wiki:ControlSystems/SoftwareTeam/Training/GettingStarted/Encoders/CANCode
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package frc.robot;

import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import com.ctre.phoenix.motorcontrol.can.*;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;

/**
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the TimedRobot
 * documentation. If you change the name of this class or the package after
 * creating this project, you must also update the build.gradle file in the
 * project.
 */
public class Robot extends TimedRobot {
  private WPI_TalonSRX m_Left;

  /**
   * This function is run when the robot is first started up and should be
   * used for any initialization code.
   */
  @Override
  public void robotInit() {
      // TalonSRX is configured with CAN bus address 3
    m_Left = new WPI_TalonSRX(3);
    // Clear any non default configuration/settings
    m_Left.configFactoryDefault();
    // A quadrature encoder is connected to the TalonSRX
    m_Left.configSelectedFeedbackSensor(FeedbackDevice.QuadEncoder);
    // Reset encoder count to 0
    m_Left.setSelectedSensorPosition(0);
  }

  /**
   * This function is called every robot packet, no matter the mode. Use
   * this for items like diagnostics that you want ran during disabled,
   * autonomous, teleoperated and test.
   *
   * <p>This runs after the mode specific periodic functions, but before
   * LiveWindow and SmartDashboard integrated updating.
   */
  @Override
  public void robotPeriodic() {
    SmartDashboard.putNumber("Encoder value", m_Left.getSelectedSensorPosition());
  }

  @Override
  public void autonomousInit() {
  }

  /**
   * This function is called periodically during autonomous.
   */
  @Override
  public void autonomousPeriodic() {
  }

  /**
   * This function is called periodically during operator control.
   */
  @Override
  public void teleopPeriodic() {
  }

  /**
   * This function is called periodically during test mode.
   */
  @Override
  public void testPeriodic() {
  }
}
Last modified 19 months ago Last modified on Nov 8, 2019, 11:40:51 PM