edu.wpi.first.wpilibj.Utility的实例源码

项目：FRC-2017    文件：Shooterassembly.java   

public static void teleopPeriodic() {
    double currentTime = Utility.getFPGATime();

    // if not enough time has passed,no polling allowed!
    if ((currentTime - initTriggerTime) < TRIGGER_CYCLE_WAIT_US)
        return;

    if (gamepad.getRawButton(FIRE_BUTTON))  {
        fire();

        // reset trigger init time
        initTriggerTime = Utility.getFPGATime();
    }

    if (gamepad.getRawButton(HOLD_BUTTON)) {
        hold(); 

        // reset trigger init time
        initTriggerTime = Utility.getFPGATime();
    }

}

项目：FRC-2017    文件：BallManagement.java   

private static void checkShooterControls() {
    // fire controls - using a timer to debounce
    double currentTime = Utility.getFPGATime();

    // if not enough time has passed,no polling allowed!
    if ((currentTime - initTriggerTime) < TRIGGER_CYCLE_WAIT_US)
        return;

    // shooter commands
    if (gamepad.getRawButton(HardwareIDs.FIRE_HIGH_BUTTON))
        setShooterStrength(MOTOR_HIGH);         

    if (gamepad.getRawButton(HardwareIDs.FIRE_MEDIUM_BUTTON))
        setShooterStrength(MOTOR_MEDIUM);           

    if (gamepad.getRawButton(HardwareIDs.FIRE_LOW_BUTTON))
        setShooterStrength(MOTOR_LOW);          

    if (gamepad.getRawButton(HardwareIDs.HOLD_BUTTON))
        setShooterStrength(MOTOR_OFF);

}

项目：FRC-2017    文件：BallManagement.java   

public static void teleopInit() {

    gearTrayOn();
    //collectorOff();    // keep collector off until gamepad control pressed
    resetMotors();

    // spawn a wait thread to turn relays back off after a number of seconds
    /*
    new Thread() {
        public void run() {
            try {
                Thread.sleep(3000);  // wait a number of sec before starting to Feed
                gearTrayOff();       // turn relays off
            } catch (Exception e) {
                e.printstacktrace();
            }
        }
    }.start();
    */

       initTriggerTime = Utility.getFPGATime();

}

项目：FRC-2017    文件：ClosedLoopAngleEvent.java   

public boolean isTriggered()
{   
    double gyroAngle = getGyroAngle();

    if (Math.abs(gyroAngle - targetAngleDeg) > errorDeg) {

        // outside error range...
        // reset timer and return false
        startTimeUs = Utility.getFPGATime();    
        return false;
    }

    long currentTimeUs = Utility.getFPGATime();
    double delta = (currentTimeUs - startTimeUs)/1e6;
    //System.out.println("delta = " + delta + " duration = " + durationSec);

    if (delta < durationSec)
    {
        // within error range,but not for enough time
        return false;
    }

    System.out.println("ClosedLoopAngleEvent triggered!");
    return true;
}

项目：Team3310FRC2014    文件：RPMEncoder.java   

public void updateMotorRPM() { 
    long currentTimeMicroSeconds = Utility.getFPGATime();
    long deltaTimeMicroSeconds = currentTimeMicroSeconds - m_lastTimeMicroSeconds;
    m_lastTimeMicroSeconds = currentTimeMicroSeconds;

    // RPM = counts/microsec * 1000000 microsec/sec * 60 sec/min * 1/counts_per_rev
    double replacedMotorRPM = m_motorRPM[m_rpmIndex];
    double currentRPM = (m_encoder.get() / (double)deltaTimeMicroSeconds) * 60000000.0 / m_pulsesPerRotation;
    if (currentRPM > MAX_RPM) {
        currentRPM = MAX_RPM;
    }
    m_motorRPM[m_rpmIndex] = currentRPM;
    m_encoder.reset();

    m_averagedMotorRPM += (m_motorRPM[m_rpmIndex] - replacedMotorRPM) / m_numAveragedCycles;

    m_rpmIndex++;
    if (m_rpmIndex == m_numAveragedCycles) {
        m_rpmIndex = 0;
    }
}

项目：BadRobot2013    文件：DriveStraightBackwards.java   

protected boolean isFinished() 
{
    log("Gyro Angle:      "+driveTrain.getGyro().getAngle() + "                 bearing: "+bearing);

    //if by time
    if (driveTime > 0 && Utility.getFPGATime() >= startTime + driveTime)
    {
        driveTrain.tankDrive(0,0);
        state = FINISHED;
        return true;
    }
    else if (distance > 0 && driveTrain.getdistancetoWall() <= distance && lockedOnIterations >= 3)
    {
        return true;
    }

    return false;
}

项目：BadRobot2013    文件：DriveStraightForward.java   

protected boolean isFinished() 
{

    //if by time
    if (driveTime > 0 && Utility.getFPGATime() >= startTime + driveTime)
    {
        driveTrain.tankDrive(0,0);
        state = FINISHED;
        return true;
    }
    else if (distance > 0 && driveTrain.getdistancetoWall() <= distance && lockedOnIterations >= 3)
    {
        return true;
    }

    return false;
}

项目：Frc2016FirstStronghold    文件：Notifier.java   

public void start(double period,boolean periodic) {
  synchronized (m_processLock) {
    m_periodic = periodic;
    m_period = period;
    m_expirationTime = Utility.getFPGATime() * 1e-6 + m_period;
    updatealarm();
  }
}

项目：FRC-2017    文件：TimeEvent.java   

public void initialize()
{
    //System.out.println("TimeEvent initialized!");
    startTimeUs = Utility.getFPGATime();

    super.initialize();
}

项目：FRC-2017    文件：TimeEvent.java   

public boolean isTriggered()
{
    long currentTimeUs = Utility.getFPGATime();
    double delta = (currentTimeUs - startTimeUs)/1e6;
    //System.out.println("delta = " + delta + " duration = " + durationSec);

    if (delta > durationSec)
    {
        System.out.println("TimeEvent triggered!");
        return true;
    }

    return false;
}

项目：FRC-2017    文件：BallManagement.java   

public static void autoInit() {

    gearTrayOff();
    //collectorOff();
    resetMotors();

       initTriggerTime = Utility.getFPGATime();
}

项目：FRC-2017    文件：CameraControl.java   

public static void teleopPeriodic() {

        // fire controls - using a timer to debounce
        double currentTime = Utility.getFPGATime();

        // if not enough time has passed,no polling allowed!
        if ((currentTime - initTriggerTime) < TRIGGER_CYCLE_WAIT_US)
            return;

        double currentPos = positionServo.get();

        // switch to control camera servo
        if (gamepad.getRawButton(HardwareIDs.CAMERA_CONTROL_BUTTON) == true)
        {
            if (Math.abs(currentPos - BOILER_CAM_POS) > SERVO_POS_TOLERANCE)
                movetoPos(BOILER_CAM_POS);
        }
        else
        {
            if (Math.abs(currentPos - GEAR_CAM_POS) > SERVO_POS_TOLERANCE)
                movetoPos(GEAR_CAM_POS);
        }

        // button to strobe camera LED rings
        if ((gamepad.getRawButton(HardwareIDs.CAMERA_LED_STROBE_BUTTON) == true) && (!ledState))
        {
            setCameraLed(true);
        }
        else if ((gamepad.getRawButton(HardwareIDs.CAMERA_LED_STROBE_BUTTON) == false) && (ledState))
        {
            setCameraLed(false);
        }

        // reset trigger init time
        initTriggerTime = Utility.getFPGATime();        

    }

项目：FRC-2017    文件：ClosedLoopAngleEvent.java   

public void initialize()
{
    //System.out.println("GyroAngleEvent initialized!");

    startTimeUs = Utility.getFPGATime();

    super.initialize();
}

项目：FRC-2017    文件：ClosedLoopPositionEvent.java   

public void initialize()
{
    //System.out.println("ClosedLoopPositionEvent initialized!");
    startTimeUs = Utility.getFPGATime();

    super.initialize();
}

项目：FRC-2017    文件：ClosedLoopPositionEvent.java   

public boolean isTriggered()
{       
    // measure current position error
    double actualPosInches = AutoDriveAssembly.getdistanceInches();
    double errorPosInches = Math.abs(targetPosInches - actualPosInches);
    if (errorPosInches > errorThresholdInches)
    {
        // outside error range...
        // reset timer
        startTimeUs = Utility.getFPGATime();
        return false;
    }

    long currentTimeUs = Utility.getFPGATime();
    double delta = (currentTimeUs - startTimeUs)/1e6;
    //System.out.println("delta = " + delta + " duration = " + durationSec);

    if (delta < durationSec)
    {
        // within error range,but not for enough time
        return false;
    }

    // within error range for enough time
    System.out.println("ClosedLoopPositionEvent triggered!");
    return true;
}

