Preseason Lesson1 - Revision history

Heydowns at 21:07, 30 December 2021

2021-12-30T21:07:07Z

← Older revision		Revision as of 14:07, 30 December 2021
Line 57:		Line 57:

	The move to the Driver Station laptop and enable the robot; the motor should run at 1/4 speed forward. Verify the direction by looking at the lights on the motor controller! They should be green and flashing.		The move to the Driver Station laptop and enable the robot; the motor should run at 1/4 speed forward. Verify the direction by looking at the lights on the motor controller! They should be green and flashing.

			= Solution =

			'''This is one possible solution!''' There are many ways to accomplish the goal(s) - this is just one way!

			''robot.h''
			<pre class="mw-collapsible mw-collapsed">
			#pragma once

			#include <frc/TimedRobot.h>
			#include <ctre/Phoenix.h>
			#include <frc/Joystick.h>

			using namespace ctre::phoenix::motorcontrol::can;

			class Robot : public frc::TimedRobot {
			TalonSRX motor{5};

			public:
			void RobotInit() override;
			void RobotPeriodic() override;

			void AutonomousInit() override;
			void AutonomousPeriodic() override;

			void TeleopInit() override;
			void TeleopPeriodic() override;

			void DisabledInit() override;
			void DisabledPeriodic() override;

			void TestInit() override;
			void TestPeriodic() override;
			};
			</pre>


			''robot.cpp''
			<pre class="mw-collapsible mw-collapsed">
			// Copyright (c) FIRST and other WPILib contributors.
			// Open Source Software; you can modify and/or share it under the terms of
			// the WPILib BSD license file in the root directory of this project.

			#include "Robot.h"

			void Robot::RobotInit() {}
			void Robot::RobotPeriodic() {}

			void Robot::AutonomousInit() {}
			void Robot::AutonomousPeriodic() {}

			void Robot::TeleopInit() {}
			void Robot::TeleopPeriodic() {
			motor.Set(ControlMode::PercentOutput, 0.25);
			}

			void Robot::DisabledInit() {}
			void Robot::DisabledPeriodic() {}

			void Robot::TestInit() {}
			void Robot::TestPeriodic() {}

			#ifndef RUNNING_FRC_TESTS
			int main() {
			return frc::StartRobot<Robot>();
			}
			#endif
			</pre>

Heydowns at 06:41, 29 November 2021

2021-11-29T06:41:01Z

← Older revision		Revision as of 23:41, 28 November 2021
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	# Our new motor controller object will be controlling the Talon SRX. To use the class that controls these, we first need to tell our main robot class file where to find the Talon SRX's controller class. We do this by "including" the class's header file into our program's file that needs to use it.		# Our new motor controller object will be controlling the Talon SRX. To use the class that controls these, we first need to tell our main robot class file where to find the Talon SRX's controller class. We do this by "including" the class's header file into our program's file that needs to use it.
	## At the top of robot.h, you should already see the line:		## At the top of robot.h, you should already see the line:
			##:<pre><nowiki>#include <frc/TimedRobot.h></nowiki></pre>
	<nowiki>
	#include <frc/TimedRobot.h>
	</nowiki>

	## To use Talon-SRX, we need to include ''ctre/Phoenix.h'' so below the above line, add this line:		## To use Talon-SRX, we need to include ''ctre/Phoenix.h'' so below the above line, add this line:
			##:<pre><nowiki>#include <ctre/Phoenix.h></nowiki></pre>
	<nowiki>		# The full class name for the Talon SRX motor controller is '''ctre::phoenix::motorcontrol::can::TalonSRX''' -- that's quite long! Instead of typing out the full name every time we want to use this class, we can tell our program that we want to use just the class name instead. We do this by adding a 'using' statement which will let us refer to any class inside of a ''namespace'' by just its simple/short name. Add this new line below the include line we added in the previous steps:
	#include <ctre/Phoenix.h>		#:<pre>using namespace ctre::phoenix::motorcontrol::can;</pre>
	</nowiki>

