Team 2200 MMRambotics has been chosen to be a control system software beta tester for Wind River C++ in the 2010-2011 FIRST Robotics Competition season.
The code presented in this repository is a collection of experiments designed to test a variety of classes in the C++ WPI library.
We've experimented with the following classes and aspects of programming with the WPI library in Wind River.
- Accelerometer
- Using the ADXL335 (FRC 2009 KOP) accelerometer.
- Core functions: SetSensitivity, SetZero, GetAcceleration
- AnalogChannel
- Getting a voltage from a potentiometer.
- Core functions: GetVoltage
- AxisCamera
- Getting a camera feed on the dashboard.
- Customized dashboard and configuration of the Axis Camera was required for
optimal performance.
- Removed unnecessary graphs from the Dashboard.
- Set the Axis Camera to 10FPS.
- Core functions: GetInstance (includes constructor), WriteResolution, WriteBrightness, WriteCompression, GetImage, IsFreshImage
- DigitalInput
- Getting the current state of a switch.
- Core functions: Get
- DriverStationLCD
- Printing to the driver station User Messages.
- Core functions: GetInstance (includes constructor), Clear, PrintfLine, Printf, UpdateLCD
- Used the kUserLine_x Line constants.
- Gyro
- Getting the robot's current relative heading.
- Core functions: GetAngle
- HiTechnicCompass
- Getting the robot's current absolute heading.
- Watchdog problems...
- Core functions: GetAngle
- Joystick
- Using two joysticks on the Driver Station computer (Classmate or development PC).
- Core functions: GetRawButton
- Servo
- Moving the pan and tilt gimbal via 270 degree servos.
- Core functions: Set, Get