39 lines
978 B
Plaintext
39 lines
978 B
Plaintext
#include "WPILib.h"
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/**
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* This sample shows how to use the new CANTalon to just run a motor in a basic
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* throttle mode, in the same manner as you might control a traditional PWM
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* controlled motor.
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*
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*/
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class Robot : public SampleRobot {
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CANTalon m_motor;
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Joystick m_stick;
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// update every 0.01 seconds/10 milliseconds.
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// The talon only receives control packets every 10ms.
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double kUpdatePeriod = 0.010;
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public:
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Robot()
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: m_motor(1), // Initialize the Talon as device 1. Use the roboRIO web
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// interface to change the device number on the talons.
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m_stick(0)
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{}
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/**
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* Runs the motor from the output of a Joystick.
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*/
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void OperatorControl() {
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while (IsOperatorControl() && IsEnabled()) {
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// Takes a number from -1.0 (full reverse) to +1.0 (full forwards).
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m_motor.Set(m_stick.GetY());
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Wait(kUpdatePeriod); // Wait a bit so that the loop doesn't lock everything up.
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}
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}
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};
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START_ROBOT_CLASS(Robot)
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