{"id":12545,"date":"2021-10-18T17:54:34","date_gmt":"2021-10-18T09:54:34","guid":{"rendered":"https:\/\/www.circuspi.com\/?p=12545"},"modified":"2022-05-11T17:06:08","modified_gmt":"2022-05-11T09:06:08","slug":"vmx-unit5","status":"publish","type":"post","link":"https:\/\/www.circuspi.com\/index.php\/2021\/10\/18\/vmx-unit5\/","title":{"rendered":"VMX\u667a\u6167\u79fb\u52d5\u5e73\u53f0\u6559\u5b78 &#8211; \u55ae\u5143(\u4e94) Shuffleboard \u5100\u8868\u677f\u8a2d\u8a08\u61c9\u7528"},"content":{"rendered":"\n<p><style>\n\/* ###\u5be6\u9a57\u4e0b\u4e00\u5217### *\/\n\na:link {color:#0695e4\n;}    \/* \u8a2d\u5b9a\u5c1a\u672a\u9ede\u95b1\u904e\u7684\u9023\u7d50\u6a23\u5f0f *\/\na:visited {color:#0695e4\n;} \/* \u8a2d\u5b9a\u904e\u53bb\u66fe\u7d93\u95b1\u904e\u7684\u9023\u7d50 *\/\na:hover {color:#0695e4\n;}   \/* \u8a2d\u5b9a\u6ed1\u9f20\u6e38\u6a19\u6307\u5728\u9023\u7d50\u4f4d\u7f6e\u4e0a\u7684\u6a23\u5f0f *\/\na:active {color:#0000BB;}  \/* \u8a2d\u5b9a\u4e0a\u9ede\u64ca\u904e\u7684\u9023\u7d50\u6a23\u5f0f *\/\n<\/style><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1000\" height=\"526\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2022\/04\/1000x526-7.jpg\" alt=\"\" class=\"wp-image-15085\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e00\u3001\u524d\u8a00<\/h2>\n\n\n\n<p>\u5728<a aria-label=\"undefined (opens in a new tab)\" href=\"https:\/\/www.circuspi.com\/index.php\/2021\/10\/06\/vmx-unit4\/\" target=\"_blank\" rel=\"noreferrer noopener\">\u55ae\u5143\u56db<\/a>\u4e2d\u6211\u5011\u4ecb\u7d39\u4e86\u5982\u4f55\u900f\u904e\u9640\u87ba\u5100\u5be6\u73fe\u4e0a\u5e1d\u8996\u89d2\u904b\u52d5\u6a21\u5f0f\uff0c\u8b93\u64cd\u63a7\u8005\u66f4\u52a0\u5bb9\u6613\u64cd\u63a7\u8eca\u9ad4\uff0c\u5728\u9019\u500b\u55ae\u5143\u4e2d\u6211\u5011\u5c07\u4f7f\u7528 <a aria-label=\"undefined (opens in a new tab)\" href=\"https:\/\/docs.wpilib.org\/en\/stable\/docs\/software\/networktables\/networktables-intro.html\" target=\"_blank\" rel=\"noreferrer noopener\">NetworkTables Library <\/a>\u8207 <a aria-label=\"undefined (opens in a new tab)\" href=\"https:\/\/docs.wpilib.org\/en\/stable\/docs\/software\/wpilib-tools\/shuffleboard\/index.html\" target=\"_blank\" rel=\"noreferrer noopener\">Shuffleboard<\/a> \u61c9\u7528\u7a0b\u5f0f\uff0c\u4e86\u89e3\u5982\u4f55\u5c07\u5404\u7a2e\u611f\u6e2c\u5668\u6578\u503c\u986f\u793a\u5728Shuffleboard\u3001\u900f\u904eShuffleboard\u63a7\u5236 <a href=\"https:\/\/www.icshop.com.tw\/product-page.php?28496\" target=\"_blank\" aria-label=\"undefined (opens in a new tab)\" rel=\"noreferrer noopener\">VMX \u667a\u6167\u79fb\u52d5\u5e73\u53f0<\/a>\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0b\u5206\u6210\u5e7e\u500b\u5c0f\u7bc0\u8aaa\u660e\uff1a<\/p>\n\n\n\n<ul><li><a href=\"#Shuffleboard-intro\">Shuffleboard \u4ecb\u7d39<\/a><\/li><li><a href=\"#build-Shuffleboard\">\u900f\u904e\u7a0b\u5f0f\u5efa\u7acbShuffleboard \u5143\u4ef6<\/a><\/li><li><a href=\"#Sensor\">\u5c07\u8d85\u8072\u6ce2\u611f\u6e2c\u5668\u8ddd\u96e2\u986f\u793a\u5728 Shuffleboard<\/a><\/li><li><a href=\"#button-control\">\u900f\u904eShuffleboard \u6309\u9215\u63a7\u5236 VMX<\/a><\/li><li><a href=\"#Drop-down-menu\">\u900f\u904e\u4e0b\u62c9\u9078\u55ae\u9078\u64c7\u57fa\u790e\u6216\u4e0a\u5e1d\u8996\u89d2\u904b\u52d5\u6a21\u5f0f<\/a><\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"Shuffleboard-intro\">\u4e8c\u3001Shuffleboard \u4ecb\u7d39<\/h2>\n\n\n\n<p>Shuffleboard \u63d0\u4f9b\u591a\u7a2eUI\u4ecb\u9762\uff0c\u8b93\u4f7f\u7528\u8005\u80fd\u5c07\u5e73\u53f0\u5404\u7a2e\u8cc7\u8a0a\u900f\u904e\u5340\u57df\u7db2\u8def\u50b3\u5230Shuffleboard\u4e0a\u986f\u793a\uff0c\u5176\u4e2d\u5305\u542b\u5f71\u50cf\u3001\u5404\u99ac\u9054\u7684\u901f\u5ea6\u3001\u7de8\u78bc\u5668\u8ddd\u96e2\uff0c\u9640\u87ba\u5100\u89d2\u5ea6\u3001\u6ed1\u52d5\u687f\u3001\u6309\u9215\u7b49\u5404\u7a2e\u4e0d\u540c\u7684UI\uff0c\u6709\u4e86\u9019\u4e9bUI \u5f8c\u6211\u5011\u5c07\u53ef\u4ee5\u900f\u904e\u5340\u57df\u7db2\u8def\u4ee5\u53caNetworkTables \u8207 VMX \u6e9d\u901a\uff0c\u63a7\u5236\u4e26\u89c0\u5bdf\u5404\u500b\u611f\u6e2c\u5668\u7684\u72c0\u614b\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh5.googleusercontent.com\/gVio4GT7xWpckzgiBq_gWGhptdA4R_Com4nXMQfA4fwRvwi79jbRfMBmepEJEblTBfCncWY2qmBTFMDYdaQFocxrMgG5SjHoP8gcrZsSkxueWD76jt1cdnCbFh7TZR6j5MdpFaeD=s0\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"build-Shuffleboard\">\u4e09\u3001\u900f\u904e\u7a0b\u5f0f\u5efa\u7acbShuffleboard \u5143\u4ef6<\/h2>\n\n\n\n<p>(1)\u9996\u5148\u5f15\u5165Shuffleboard \u4ee5\u53caNetworkTableEntry Header file\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td class=\"has-text-align-left\" data-align=\"left\">#include &lt;frc\/shuffleboard\/Shuffleboard.h&gt;#include &lt;networktables\/NetworkTableEntry.h&gt;<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>(2)\u4f7f\u7528frc\u3001nt namespace\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td class=\"has-text-align-left\" data-align=\"left\">using namespace frc;using namespace nt;<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>(3)\u5efa\u7acbShuffleboardTab \u8207NetworkTableEntry \u7269\u4ef6<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td class=\"has-text-align-left\" data-align=\"left\">\/**&nbsp;* Shuffleboard &amp; NetworkTable&nbsp;*\/ShuffleboardTab &amp; tab = Shuffleboard::GetTab(&#8220;Sensor&#8221;);NetworkTableEntry m_ntTemp;NetworkTableEntry m_ntHumi;NetworkTableEntry m_ntFSonic;NetworkTableEntry m_ntLSonic;NetworkTableEntry m_ntTcrt5000_R;NetworkTableEntry m_ntTcrt5000_M;NetworkTableEntry m_ntTcrt5000_L;<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>(4)\u5be6\u4f8b\u5316NetworkTable\uff0c\u5728\u547c\u53ebShuffleboard Add\u65b9\u6cd5\u6642\u5e36\u5165Table \u540d\u7a31\u8207\u521d\u59cb\u503c\uff0c\u547c\u53ebAdd\u65b9\u6cd5\u5f8c\u4f7f\u7528WithWidget \u65b9\u6cd5\u5e36\u5165\u5143\u4ef6\u6a23\u677f\uff0c\u6700\u5f8c\u900f\u904eGetEntry \u65b9\u6cd5\u53d6\u5f97\u6b64UI\u5143\u4ef6\u7269\u4ef6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td class=\"has-text-align-left\" data-align=\"left\">\/**&nbsp;* instantiation Network Table&nbsp;*\/this-&gt;m_ntTemp &nbsp; = this-&gt;tab.Add(&#8220;Temperature&#8221;, 0).WithWidget(BuiltInWidgets::kTextView).GetEntry();this-&gt;m_ntHumi &nbsp; = this-&gt;tab.Add(&#8220;Humidity&#8221;, 0).WithWidget(BuiltInWidgets::kTextView).GetEntry();this-&gt;m_ntFSonic = this-&gt;tab.Add(&#8220;FSonic&#8221;, 0).WithWidget(BuiltInWidgets::kTextView).GetEntry();this-&gt;m_ntLSonic = this-&gt;tab.Add(&#8220;LSonic&#8221;, 0).WithWidget(BuiltInWidgets::kTextView).GetEntry();this-&gt;m_ntTcrt5000_R = this-&gt;tab.Add(&#8220;TCRT R&#8221;, 0).WithWidget(BuiltInWidgets::kTextView).GetEntry();this-&gt;m_ntTcrt5000_M = this-&gt;tab.Add(&#8220;TCRT M&#8221;, 0).WithWidget(BuiltInWidgets::kTextView).GetEntry();this-&gt;m_ntTcrt5000_L = this-&gt;tab.Add(&#8220;TCRT L&#8221;, 0).WithWidget(BuiltInWidgets::kTextView).GetEntry();<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>(5)\u5143\u4ef6\u6a23\u677f\u5206\u70ba\u4ee5\u4e0b\u5e7e\u7a2e\uff1a<\/p>\n\n\n\n<ul><li>kTextView\uff08\u986f\u793a\u6587\u5b57\uff09<\/li><li>kNumberSlider\uff08\u986f\u793a\u53ef\u52d5\u6ed1\u584a\uff09<\/li><li>kNumberBar\uff08\u986f\u793a\u50c5\u53ef\u5bdf\u770b\u6578\u5b57\u7684\u689d\u584a\uff09<\/li><li>kGraph\uff08\u986f\u793a\u6578\u503c\u5716\u8868\uff09<\/li><li>kBooleanBox\uff08\u986f\u793a\u5e03\u6797\u503c\u65b9\u584a\uff09<\/li><li>kToggleButton\uff08\u986f\u793aToggle \u958b\u95dc\uff09<\/li><li>kToggleSwitch\uff08\u986f\u793aSwitch\u5207\u63db\uff09<\/li><li>kVoltageView\uff08\u986f\u793a\u96fb\u58d3\uff09<\/li><li>kPowerDistributionPanel\uff08\u986f\u793a\u96fb\u6e90\u72c0\u614b\uff09<\/li><li>kComboBoxChooser\uff08\u986f\u793a\u4e0b\u62c9\u9078\u55ae\uff09<\/li><li>kSplitButtonChooser\uff08\u986f\u793a\u5e36\u6709Toogle\u958b\u95dc\u7684\u4e0b\u62c9\u9078\u55ae\uff09<\/li><li>kEncoder\uff08\u986f\u793a\u7de8\u78bc\u5668\u6578\u503c\uff09<\/li><li>kSpeedController