	# The full class name for the Talon SRX motor controller is '''ctre::phoenix::motorcontrol::can::TalonSRX''' -- that's quite long! Instead of typing out the full name every time we want to use this class, we can tell our program that
	we want to use just the class name instead. We do this by adding a 'using' statement which will let us refer to any class inside of a ''namespace'' by just its simple/short name. Add this new line below the include line we added in the previous steps:
	<~~code~~>
	using namespace ctre::phoenix::motorcontrol::can;
	</~~code~~>

	# Now we are ready to create our motor controller object		# Now we are ready to create our motor controller object
	## Objects can be created by specifying the ''type'' of the object followed by a name. This creates an object with the specified name. The name should be something meaningful!!		## Objects can be created by specifying the ''type'' of the object followed by a name. This creates an object with the specified name. The name should be something meaningful!!
	## Inside the Robot class, above the public section, declare your new motor controller object. For this, we will use the name "motor":		## Inside the Robot class, above the public section, declare your new motor controller object. For this, we will use the name "motor":
	<~~code~~>		##:<pre>TalonSRX motor{5};</pre>
	TalonSRX motor{5};
	</~~code~~>
	## The '{5}' indicates the constructor will be called and '5' will be passed in for the CAN address ID parameter.		## The '{5}' indicates the constructor will be called and '5' will be passed in for the CAN address ID parameter.

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	# The method '''TeleopPeriodic()''' is the part of the main robot class that will be running whenever the robot is enabled. This is where we will add our code to turn on the motor.		# The method '''TeleopPeriodic()''' is the part of the main robot class that will be running whenever the robot is enabled. This is where we will add our code to turn on the motor.
	## The braces {} after TeleopPeriodic() is what will enclose all of our code to control the motor - add a new line inside the braces:		## The braces {} after TeleopPeriodic() is what will enclose all of our code to control the motor - add a new line inside the braces:
	<~~code~~>		##:<pre>motor.Set(ControlMode::PercentOutput, 0.25);</pre>
	motor.Set(ControlMode::PercentOutput, 0.25);
	</~~code~~>
	## The above line "sets" the motor to run at a percentage of full power. Recall that we wanted to run at 1/4 of full power. This is what the 0.25 indicates.		## The above line "sets" the motor to run at a percentage of full power. Recall that we wanted to run at 1/4 of full power. This is what the 0.25 indicates.

Heydowns at 06:28, 29 November 2021

2021-11-29T06:28:08Z

@@ Line 1: / Line 1: @@
-<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled'''</span><br/> <br/> The goal is to turn the motor at 1/4 speed, when the robot is enabled.<br/> <br/> The motor&nbsp;you will use is connected to&nbsp;a Jaguar motor controller, which is connected to channel 2.<br/> <br/> The link to the Jaguar documentation: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1Jaguar.html Jaguar]<br/> &nbsp;
+= Goal =
-In Robot.h we will need an object/variable that is the Jaguar motor controller. The class/object type is: '''frc::Jaguar'''. You will name the object: '''m_motor'''. In Robot.h, in the 'private:' section add the following line:
+This lesson is to introduce you to the basic structure of FRC robot code.  The overall goal is to turn the assigned motor at a specific and fixed speed when the robot is enabled.
-   frc::Jaguar m_motor{2};
+== Detailed Introduction ==
-The '{2}' indicates the contructor will be called and '2' wil be passed in for the channel parameter.<br/> <br/> <br/> <br/> Looking at the '''frc::Jaguar''' class,&nbsp;you can see it based on '''frc::PWMSpeedController'''. And that '''frc::PWMSpeedController''' is based on '''frc::SpeedController'''. This is important because '''frc::SpeedController''' contains the method 'Set()', which is what you will use to set the motor's speed. Documentation on '''frc::SpeedController''' can be found here: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1SpeedController.html SpeedController]<br/> <br/> If&nbsp;you look at the definition of '''frc::SpeedController::Set()''',&nbsp;you will see that it takes a double (i.e. decimal value) from -1.0 to 1.0. Negative values spin the motor in reverse, and positive values spin it forward. So 1.0 is full forward speed.<br/> <br/> In Robot.cpp, you will tell the motor to turn.&nbsp;You want this to be when the robot is in tele-op mode. When in tele-op mode, the Robot::OperatorControl() method is called. The line, you will add,&nbsp;needs to go within the 'while' loop, and before the 'frc:Wait(0.0005)' line.<br/> You will call the 'Set()' method for the object/varible 'm_motor':
+== Detailed Goals ==
- while (IsOperatorControl() && IsEnabled()) {
+= Guided Help =
-    <span style="color: rgb(231, 76, 60);">m_motor.Set(0.25); // spin motor forward 1/4 speed
+This section will give you guidance on how to achieve the goals in the section above.  If you have some idea of how to proceed from past experience, you can skip this entire section.
-You pass in '0.25' to tell it go 1/4 speed forward.
+== Initial Setup ==
-<br/> <br/> After you have modified Robot.h and Robot.cpp, build the project: [[Preseason_Build_Project|Preseason Build Project]]. Once project builds without errors, let instructor know you are ready to try to delpoy and test. Do not deploy until told to.
+== Creating a Motor Controller Object ==
-&nbsp;
+<nowiki>
-<u><span style="font-size: large;">Test</span></u>
+## To use Talon-SRX, we need to include ''ctre/Phoenix.h'' so below the above line, add this line:
-#enable the Robot, in tele-op mode and watch the motor turn
+<nowiki>
-</div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div>
+#include <ctre/Phoenix.h>