项目：strongback-java    文件：Clock.java   

/**
 * Create a new time system that uses the FPGA clock. At this time,the precision of the resulting clock has not been
 * verified or tested.
 *
 * @return the FPGA-based clock; never null
 * @throws StrongbackRequirementException if the FPGA hardware is not available
 */
public static Clock fpga() {
    try {
        Utility.getFPGATime();
        // If we're here,then the method did not throw an exception and there is FPGA hardware on this platform ...
        return Utility::getFPGATime;
    } catch (UnsatisfiedLinkError | NoClassDefFoundError e) {
        throw new StrongbackRequirementException("Missing FPGA hardware or software",e);
    }
}

项目：Team3310FRC2014    文件：RPMEncoder.java   

public void resetMotorRPM() {
    for (int i = 0; i < m_numAveragedCycles; i++) {
        m_motorRPM[i] = 0.0;
    }
    m_lastTimeMicroSeconds = Utility.getFPGATime();
    m_averagedMotorRPM = 0;
    m_encoder.start();
}

项目：Team3310FRC2014    文件：Chassis.java   

public void setMoveMotorSpeed(double percentVbus) {
        double deltaTimeMicroSeconds = Utility.getFPGATime() - m_startTimeMicroSeconds;
        double deltaTimeSeconds = deltaTimeMicroSeconds / 1000000;

        percentVbus = limitaccel(percentVbus,m_maxSpeed,deltaTimeSeconds);
        double steeringError = m_rightEncoder.getdistance() - m_leftEncoder.getdistance();
//        double steeringError = m_yawGyro.getAngle();
        double steerOffset = STEERING_ZERO_OFFSET;
//        if (percentVbus > 0) {  // neg = forward
//            steerOffset = -steerOffset;
//        }
        m_drive.arcadeDrive(percentVbus,steerOffset + steeringError * KP_MOVE_STEERING);
//        System.out.println("Time = " + System.currentTimeMillis() + ",PercentVbus = " + percentVbus + ",distance = " + returnPIDinput() + ",Steer error = " + steeringError + ",Left distance = " + m_leftEncoder.getdistance() + ",Right distance = " + m_rightEncoder.getdistance());
    }

项目：BadRobot2013    文件：DriveStraightBackwards.java   

protected void initialize() 
{
    setSpeed = .8;
    scaleFactor = 1;

    //driveTrain.getGyro().reset();
    bearing = driveTrain.getGyro().getAngle();
    startTime = Utility.getFPGATime();      //returns fpga time in MICROseconds.

    DRIVE_SPEED = Double.parseDouble(BadPreferences.getValue(driveSpeedKey,".6"));
    delayTime = Double.parseDouble(BadPreferences.getValue("DRIVE_STRAIGHT_FORWARD_WITH_disTANCE_DELAY","2.4"));

}

项目：BadRobot2013    文件：DriveStraightBackwards.java   

protected void execute() 
{
    //with time
    if (distance <= 0)
    {

        driveTrain.getTrain().drive(-DRIVE_SPEED,-(driveTrain.getGyro().getAngle() - bearing) * Kp);
    }

    //with distance
    else
    {
        if (driveTrain.getdistancetoWall() < distance && Utility.getFPGATime() - startTime > delayTime*1000000)
        { 
            lockedOnIterations++;  
        }
        else
        { 
            if (lockedOnIterations > 0)
                lockedOnIterations = 0;

                driveTrain.getTrain().drive(DRIVE_SPEED,-(driveTrain.getGyro().getAngle() - bearing) * Kp);

        }
    }
}

项目：BadRobot2013    文件：DriveStraightForward.java   

protected void initialize() 
{
    setSpeed = .8;
    scaleFactor = 1;

    //driveTrain.getGyro().reset();
    bearing = driveTrain.getGyro().getAngle();
    startTime = Utility.getFPGATime();      //returns fpga time in MICROseconds.

    DRIVE_SPEED = Double.parseDouble(BadPreferences.getValue(driveSpeedKey,".8"));
    delayTime = Double.parseDouble(BadPreferences.getValue("DRIVE_STRAIGHT_FORWARD_WITH_disTANCE_DELAY","2.4"));

}

项目：BadRobot2013    文件：DriveStraightForward.java   

protected void execute() 
{
    //with time
    if (distance <= 0)
    {

        driveTrain.getTrain().drive(DRIVE_SPEED,-(driveTrain.getGyro().getAngle() - bearing) * Kp);

        }
    }
}

项目：snobot-2017    文件：HardwareTimer.java   

private double getMsClock() {
  return Utility.getFPGATime() / 1000.0;
}

项目：Frc2016FirstStronghold    文件：HardwareTimer.java   

private long getMsClock() {
  return Utility.getFPGATime() / 1000;
}

项目：FRC-2017    文件：Shooterassembly.java   

public static void teleopInit() {
    setMotorStrength(MOTOR_MEDIUM);
       initTriggerTime = Utility.getFPGATime();
}

