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Unread 01-11-2007, 10:12
Abrakadabra Abrakadabra is offline
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Re: WPILib and Eclipse

You shouldn't need to use the OIToPWM( ) function right off the bat. I haven't used it myself, but now that I look at it, I'd like to know the meaning of the "function" parameters too.

The "composite operator interface" functions (e.g. Tank2( )), also have some idiosyncrasies that you may need to just experiment with to discover. Put the robot up on blocks and watch what the wheels do when you use the various commands. In my case, I also found that the Tank2( ) function wanted the left motor "inverted", but your case may be different. I suggest playing with those parameters to see what works for you.

Another thing I found is that the Tank and Arcade functions define the motor positions as if you were looking from the back of the robot, whereas the "builtin" drive functions (i.e. those defined in "BuiltIns.h", such as TwoWheelDrive() and Motors()) define the motor positions as if you were looking from the front of the robot. So if you combine the usage of these functions in your code, you have to be careful how you specify the motor positions, especially if you are using defined constants.

I'm starting to accumulate quite a list of annotations to my copy of the WPILib document. If Brad is listening, maybe someone should think about a WPILib documentation Wiki or something like that where we could post corrections and clarifications to the doc as we find them.
 


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