Programming at 18:25, 15 December 2019

2019-12-15T18:25:48Z

← Older revision		Revision as of 11:25, 15 December 2019
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	<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled'''</span><br/> <br/> The goal is to turn the motor at 1/4 speed, when the robot is enabled.<br/> <br/> The motor you will use is connected to a Jaguar motor controller, which is connected to channel 2.<br/> <br/> The link to the Jaguar documentation: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1Jaguar.html Jaguar]<br/>		<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled'''</span><br/> <br/> The goal is to turn the motor at 1/4 speed, when the robot is enabled.<br/> <br/> The motor you will use is connected to a Jaguar motor controller, which is connected to channel 2.<br/> <br/> The link to the Jaguar documentation: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1Jaguar.html Jaguar]<br/>
	In Robot.h we will need an object/variable that is the Jaguar motor controller. The class/object type is: '''frc::Jaguar'''. You will name the object: '''m_motor'''. In Robot.h, in the 'private:' section add the following line:		In Robot.h we will need an object/variable that is the Jaguar motor controller. The class/object type is: '''frc::Jaguar'''. You will name the object: '''m_motor'''. In Robot.h, in the 'private:' section add the following line:

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	<br/> <br/> After you have modified Robot.h and Robot.cpp, build the project: [[Preseason_Build_Project\|Preseason Build Project]]. Once project builds without errors, let instructor know you are ready to try to delpoy and test. Do not deploy until told to.		<br/> <br/> After you have modified Robot.h and Robot.cpp, build the project: [[Preseason_Build_Project\|Preseason Build Project]]. Once project builds without errors, let instructor know you are ready to try to delpoy and test. Do not deploy until told to.



	<u><span style="font-size: large;">Test</span></u>		<u><span style="font-size: large;">Test</span></u>

	#enable the Robot, in tele-op mode and watch the motor turn		#enable the Robot, in tele-op mode and watch the motor turn
	</div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div>		</div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div>

Programming at 18:25, 15 December 2019

2019-12-15T18:25:21Z

← Older revision		Revision as of 11:25, 15 December 2019
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	<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled'''</span><br/> <br/> The goal is to turn the motor at 1/4 speed, when the robot is enabled.<br/> <br/> The motor you will use is connected to a Jaguar motor controller, which is connected to channel 2.<br/> <br/> The link to the Jaguar documentation: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1Jaguar.html Jaguar]<br/>		<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled'''</span><br/> <br/> The goal is to turn the motor at 1/4 speed, when the robot is enabled.<br/> <br/> The motor you will use is connected to a Jaguar motor controller, which is connected to channel 2.<br/> <br/> The link to the Jaguar documentation: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1Jaguar.html Jaguar]<br/>
	In Robot.h we will need an object/variable that is the Jaguar motor controller. The class/object type is: '''frc::Jaguar'''. You will name the object: '''m_motor'''. In Robot.h, in the 'private:' section add the following line:		In Robot.h we will need an object/variable that is the Jaguar motor controller. The class/object type is: '''frc::Jaguar'''. You will name the object: '''m_motor'''. In Robot.h, in the 'private:' section add the following line:

