Changes between Version 20 and Version 21 of ControlSystems/SoftwareTeam/Training/GettingStarted/IntroRobotJava

Timestamp:

Oct 28, 2019, 10:58:21 PM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/IntroRobotJava

@@ -34 +34 @@
 * In the Robot class definition where variables are defined, add {{{   XboxController xbox; }}}
 * In the function robotInit() add: {{{ xbox = new XboxController(0); }}}
-* In the function robotPeriodic() addd: {{{ SmartDashboard.putNumber("Left Joystick X", xbox.getX(Hand.kLeft)); }}}
+* In the function robotPeriodic() add: {{{ SmartDashboard.putNumber("Left Joystick X", xbox.getX(Hand.kLeft)); }}}
 
 Your program should look like [wiki://ControlSystems/SoftwareTeam/Training/IntroRobotJava/XboxExample this]
@@ -173 +173 @@
 * •     In robotInit() instantiate the Encoder object and reset it
   {{{
+    // Quadrature encoder has A and B channels connected to DIO0, DIO1
     leftEncoder = new Encoder(0, 1);
+    // Peanut wheels are 7.5" in diameter
+    // Encoders provide 1 count per degree of rotation
+    leftEncoder.setDistancePerPulse((3.141592*7.5)/360);
+    // reset encoder counts to 0
     leftEncoder.reset();
   }}}
@@ -179 +184 @@
   {{{
     int encoderValue = leftEncoder.getRaw();
+    double distance = leftEncoder.getDistance();
     SmartDashboard.putNumber("Encoder Value", encoderValue);
+    SmartDashboard.putNumber("Encoder Distance", distance);
   }}}