Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

added setSensorValue to customEncoder #233

Open
wants to merge 1 commit into
base: main
Choose a base branch
from
Open

added setSensorValue to customEncoder #233

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
9 changes: 3 additions & 6 deletions custom/sensors/CANEncoder.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -164,12 +164,9 @@ public void reset() {
}
}

public void resetViaOffset(double setpoint) {
this.offset += setpoint - getDistance();
}

public void resetViaOffset() {
NikhilSuresh24 marked this conversation as resolved.
Show resolved Hide resolved
resetViaOffset(0.0);
@Override
public void setSensorValue(double setpoint) {
this.offset += setpoint - pidGet();
}

@Override
Expand Down
21 changes: 16 additions & 5 deletions custom/sensors/CANTalonEncoder.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,15 +11,21 @@ public class CANTalonEncoder implements CustomEncoder {
protected PIDSourceType pidSource;
protected double distancePerPulse;
protected boolean reverseDirection;
protected double offset ;
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

white space


public CANTalonEncoder(String name, TalonSRX talon, boolean reverseDirection, double distancePerPulse) {
public CANTalonEncoder(String name, TalonSRX talon, boolean reverseDirection, double distancePerPulse, double offset) {
this.talon = talon;
talon.configSelectedFeedbackSensor(FeedbackDevice.QuadEncoder, 0, 0);
this.offset = offset;
this.reverseDirection = reverseDirection;
this.distancePerPulse = distancePerPulse;
setPIDSourceType(PIDSourceType.kDisplacement);
}

public CANTalonEncoder(String name, TalonSRX talon, boolean reverseDirection, double distancePerPulse) {
this(name, talon, reverseDirection, distancePerPulse, 0.0);
}

public CANTalonEncoder(String name, TalonSRX talon, boolean reverseDirection) {
this(name, talon, reverseDirection, 1.0);
}
Expand Down Expand Up @@ -70,9 +76,9 @@ public int get() {
@Override
public double getDistance() {
if (reverseDirection) {
return distancePerPulse * talon.getSelectedSensorPosition(0) * -1.0;
return distancePerPulse * talon.getSelectedSensorPosition(0) * -1.0 + offset;
} else {
return distancePerPulse * talon.getSelectedSensorPosition(0);
return distancePerPulse * talon.getSelectedSensorPosition(0) + offset;
}
}

Expand All @@ -89,10 +95,10 @@ public boolean getStopped() {
@Override
public double getRate() {
if (reverseDirection) {
return talon.getSelectedSensorVelocity(0) * -10.0 * distancePerPulse;
return talon.getSelectedSensorVelocity(0) * -10.0 * distancePerPulse + offset;
// getSpeed must be converted from ticks to 100ms to ticks per second, so *10.
} else {
return talon.getSelectedSensorVelocity(0) * 10.0 * distancePerPulse;
return talon.getSelectedSensorVelocity(0) * 10.0 * distancePerPulse + offset;
}
}

Expand Down Expand Up @@ -121,6 +127,11 @@ public void reset() {
talon.setSelectedSensorPosition(0, 0, 0);
}

@Override
public void setSensorValue(double setpoint) {
this.offset += setpoint - pidGet();
}

@Override
public double pidGetSafely() {
return pidGet();
Expand Down
12 changes: 9 additions & 3 deletions custom/sensors/CustomDigitalEncoder.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
import edu.wpi.first.wpilibj.CounterBase;
import edu.wpi.first.wpilibj.DigitalSource;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PIDSourceType;

/**
* A RoboRIO encoder that implements
Expand All @@ -13,6 +14,7 @@
public class CustomDigitalEncoder extends Encoder implements CustomEncoder {
private double distancePerPulse;
private boolean reverseDirection;
protected double offset = 0.0;

public CustomDigitalEncoder(DigitalSource aSource, DigitalSource bSource) {
super(aSource, bSource);
Expand Down Expand Up @@ -80,17 +82,17 @@ public void setReverseDirection(boolean reverseDirection) {

@Override
public double pidGetSafely() {
return pidGet();
return pidGet() + offset;
}

@Override
public int getSafely() {
return get();
return get() + (int) offset;
}

@Override
public double getDistanceSafely() {
return getDistance();
return getDistance() + offset;
}

@Override
Expand All @@ -107,4 +109,8 @@ public boolean getStoppedSafely() {
public double getRateSafely() {
return getRate();
}

public void setSensorValue(double setpoint) {
this.offset += setpoint - pidGetSafely();
}
}
12 changes: 12 additions & 0 deletions custom/sensors/CustomEncoder.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -80,4 +80,16 @@ public interface CustomEncoder extends PIDSensor, NativeDerivativeSensor {
* Resets the encoder
*/
void reset();

/**
* Set the value from encoder get methods to a setpoint
*/
void setSensorValue(double setpoint);

/**
* Set the value from encoder get methods 0.0, essentially resetting the encoder
*/
default void setSensorValue() {
setSensorValue(0.0);
}
}
Loading