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	<br/> <br/> After you have modified Robot.h and Robot.cpp, build the project: [[Preseason_Build_Project\|Preseason Build Project]]. Once project builds without errors, let instructor know you are ready to try to delpoy and test. Do not deploy until told to.		<br/> <br/> After you have modified Robot.h and Robot.cpp, build the project: [[Preseason_Build_Project\|Preseason Build Project]]. Once project builds without errors, let instructor know you are ready to try to delpoy and test. Do not deploy until told to.
	</div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div>
			<u><span style="font-size: large;">Test</span></u>

			#enable the Robot, in tele-op mode and watch the motor turn
			</div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div>

Programming at 18:24, 15 December 2019

2019-12-15T18:24:14Z

← Older revision		Revision as of 11:24, 15 December 2019
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	<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled'''</span><br/> <br/> The goal is to turn the motor at 1/4 speed, when the robot is enabled.<br/> <br/> The motor you will use is connected to a Jaguar motor controller, which is connected to channel 2.<br/> <br/> The link to the Jaguar documentation: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1Jaguar.html Jaguar]<br/>		<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled'''</span><br/> <br/> The goal is to turn the motor at 1/4 speed, when the robot is enabled.<br/> <br/> The motor you will use is connected to a Jaguar motor controller, which is connected to channel 2.<br/> <br/> The link to the Jaguar documentation: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1Jaguar.html Jaguar]<br/>
	In Robot.h we will need an object/variable that is the Jaguar motor controller. The class/object type is: '''frc::Jaguar'''. You will name the object: '''m_motor'''. In Robot.h, in the 'private:' section add the following line:		In Robot.h we will need an object/variable that is the Jaguar motor controller. The class/object type is: '''frc::Jaguar'''. You will name the object: '''m_motor'''. In Robot.h, in the 'private:' section add the following line:
	~~<pre>~~ frc::Jaguar m_motor{2};
	~~</pre>~~		frc::Jaguar m_motor{2};

	The '{2}' indicates the contructor will be called and '2' wil be passed in for the channel parameter.<br/> <br/> <br/> <br/> Looking at the '''frc::Jaguar''' class, you can see it based on '''frc::PWMSpeedController'''. And that '''frc::PWMSpeedController''' is based on '''frc::SpeedController'''. This is important because '''frc::SpeedController''' contains the method 'Set()', which is what you will use to set the motor's speed. Documentation on '''frc::SpeedController''' can be found here: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1SpeedController.html SpeedController]<br/> <br/> If you look at the definition of '''frc::SpeedController::Set()''', you will see that it takes a double (i.e. decimal value) from -1.0 to 1.0. Negative values spin the motor in reverse, and positive values spin it forward. So 1.0 is full forward speed.<br/> <br/> In Robot.cpp, you will tell the motor to turn. You want this to be when the robot is in tele-op mode. When in tele-op mode, the Robot::OperatorControl() method is called. The line, you will add, needs to go within the 'while' loop, and before the 'frc:Wait(0.0005)' line.<br/> You will call the 'Set()' method for the object/varible 'm_motor':		The '{2}' indicates the contructor will be called and '2' wil be passed in for the channel parameter.<br/> <br/> <br/> <br/> Looking at the '''frc::Jaguar''' class, you can see it based on '''frc::PWMSpeedController'''. And that '''frc::PWMSpeedController''' is based on '''frc::SpeedController'''. This is important because '''frc::SpeedController''' contains the method 'Set()', which is what you will use to set the motor's speed. Documentation on '''frc::SpeedController''' can be found here: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1SpeedController.html SpeedController]<br/> <br/> If you look at the definition of '''frc::SpeedController::Set()''', you will see that it takes a double (i.e. decimal value) from -1.0 to 1.0. Negative values spin the motor in reverse, and positive values spin it forward. So 1.0 is full forward speed.<br/> <br/> In Robot.cpp, you will tell the motor to turn. You want this to be when the robot is in tele-op mode. When in tele-op mode, the Robot::OperatorControl() method is called. The line, you will add, needs to go within the 'while' loop, and before the 'frc:Wait(0.0005)' line.<br/> You will call the 'Set()' method for the object/varible 'm_motor':
	~~<pre>while (IsOperatorControl() && IsEnabled()) {~~
	~~m_motor.Set(0.25); // spin motor forward 1/4 speed~~
	~~frc::Wait(0.005);~~
	}
	~~</pre>~~

