2, 7.5));
+     }}}
 
 * In autonomousInit() reset the encoder counts and start the motors: