Changes between Version 14 and Version 15 of ControlSystems/SoftwareTeam/Training/GettingStarted/IntroRobotJava

Timestamp:

Oct 15, 2019, 10:33:18 PM (6 years ago)

Author:

Danko Nebesh

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/IntroRobotJava

@@ -144 +144 @@
 Note: you'll need to press the Enable button on the driver station to put the robot in Teleop mode so that teleopPeriodic() is called repeatedly.
 
+== Fifth program: Encoder
+Create another program using the !TimedRobot java template and name it !EncoderTest. Modify the generated code as follows:
+
+* Add the following imports:
+{{{
+import edu.wpi.first.wpilibj.Encoder;
+}}}
+*  Declare a variable for the Encoder in the Robot class
+{{{ 
+  private Encoder leftEncoder;
+}}}
+* •     In robotInit() instantiate the Encoder object and reset it
+  {{{
+    leftEncoder = new Encoder(0, 1);
+    leftEncoder.reset();
+  }}}
+* In robotPeriodic() read and display the encoder valuey
+  {{{
+    int encoderValue = leftEncoder.getRaw();
+    SmartDashboard.putNumber("Encoder Value", encoderValue);
+  }}}
  
+Note: you'll need to manually turn the left wheel forward and backward to see the Encoder values change. Try turning the wheel 360 degrees to see what value is equivalent to a full revolution of the wheel.
+
+
 == Study some examples
 Learn more about robot programming by studying some simple example programs.  Run them, study what they do, and incrementally expand their functionality.  The WPILib software you installed includes example programs that you can compile and run on a RoboRIO.  Review [https://wpilib.screenstepslive.com/s/currentCS/m/79833/l/941601-vs-code-basics-and-wpilib-in-vs-code how to use VSCode] and then try [https://wpilib.screenstepslive.com/s/currentCS/m/79833/l/932465-creating-a-new-wpilib-project-in-vs-code creating a new robot project].