	~~You~~&~~nbsp~~;pass in '0.25' to tell it go 1/4 speed forward.		while (IsOperatorControl() && IsEnabled()) {
			<span style="color: rgb(231, 76, 60);">m_motor.Set(0.25); // spin motor forward 1/4 speed
			</span> frc::Wait(0.005);
			}

			You pass in '0.25' to tell it go 1/4 speed forward.

	<br/> <br/> After you have modified Robot.h and Robot.cpp, build the project: [[Preseason_Build_Project\|Preseason Build Project]]. Once project builds without errors, let instructor know you are ready to try to delpoy and test. Do not deploy until told to.		<br/> <br/> After you have modified Robot.h and Robot.cpp, build the project: [[Preseason_Build_Project\|Preseason Build Project]]. Once project builds without errors, let instructor know you are ready to try to delpoy and test. Do not deploy until told to.
	</div> </div> </div>		</div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div>

Programming at 18:19, 15 December 2019

2019-12-15T18:19:09Z

← Older revision		Revision as of 11:19, 15 December 2019
Line 1:		Line 1:
	<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled'''</span><br/> <br/> The goal is to turn the motor at 1/4 speed, when the robot is enabled.<br/> <br/> The motor you will use is connected to a Jaguar motor controller, which is connected to channel 2.<br/> <br/> The link to the Jaguar documentation: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1Jaguar.html Jaguar]<br/>		<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled'''</span><br/> <br/> The goal is to turn the motor at 1/4 speed, when the robot is enabled.<br/> <br/> The motor you will use is connected to a Jaguar motor controller, which is connected to channel 2.<br/> <br/> The link to the Jaguar documentation: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1Jaguar.html Jaguar]<br/>
	In Robot.h we will need an object/variable that is the Jaguar motor controller. The class/object type is: '''frc::Jaguar'''. You will name the object: '''m_motor'''. In Robot.h, in the 'private:' section add the following line:		In Robot.h we will need an object/variable that is the Jaguar motor controller. The class/object type is: '''frc::Jaguar'''. You will name the object: '''m_motor'''. In Robot.h, in the 'private:' section add the following line:
	<pre> frc::Jaguar m_motor{2};		<pre> frc::Jaguar m_motor{2};
	</pre>		</pre>

