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Implemented LogEncoder

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This commit is contained in:
Austen Adler 2016-07-22 16:29:38 -04:00
parent 089bab94d1
commit 667a528b98
3 changed files with 17 additions and 8 deletions
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6
src/org/usfirst/frc/team2059/robot/OI.java
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@ -20,10 +20,8 @@ public class OI {
joystickButtons[0][i] = new JoystickButton(joysticks[0], i + 1);
joystickButtons[1][i] = new JoystickButton(joysticks[1], i + 1);
}
// Start logging with button1, stop with button2
Command logEncoder = new LogEncoder();
joystickButtons[0][0].whenPressed(logEncoder);
joystickButtons[0][1].cancelWhenPressed(logEncoder);
// Print log when button 1 pressed
joystickButtons[0][0].whenPressed(new LogEncoder());
}
}
// vim: sw=2:ts=2:sts=2

6
src/org/usfirst/frc/team2059/robot/commands/CommandBase.java
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@ -2,8 +2,8 @@ package org.usfirst.frc.team2059.robot.commands;
import org.usfirst.frc.team2059.robot.subsystems.Drivebase;
import org.usfirst.frc.team2059.robot.subsystems.Encoderbase;
import edu.wpi.first.wpilibj.command.Command;
public abstract class CommandBase extends Command{
protected static Encoderbase encoderbase = new Encoderbase();
protected static Drivebase drivebase = new Drivebase();
public abstract class CommandBase extends Command {
protected static Encoderbase encoderbase = new Encoderbase();
protected static Drivebase drivebase = new Drivebase();
}
// vim: sw=2:ts=2:sts=2

13
src/org/usfirst/frc/team2059/robot/commands/LogEncoder.java
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@ -1,5 +1,6 @@
package org.usfirst.frc.team2059.robot.commands;
import org.usfirst.frc.team2059.robot.commands.CommandBase;
import org.usfirst.frc.team2059.robot.structs.EncoderValues;
public class LogEncoder extends CommandBase {
public LogEncoder() {
requires(encoderbase);
@ -7,9 +8,19 @@ public class LogEncoder extends CommandBase {
protected void initialize() {
}
protected boolean isFinished() {
return false;
//TODO: Not sure if isFinished() is checked before execute()
//assuming it is not,
return true;
}
protected void execute() {
EncoderValues values = encoderbase.getValues();
System.out.println("==== Encoder log ====");
System.out.println("Count : " + values.getCount());
System.out.println("Distance : " + values.getDistance());
System.out.println("Period : " + values.getPeriod());
System.out.println("Rate : " + values.getRate());
System.out.println("Direction : " + values.getDirection());
System.out.println("Stopped : " + values.getStopped());
}
protected void end() {
}