项目：FRC-2017    文件：BallManagement.java   

public static void initialize() {
    if (initialized)
        return;

    // reset trigger init time
    initTriggerTime = Utility.getFPGATime();        

       // create and reset collector relay
    collectorSolenoid = new Spark(HardwareIDs.COLLECTOR_SOLENOID_PWM_ID);

       // create and reset gear tray spark & relay
       gearTrayRelay = new Relay(HardwareIDs.GEAR_TRAY_RELAY_CHANNEL_1,Relay.Direction.kForward);
       gearTrayRelay.set(Relay.Value.kOff);
       gearTrayRelay2 = new Relay(HardwareIDs.GEAR_TRAY_RELAY_CHANNEL_2,Relay.Direction.kForward);
       gearTrayRelay2.set(Relay.Value.kOff);

    // create motors & servos
    transportMotor = new Spark(HardwareIDs.TRANSPORT_PWM_ID);
    collectorMotor = new CANTalon(HardwareIDs.COLLECTOR_TALON_ID);
    agitatorServo = new Spark(HardwareIDs.AGITATOR_PWM_ID);    // continuous servo control modeled as Spark PWM

    FeederMotor = new CANTalon(HardwareIDs.FeedER_TALON_ID);
    shooterMotor = new CANTalon(HardwareIDs.SHOOTER_TALON_ID);

    // set up shooter motor sensor
    shooterMotor.reverseSensor(false);
    shooterMotor.setFeedbackDevice(FeedbackDevice.QuadEncoder);

    // FOR REFERENCE ONLY:
    //shooterMotor.configEncoderCodesPerRev(12);   // use this ONLY if you are NOT reading Native units

    // USE FOR DEBUG ONLY:  configure shooter motor for open loop speed control
    //shooterMotor.changeControlMode(TalonControlMode.PercentVbus);

    // configure shooter motor for closed loop speed control
    shooterMotor.changeControlMode(TalonControlMode.Speed);
    shooterMotor.configNominalOutputVoltage(+0.0f,-0.0f);
    shooterMotor.configPeakOutputVoltage(+12.0f,-12.0f);

    // set PID(F) for shooter motor (one profile only)
    shooterMotor.setProfile(0);

    shooterMotor.setP(3.45);
    shooterMotor.setI(0);
    shooterMotor.setD(0.5);
    shooterMotor.setF(9.175);

    // make sure all motors are off
    resetMotors();

    gamepad = new Joystick(HardwareIDs.GAMEPAD_ID);

    initialized = true;
}

项目：FRC-2017    文件：BallManagement.java   

public static void setShooterStrength(int newIndex) {

    if (!initialized)
        initialize();

    // if out of range,just return...  
    if ((newIndex > MOTOR_HIGH) || (newIndex < MOTOR_OFF))
        return;

    // report on what strength we're setting
    //System.out.println("Motor Strength = " + motorSettings[newIndex]);
    double shooter_rpm = motorSettings[newIndex] * NATIVE_TO_RPM_FACTOR;
    InputOutputComm.putDouble(InputOutputComm.LogTable.kMainLog,"BallMgmt/ShooterRpm_Target",shooter_rpm);     

    // set motor to the specified value
    shooterMotor.set(motorSettings[newIndex]);  

    // if turning off motors...
    if (newIndex == MOTOR_OFF) {
        stopFeeding();  // turn off Feeder & agitator motors            
    }
    // if turning on motors...
    else  { 
        // if shooter motor is on and we're not yet Feeding (i.e. motor is spinning up from being off)
        if (!Feeding)
        {
            // spawn a wait thread to ensure agitator and Feeder are turned on only AFTER a certain period
            new Thread() {
                public void run() {
                    try {
                        Thread.sleep(1000);  // wait one second before starting to Feed
                        startFeeding();      // start Feeder motors
                    } catch (Exception e) {
                        e.printstacktrace();
                    }
                }
            }.start();
        }
    }

    // reset trigger init time
    initTriggerTime = Utility.getFPGATime();        
}

项目：FRC-2017    文件：CameraControl.java   

public static void initialize() {
    if (initialized)
        return;

    // reset trigger init time
    initTriggerTime = Utility.getFPGATime();        

    cameraLedRelay = new Relay(HardwareIDs.CAMERA_LED_RELAY_CHANNEL,Relay.Direction.kForward);
    cameraLedRelay.set(Relay.Value.kOff);

    positionServo = new Servo(HardwareIDs.CAMERA_SERVO_PWM_ID);

    gamepad = new Joystick(HardwareIDs.DRIVER_CONTROL_ID);

    ledState = false;

    initialized = true;
}