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Download C/C++ Programming Guide for the FIRST Robotics Competition
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Counter Subsystem............................................................................................................................ 47 Counter Objects................................................................................................................................. 48 Encoders ........................................................................................................................................... 49 Geartooth Sensor ............................................................................................................................... 50 Quadrature Encoders ......................................................................................................................... 51 Analog Inputs .................................................................................................................................... 53 Analog Triggers................................................................................................................................. 55 Camera.............................................................................................................................................. 56 Controlling Motors ................................................................................................................................ 59 PWM................................................................................................................................................. 60 Victor ................................................................................................................................................ 61 Jaguar................................................................................................................................................ 62 Servo................................................................................................................................................. 63 RobotDrive........................................................................................................................................ 64 Controlling Pneumatics ......................................................................................................................... 66 Compressor ....................................................................................................................................... 67 Solenoid (Pneumatics) ....................................................................................................................... 68 Vision / Image Processing ..................................................................................................................... 69 Color Tracking .................................................................................................................................. 70 Concurrency.......................................................................................................................................... 72 Creating tasks .................................................................................................................................... 73 Synchronized and Critical Regions .................................................................................................... 74 System Architecture .............................................................................................................................. 76 Digital Sources .................................................................................................................................. 77 Getting Feedback from the Drivers Station ............................................................................................ 78 Joysticks............................................................................................................................................ 80 Advanced Programming Topics............................................................................................................. 81 Using Subversion with Workbench .................................................................................................... 82 Getting the WPILib Source Code....................................................................................................... 86 Replacing WPI Robotics Library parts............................................................................................... 92 Interrupts........................................................................................................................................... 93 Creating your own speed controllers .................................................................................................. 94
