edu.wpi.first.wpilibj.AnalogTrigger的实例源码

项目：strongback-java    文件：Hardware.java   

/**
 * Create an analog switch sensor that is triggered when the value exceeds the specified upper voltage and that is no
 * longer triggered when the value drops below the specified lower voltage.
 *
 * @param channel the port to use for the analog trigger 0-3 are on-board,4-7 are on the MXP port
 * @param lowerVoltage the lower voltage limit that below which will result in the switch no longer being triggered
 * @param upperVoltage the upper voltage limit that above which will result in triggering the switch
 * @param option the trigger option; may not be null
 * @param mode the trigger mode; may not be null
 * @return the analog switch; never null
 */
public static Switch analog(int channel,double lowerVoltage,double upperVoltage,Analogoption option,TriggerMode mode) {
    if (option == null) throw new IllegalArgumentException("The analog option must be specified");
    if (mode == null) throw new IllegalArgumentException("The analog mode must be specified");
    AnalogTrigger trigger = new AnalogTrigger(channel);
    trigger.setLimitsVoltage(lowerVoltage,upperVoltage);
    switch (option) {
        case AVERAGED:
            trigger.setAveraged(true);
            break;
        case FILTERED:
            trigger.setFiltered(true);
            break;
        case NONE:
            break;
    }
    return mode == TriggerMode.AVERAGED ? trigger::getTriggerState : trigger::getInWindow;
}

项目：turtleshell    文件：Robot.java   

public Robot() {
    stick = new Joystick(0);
    try {
        /* Construct Digital I/O Objects */
        pwm_out_9 = new Victor(        getChannelFromPin( PinType.PWM,9 ));
        pwm_out_8 = new Jaguar(        getChannelFromPin( PinType.PWM,8 ));
        dig_in_7  = new DigitalInput(  getChannelFromPin( PinType.DigitalIO,7 ));
        dig_in_6  = new DigitalInput(  getChannelFromPin( PinType.DigitalIO,6 ));
        dig_out_5 = new DigitalOutput( getChannelFromPin( PinType.DigitalIO,5 ));
        dig_out_4 = new DigitalOutput( getChannelFromPin( PinType.DigitalIO,4 ));
        enc_3and2 = new Encoder(       getChannelFromPin( PinType.DigitalIO,3 ),getChannelFromPin( PinType.DigitalIO,2 ));
        enc_1and0 = new Encoder(       getChannelFromPin( PinType.DigitalIO,1 ),0 ));

        /* Construct Analog I/O Objects */
        /* NOTE:  Due to a board layout issue on the navX MXP board revision */
        /* 3.3,there is noticeable crosstalk between AN IN pins 3,2 and 1. */
        /* For that reason,use of pin 3 and pin 2 is NOT RECOMMENDED.       */
        an_in_1   = new AnalogInput(   getChannelFromPin( PinType.AnalogIn,1 ));
        an_trig_0 = new AnalogTrigger( getChannelFromPin( PinType.AnalogIn,0 ));
        an_trig_0_counter = new Counter( an_trig_0 );

        an_out_1  = new Analogoutput(  getChannelFromPin( PinType.Analogout,1 ));
        an_out_0  = new Analogoutput(  getChannelFromPin( PinType.Analogout,0 ));

        /* Configure I/O Objects */
        pwm_out_9.setSafetyEnabled(false); /* disable Motor Safety for Demo */
        pwm_out_8.setSafetyEnabled(false); /* disable Motor Safety for Demo */

        /* Configure Analog Trigger */
        an_trig_0.setAveraged(true);
        an_trig_0.setLimitsVoltage(MIN_AN_TRIGGER_VOLTAGE,MAX_AN_TRIGGER_VOLTAGE);
    } catch (RuntimeException ex ) {
        DriverStation.reportError( "Error instantiating MXP pin on navX MXP:  " 
                                    + ex.getMessage(),true);
    }
}

项目：SwerveDrive    文件：AbsoluteAnalogEncoder.java   

public AbsoluteAnalogEncoder(int channel,double minVoltage,double maxVoltage,double offsetdegrees,int analogSampleRate,double analogTriggerThresholdDifference) { //Todo: Implement direction
    super(channel);
    _channel = channel;
    if (minVoltage >= maxVoltage) throw new IllegalArgumentException("Minimum voltage must be less than maximum voltage");
    if (offsetdegrees < 0 || offsetdegrees > 360) throw new IllegalArgumentException("Offset must be between 0 and 360 degrees");

    // Initialize analog trigger //
    _analogTrigger = new AnalogTrigger(channel);
    _analogTrigger.setFiltered(true);
    _analogTrigger.setLimitsVoltage(minVoltage + analogTriggerThresholdDifference,maxVoltage - analogTriggerThresholdDifference);
    AnalogTriggerOutput _analogTriggerFalling = new AnalogTriggerOutput(_analogTrigger,AnalogTriggerOutput.Type.kFallingpulse);
    AnalogTriggerOutput _analogTriggerRising = new AnalogTriggerOutput(_analogTrigger,AnalogTriggerOutput.Type.kRisingpulse);

    // Set analog module sampling rate //        
    AnalogModule module = (AnalogModule) Module.getModule(ModulePresence.ModuleType.kAnalog,DEFAULT_ANALOG_MODULE);
    module.setSampleRate(analogSampleRate);

    // Initialize turn counter //
    _turnCounter = new Counter();
    _turnCounter.setupdownCounterMode();
    _turnCounter.setupsource(_analogTriggerRising);
    _turnCounter.setDownSource(_analogTriggerFalling);
    _turnCounter.start();

    _minVoltage = minVoltage;
    _maxVoltage = maxVoltage;
    _offsetdegrees = offsetdegrees;
}

项目：SwerveDriveTest    文件：AnalogChannelVolt.java   

public AnalogChannelVolt(int moduleNumber,int channel) {
    super(moduleNumber,channel);

    this.getModule().setSampleRate(1000);

    m_trig = new AnalogTrigger(moduleNumber,channel);
    m_trig.setFiltered(true);
    m_trig.setLimitsVoltage(1.35,3.65);

    m_count = new Counter();
    m_count.setupdownCounterMode();
    m_count.setupsource(m_trig,AnalogTriggerOutput.Type.kFallingpulse);
    m_count.setDownSource(m_trig,AnalogTriggerOutput.Type.kRisingpulse);
    m_count.start();
}

项目：MOEnarch-Drive    文件：AnalogChannelVolt.java   

public AnalogChannelVolt(int moduleNumber,AnalogTriggerOutput.Type.kRisingpulse);
    m_count.start();
}