	The '{2}' indicates the contructor will be called and '2' wil be passed in for the channel parameter.<br/> <br/> <br/> <br/> Looking at the '''frc::Jaguar''' class, you can see it based on '''frc::PWMSpeedController'''. And that '''frc::PWMSpeedController''' is based on '''frc::SpeedController'''. This is important because '''frc::SpeedController''' contains the method 'Set()', which is what you will use to set the motor's speed. Documentation on '''frc::SpeedController''' can be found here: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1SpeedController.html SpeedController]<br/> <br/> If you look at the definition of '''frc::SpeedController::Set()''', you will see that it takes a double (i.e. decimal value) from -1.0 to 1.0. Negative values spin the motor in reverse, and positive values spin it forward. So 1.0 is full forward speed.<br/> <br/> In Robot.cpp, you will tell the motor to turn. You want this to be when the robot is in tele-op mode. When in tele-op mode, the Robot::OperatorControl() method is called. The line, you will add, needs to go within the 'while' loop, and before the 'frc:Wait(0.0005)' line.<br/> You will call the 'Set()' method for the object/varible 'm_motor'		The '{2}' indicates the contructor will be called and '2' wil be passed in for the channel parameter.<br/> <br/> <br/> <br/> Looking at the '''frc::Jaguar''' class, you can see it based on '''frc::PWMSpeedController'''. And that '''frc::PWMSpeedController''' is based on '''frc::SpeedController'''. This is important because '''frc::SpeedController''' contains the method 'Set()', which is what you will use to set the motor's speed. Documentation on '''frc::SpeedController''' can be found here: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1SpeedController.html SpeedController]<br/> <br/> If you look at the definition of '''frc::SpeedController::Set()''', you will see that it takes a double (i.e. decimal value) from -1.0 to 1.0. Negative values spin the motor in reverse, and positive values spin it forward. So 1.0 is full forward speed.<br/> <br/> In Robot.cpp, you will tell the motor to turn. You want this to be when the robot is in tele-op mode. When in tele-op mode, the Robot::OperatorControl() method is called. The line, you will add, needs to go within the 'while' loop, and before the 'frc:Wait(0.0005)' line.<br/> You will call the 'Set()' method for the object/varible 'm_motor':
	~~</div> <div class="mw-parser-output">~~<pre>while (IsOperatorControl() && IsEnabled()) {		<pre>while (IsOperatorControl() && IsEnabled()) {
	m_motor.Set(0.25); // spin motor forward 1/4 speed		m_motor.Set(0.25); // spin motor forward 1/4 speed
	frc::Wait(0.005);		frc::Wait(0.005);
Line 14:		Line 14:

	<br/> <br/> After you have modified Robot.h and Robot.cpp, build the project: [[Preseason_Build_Project\|Preseason Build Project]]. Once project builds without errors, let instructor know you are ready to try to delpoy and test. Do not deploy until told to.		<br/> <br/> After you have modified Robot.h and Robot.cpp, build the project: [[Preseason_Build_Project\|Preseason Build Project]]. Once project builds without errors, let instructor know you are ready to try to delpoy and test. Do not deploy until told to.
	~~</div> </div> </div> </div> </div> </div> </div>~~ </div> </div> </div>		</div> </div> </div>

Programming at 18:16, 15 December 2019

2019-12-15T18:16:13Z

@@ Line 1: / Line 1: @@
-<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled'''</span><br/> <br/> The goal is to turn the motor at 1/4 speed, when the robot is enabled.<br/> <br/> The motor&nbsp;you will use is connected to&nbsp;a Jaguar motor controller, which is connected to channel 2.<br/> <br/> The link to the Jaguar documentation: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1Jaguar.html Jaguar]<br/> &nbsp;
+<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled'''</span><br/> <br/> The goal is to turn the motor at 1/4 speed, when the robot is enabled.<br/> <br/> The motor&nbsp;you will use is connected to&nbsp;a Jaguar motor controller, which is connected to channel 2.<br/> <br/> The link to the Jaguar documentation: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1Jaguar.html Jaguar]<br/> &nbsp;
 In Robot.h we will need an object/variable that is the Jaguar motor controller. The class/object type is: '''frc::Jaguar'''. You will name the object: '''m_motor'''. In Robot.h, in the 'private:' section add the following line:
 <pre>   frc::Jaguar m_motor{2};
@@ Line 6: / Line 6: @@
 The '{2}' indicates the contructor will be called and '2' wil be passed in for the channel parameter.<br/> <br/> <br/> <br/> Looking at the '''frc::Jaguar''' class,&nbsp;you can see it based on '''frc::PWMSpeedController'''. And that '''frc::PWMSpeedController''' is based on '''frc::SpeedController'''. This is important because '''frc::SpeedController''' contains the method 'Set()', which is what you will use to set the motor's speed. Documentation on '''frc::SpeedController''' can be found here: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1SpeedController.html SpeedController]<br/> <br/> If&nbsp;you look at the definition of '''frc::SpeedController::Set()''',&nbsp;you will see that it takes a double (i.e. decimal value) from -1.0 to 1.0. Negative values spin the motor in reverse, and positive values spin it forward. So 1.0 is full forward speed.<br/> <br/> In Robot.cpp, you will tell the motor to turn.&nbsp;You want this to be when the robot is in tele-op mode. When in tele-op mode, the Robot::OperatorControl() method is called. The line, you will add,&nbsp;needs to go within the 'while' loop, and before the 'frc:Wait(0.0005)' line.<br/> You will call the 'Set()' method for the object/varible 'm_motor'
 </div> <div class="mw-parser-output"><pre>while (IsOperatorControl() && IsEnabled()) {
-    <span style="color: rgb(231, 76, 60);">m_motor.Set(0.25); // spin motor forward 1/4 speed</span>
+    m_motor.Set(0.25); // spin motor forward 1/4 speed
     frc::Wait(0.005);
+}
@@ Line 14: / Line 12: @@
 You&nbsp;pass in '0.25' to tell it go 1/4 speed forward.
 <br/> <br/> After you have modified Robot.h and Robot.cpp, build the project: [[Preseason_Build_Project|Preseason Build Project]]. Once project builds without errors, let instructor know you are ready to try to delpoy and test. Do not deploy until told to.
-</div> </div> </div> </div> </div> </div> </div> </div> </div>
+</div> </div> </div> </div> </div> </div> </div> </div> </div> </div>

