检索数据
与” SmartDashboard . getNumber “和朋友不同,从Shuffleboard检索数据也是通过我们在前一篇文章中提到的NetworkTableEntries完成的。
class DriveBase extends Subsystem {
private ShuffleboardTab tab = Shuffleboard.getTab("Drive");
private GenericEntry maxSpeed =
tab.add("Max Speed", 1)
.getEntry();
private DifferentialDrive robotDrive = ...;
public void drive(double left, double right) {
// Retrieve the maximum speed from the dashboard
double max = maxSpeed.getDouble(1.0);
robotDrive.tankDrive(left * max, right * max);
}
}
import commands2
import wpilib.drive
from wpilib.shuffleboard import Shuffleboard
class DriveSubsystem(commands2.SubsystemBase):
def __init__(self) -> None:
super().__init__()
tab = Shuffleboard.getTab("Drive")
self.maxSpeed = tab.add("Max Speed", 1).getEntry()
this.robotDrive = ...
def drive(self, left: float, right: float):
# Retrieve the maximum speed from the dashboard
max = self.maxSpeed.getDouble(1.0)
self.robotDrive.tankDrive(left * max, right * max)
这个基本示例有一个明显的缺陷:可以在仪表板上将最大速度设置为[0,1]之外的值-这可能导致输入饱和(始终以最大速度),甚至颠倒!幸运的是,有一种方法可以避免此问题-下一篇文章将对此进行介绍。