\uff08\u986f\u793a\u901f\u5ea6\u63a7\u5236\u5668\uff09<\/li><li>kCommand\uff08\u986f\u793a\u547d\u4ee4\u6309\u9215\uff0c\u57f7\u884c\u5b8c\u6210\u81ea\u52d5\u653e\u958b\uff09<\/li><li>kPIDCommand\uff08\u986f\u793a\u53ef\u8abf\u6574\u53c3\u6578\u7684PID\u63a7\u5236\u677f\uff0c\u5e36\u57f7\u884c\u6309\u9215\uff09<\/li><li>kPIDController\uff08\u986f\u793a\u53ef\u8abf\u6574\u53c3\u6578\u7684PID\u63a7\u5236\u677f\uff09<\/li><li>kAccelerometer\uff08\u986f\u793a\u52a0\u901f\u5ea6\u8a08\uff09<\/li><li>k3AxisAccelerometer\uff08\u986f\u793a\u4e09\u8ef8\u52a0\u901f\u5ea6\u8a08\uff09<\/li><li>kGyro\uff08\u986f\u793a0~360\u5ea6\u7684\u9640\u87ba\u5100\u89d2\u5ea6\uff09<\/li><li>kRelay\uff08\u986f\u793a\u5404\u500b\u6a21\u5f0f\u7684\u5207\u63db\u6309\u9215\uff09<\/li><li>kDifferentialDrive\uff08\u986f\u793a\u5e36\u6709\u5dee\u901f\u9a45\u52d5\u7684\u99ac\u9054\u9762\u677f\uff09<\/li><li>kMecanumDrive\uff08\u986f\u793a\u5404\u500b\u9ea5\u514b\u7d0d\u59c6\u8f2a\u7684\u8cc7\u8a0a\uff0c\u901f\u5ea6\u3001\u65b9\u5411\u7b49\uff09<\/li><li>kCameraStream\uff08\u986f\u793a\u4e32\u6d41\u5f71\u50cf\uff09<\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"Sensor\">\u56db\u3001\u5c07\u8d85\u97f3\u6ce2\u611f\u6e2c\u5668\u8ddd\u96e2\u986f\u793a\u5728Shuffleboard<\/h2>\n\n\n\n<p> (1)\u5728Shuffleboard \u4e0a\u5efa\u7acb\u6eab\u6ebc\u5ea6\u3001\u8d85\u97f3\u6ce2\u3001\u5faa\u8de1\u7d05\u5916\u7dda\u611f\u6e2c\u5668\u7b49\u7269\u4ef6\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh6.googleusercontent.com\/GK_XR-i5ywWWSKQ9Zh1Bav7tgZB_AVBqwAtCrNdmUx5OjwgmitXWNeQXpSpySgIY9fo4ioa8lPa72NufyBRMZ8Ym5Npa0-R4DLF5ydvaRALskqLItMa6mJNB99gseiA-AcHLYtjX=s0\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>(2)\u5efa\u7acbShuffleboard\u3001NetworkTable \u7269\u4ef6\uff0c\u5c07Shuffleboard Table\u540d\u7a31\u8a2d\u5b9a\u70ba\u300cSensor\u300d\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/98I4-6LQwO1Y7iCemV0iMe-8dJdcoijZpeWl4szYL7VmUAcpItMUEL2rKiu2GWhsbbv4zaO4qmFf0eBMONvXSI8-XgxVCAqusIVVZJK9iIWMvFc6osE8ANa0pemnOHeddVjmM2Qs=s0\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>(3)\u5be6\u4f8b\u5316 NetworkTable\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh6.googleusercontent.com\/ac7JSqInClkLQoYe6r_Y5uGdNZVcfaGrKWbHsIZFhJ-cSH0xQrMwY14xoFHKO6Na3SJJ0z-EnuDmqk-Ba8FM6gBufgvopwLEredzMwvIfzgg0Ezy0yQStQFV9cG0BnoE9i7o2bB9=s0\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>(4)\u5728Periodic \u65b9\u6cd5\u5167\u5c07\u611f\u6e2c\u5668\u6578\u503c\u767c\u4f48\u5230\u5404\u500b\u5c0d\u61c9Network \u7269\u4ef6\uff0cPeriodic \u65b9\u6cd5\u7e7c\u627f\u81eaSubsystem \u985e\u5225\uff0cPeriodic \u6bcf20ms \u5c07\u6703\u57f7\u884c\u4e00\u6b21\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/25GezO1t9WVruclYI6ZcB0NLJX-yTYs9r3g0-N-70IhX3DD5TvLxv1c1SEqkbO10G56rsgsFYs6a3umg2qAgVUelNRDGi9zXfc5hwmkfWu_25MO3MHXUH45jshhlkGmtWYMP8MKw=s0\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>(5)Shuffleboard \u61c9\u7528\u7a0b\u5f0f\u986f\u793a\u7d50\u679c\u5982\u4e0b\u5716\u6240\u793a\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh6.googleusercontent.com\/5N0KLRp1EPn3Z1Y4ii6tB5cRiwUPJ8AlKi3DArdxdDpvMwOBOwYRSu0CLlNC0YhzzwNM57BCpaR1Vb05Q9RNMrrB0DLExUUnrPCOONkzPLupZnmFS-Aigy8agCAXmiDRWkJYSXvV=s0\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"button-control\">\u4e94\u3001\u900f\u904eShuffleboard \u6309\u9215\u63a7\u5236VMX \u667a\u6167\u79fb\u52d5\u5e73\u53f0<\/h2>\n\n\n\n<p>\u9664\u4e86\u53ef\u4ee5\u5c07 VMX \u5404\u7a2e\u611f\u6e2c\u6578\u503c\u8cc7\u6599\u900f\u904eNetworkTables \u767c\u4f48\u5230Shuffleboard \u4e0a\u4e4b\u5916\uff0cVMX \u4e5f\u53ef\u4ee5\u900f\u904eNetworkTables \u8b80\u53d6Shuffleboard \u5143\u4ef6\u6578\u503c\uff0c\u4e26\u505a\u51fa\u76f8\u5c0d\u61c9\u52d5\u4f5c\uff0c\u4ee5\u4e0b\u5c07\u4ecb\u7d39\u8b80\u53d6Shuffleboard Toggle \u6309\u9215\u72c0\u614b\u3001TextView\u6587\u5b57\u8f38\u5165\uff0c\u63a7\u5236\u5347\u964d\u624b\u81c2\u79fb\u52d5\u4f4d\u7f6e\u3002<\/p>\n\n\n\n<p>(1)\u5efa\u7acb\u5347\u964d\u624b\u81c2subsystem\uff0c\u5176\u4e2d\u5305\u542bServo\u3001\u5347\u964d\u624b\u81c2\u8f38\u51fa\u8f38\u5165IO\u3001Shuffleboard\u3001NetworkTable \u7269\u4ef6\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/-JJfwhchX-2Lz3xL0JLsuB8k8Di2xrM_l1XVzEzE2hMK5PjEQuUM7e9upOyKrWF_ApTKdkIMJSxvr8Ga5McNi882ltflc5AkWFFD3_HqVa5NfrwwaDUyz0bRfmy-4M9GBrvl6cld=s0\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>(2)\u5728Periodic \u65b9\u6cd5\u5167\u8b80\u53d6Shuffleboard Enter \u6309\u9215\u72c0\u614b\uff0c\u7576\u6309\u9215\u88ab\u6309\u4e0b\u6642\u5c07\u6309\u9215\u5fa9\u6b78\uff0c\u4e26\u4e14\u6aa2\u67e5\u6578\u503c\u4e26\u63a7\u5236\u5347\u964d\u624b\u81c2\u4f4d\u5740\u8207Servo \u89d2\u5ea6\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/tVLuH2qcHPKmc3yH81cfq-IGwfcBATRe1TVj90tuQ08nqJvG6piUriOvJgs9PEHqxuTQ7vzmxoS3vATS4NrNeDhW5OX9LO7JmR_YbuHcn8XL6O_46hyzBDZ58NyGLFe4x7LY8Fxk=s0\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<figure class=\"wp-block-embed aligncenter is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"VMX\u667a\u6167\u79fb\u52d5\u5e73\u53f0\u6559\u5b78 - \u55ae\u5143(\u4e94) Shuffleboard \u5100\u9336\u677f\u8a2d\u8a08\u61c9\u7528\" width=\"1140\" height=\"641\" src=\"https:\/\/www.youtube.com\/embed\/N2CmtO1qV2Y?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" 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