Programming at 18:15, 15 December 2019

2019-12-15T18:15:00Z

@@ Line 1: / Line 1: @@
-<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled'''</span><br/> <br/> The goal is to turn the motor at 1/4 speed, when the robot is enabled.<br/> <br/> The motor&nbsp;you will use is connected to&nbsp;a Jaguar motor controller, which is connected to channel 2.<br/> <br/> The link to the Jaguar documentation: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1Jaguar.html Jaguar]<br/> &nbsp;
+<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled'''</span><br/> <br/> The goal is to turn the motor at 1/4 speed, when the robot is enabled.<br/> <br/> The motor&nbsp;you will use is connected to&nbsp;a Jaguar motor controller, which is connected to channel 2.<br/> <br/> The link to the Jaguar documentation: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1Jaguar.html Jaguar]<br/> &nbsp;
 In Robot.h we will need an object/variable that is the Jaguar motor controller. The class/object type is: '''frc::Jaguar'''. You will name the object: '''m_motor'''. In Robot.h, in the 'private:' section add the following line:
 <pre>   frc::Jaguar m_motor{2};
@@ Line 7: / Line 7: @@
 </div> <div class="mw-parser-output"><pre>while (IsOperatorControl() && IsEnabled()) {
     <span style="color: rgb(231, 76, 60);">m_motor.Set(0.25); // spin motor forward 1/4 speed</span>
     frc::Wait(0.005);
+}
 </pre>
-You&nbsp;pass in '0.25' to tell it go 1/4 speed forward.<br/> <br/> <br/> After you have modified Robot.h and Robot.cpp, build the project: [[Preseason_Build_Project|Preseason Build Project]]. Once project builds without errors, let instructor know you are ready to try to delpoy and test. Do not deploy until told to.
+The 0.33 and -0.33 is make sure the joystick has moved away from the center. Ideally, you would get 0 when the joystick is at the center. However, joysticks do not always go back to true 0.
 </div> </div> </div> </div> </div> </div> </div>

