| jerrym | 1815d88 | 2013-02-14 04:21:29 +0000 | [diff] [blame] | 1 | // RobotBuilder Version: 0.0.2
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| 2 | //
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| 3 | // This file was generated by RobotBuilder. It contains sections of
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| 4 | // code that are automatically generated and assigned by robotbuilder.
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| 5 | // These sections will be updated in the future when you export to
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| 6 | // C++ from RobotBuilder. Do not put any code or make any change in
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| 7 | // the blocks indicating autogenerated code or it will be lost on an
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| 8 | // update. Deleting the comments indicating the section will prevent
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| 9 | // it from being updated in th future.
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| 10 | #include "ShooterWheelPIDController.h"
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| 11 | #include "../Robotmap.h"
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| 12 | #include "SmartDashboard/SmartDashboard.h"
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| 13 | #include "LiveWindow/LiveWindow.h"
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| 14 | // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PID
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| 15 | ShooterWheelPIDController::ShooterWheelPIDController() : PIDSubsystem("ShooterWheelPIDController", 1.0, 0.0, 0.0) {
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| 16 | SetAbsoluteTolerance(0.2);
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| 17 | GetPIDController()->SetContinuous(false);
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| 18 | LiveWindow::GetInstance()->AddActuator("Shooter Wheel PID Controller", "PIDSubsystem Controller", GetPIDController());
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| 19 | // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PID
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| 20 | // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
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| 21 | shooterMotor = RobotMap::shooterWheelPIDControllerShooterMotor;
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| 22 | shooterSpeedEncoder = RobotMap::shooterWheelPIDControllerShooterSpeedEncoder;
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| 23 | // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
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| 24 | // Use these to get going:
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| 25 | // SetSetpoint() - Sets where the PID controller should move the system
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| 26 | // to
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| 27 | // Enable() - Enables the PID controller.
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| 28 | }
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| 29 | double ShooterWheelPIDController::ReturnPIDInput() {
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| 30 | // Return your input value for the PID loop
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| 31 | // e.g. a sensor, like a potentiometer:
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| 32 | // yourPot->SetAverageVoltage() / kYourMaxVoltage;
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| 33 | // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SOURCE
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| 34 | return shooterSpeedEncoder->PIDGet();
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| 35 | // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SOURCE
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| 36 | }
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| 37 | void ShooterWheelPIDController::UsePIDOutput(double output) {
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| 38 | // Use output to drive your system, like a motor
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| 39 | // e.g. yourMotor->Set(output);
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| 40 | // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=OUTPUT
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| 41 | shooterMotor->PIDWrite(output);
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| 42 | // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=OUTPUT
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| 43 | }
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| 44 | void ShooterWheelPIDController::InitDefaultCommand() {
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| 45 | // Set the default command for a subsystem here.
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| 46 | //setDefaultCommand(new MySpecialCommand());
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| 47 | // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DEFAULT_COMMAND
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| 48 | // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DEFAULT_COMMAND
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| 49 | }
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