Programming at 18:13, 15 December 2019

2019-12-15T18:13:59Z

← Older revision		Revision as of 11:13, 15 December 2019
Line 1:		Line 1:
	<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled'''</span><br/> <br/> The goal is to turn the motor at 1/4 speed, when the robot is enabled.<br/> <br/> The motor you will use is connected to a Jaguar motor controller, which is connected to channel 2.<br/> <br/> The link to the Jaguar documentation: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1Jaguar.html Jaguar]<br/>		<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled'''</span><br/> <br/> The goal is to turn the motor at 1/4 speed, when the robot is enabled.<br/> <br/> The motor you will use is connected to a Jaguar motor controller, which is connected to channel 2.<br/> <br/> The link to the Jaguar documentation: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1Jaguar.html Jaguar]<br/>
	In Robot.h we will need an object/variable that is the Jaguar motor controller. The class/object type is: '''frc::Jaguar'''. You will name the object: '''m_motor'''. In Robot.h, in the 'private:' section add the following line:		In Robot.h we will need an object/variable that is the Jaguar motor controller. The class/object type is: '''frc::Jaguar'''. You will name the object: '''m_motor'''. In Robot.h, in the 'private:' section add the following line:
	<pre> frc::Jaguar m_motor{2};		<pre> frc::Jaguar m_motor{2};
Line 6:		Line 6:
	The '{2}' indicates the contructor will be called and '2' wil be passed in for the channel parameter.<br/> <br/> <br/> <br/> Looking at the '''frc::Jaguar''' class, you can see it based on '''frc::PWMSpeedController'''. And that '''frc::PWMSpeedController''' is based on '''frc::SpeedController'''. This is important because '''frc::SpeedController''' contains the method 'Set()', which is what you will use to set the motor's speed. Documentation on '''frc::SpeedController''' can be found here: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1SpeedController.html SpeedController]<br/> <br/> If you look at the definition of '''frc::SpeedController::Set()''', you will see that it takes a double (i.e. decimal value) from -1.0 to 1.0. Negative values spin the motor in reverse, and positive values spin it forward. So 1.0 is full forward speed.<br/> <br/> In Robot.cpp, you will tell the motor to turn. You want this to be when the robot is in tele-op mode. When in tele-op mode, the Robot::OperatorControl() method is called. The line, you will add, needs to go within the 'while' loop, and before the 'frc:Wait(0.0005)' line.<br/> You will call the 'Set()' method for the object/varible 'm_motor'		The '{2}' indicates the contructor will be called and '2' wil be passed in for the channel parameter.<br/> <br/> <br/> <br/> Looking at the '''frc::Jaguar''' class, you can see it based on '''frc::PWMSpeedController'''. And that '''frc::PWMSpeedController''' is based on '''frc::SpeedController'''. This is important because '''frc::SpeedController''' contains the method 'Set()', which is what you will use to set the motor's speed. Documentation on '''frc::SpeedController''' can be found here: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1SpeedController.html SpeedController]<br/> <br/> If you look at the definition of '''frc::SpeedController::Set()''', you will see that it takes a double (i.e. decimal value) from -1.0 to 1.0. Negative values spin the motor in reverse, and positive values spin it forward. So 1.0 is full forward speed.<br/> <br/> In Robot.cpp, you will tell the motor to turn. You want this to be when the robot is in tele-op mode. When in tele-op mode, the Robot::OperatorControl() method is called. The line, you will add, needs to go within the 'while' loop, and before the 'frc:Wait(0.0005)' line.<br/> You will call the 'Set()' method for the object/varible 'm_motor'
	</div> <div class="mw-parser-output"><pre>while (IsOperatorControl() && IsEnabled()) {		</div> <div class="mw-parser-output"><pre>while (IsOperatorControl() && IsEnabled()) {
	m_motor.Set(0.25); # spin motor forward 1/4 speed		<span style="color: rgb(231, 76, 60);">m_motor.Set(0.25); // spin motor forward 1/4 speed</span>
	frc::Wait(0.005);		frc::Wait(0.005);
	}		}
Line 12:		Line 12:

	You pass in '0.25' to tell it go 1/4 speed forward.<br/> <br/> <br/> After you have modified Robot.h and Robot.cpp, build the project: [[Preseason_Build_Project\|Preseason Build Project]]. Once project builds without errors, let instructor know you are ready to try to delpoy and test. Do not deploy until told to.		You pass in '0.25' to tell it go 1/4 speed forward.<br/> <br/> <br/> After you have modified Robot.h and Robot.cpp, build the project: [[Preseason_Build_Project\|Preseason Build Project]]. Once project builds without errors, let instructor know you are ready to try to delpoy and test. Do not deploy until told to.
	</div> </div> </div>		</div> </div> </div> </div> </div> </div> </div>