自学教程：C++ GetWatchdog函数代码示例

	/**	 * Runs the motors with arcade steering. 	 */	void OperatorControl(void)	{				GetWatchdog().SetEnabled(true);		compressor->Start();				GetWatchdog().SetExpiration(0.5);				bool valve_state = false;				while (IsOperatorControl())		{			motor->Set(stick->GetY());						if (stick->GetRawButton(1) && !valve_state)			{				valve->Set(true);				valve_state = true;			}						if (!stick->GetRawButton(1) && valve_state)			{				valve->Set(false);				valve_state = false;			}			// Update driver station			//dds->sendIOPortData(valve);			GetWatchdog().Feed();		}	}

	/**	 * Runs the motors with arcade steering. 	 */	void OperatorControl(void)	{		AnalogTrigger trig1(2);		trig1.SetLimitsVoltage(1.5, 2.5);					AnalogTrigger trig2(3);		trig2.SetLimitsVoltage(1.5, 2.5);		Encoder encoder(			trig1.CreateOutput(AnalogTriggerOutput::kRisingPulse),			trig2.CreateOutput(AnalogTriggerOutput::kRisingPulse),			false, Encoder::k2X); 				double tm = GetTime();				GetWatchdog().SetEnabled(true);		while (IsOperatorControl())		{			GetWatchdog().Feed();			myRobot.ArcadeDrive(stick); // drive with arcade style (use right stick)						if (GetTime() - tm > 0.25)			{				printf("Encoder: %d/r", encoder.Get());				tm = GetTime();			}						Wait(0.005);				// wait for a motor update time		}	}

	//robot turns to desired position with a deadband of 2 degrees in each direction	bool GyroTurn (float desiredTurnAngle, float turnSpeed)	{		bool turning = true;		float myAngle = gyro->GetAngle();		//normalizes angle from gyro to [-180,180) with zero as straight ahead		while(myAngle >= 180)		{			GetWatchdog().Feed();			myAngle = myAngle - 360;		}		while(myAngle < -180)		{			GetWatchdog().Feed();			myAngle = myAngle + 360;		}		if(myAngle < (desiredTurnAngle - 2))// if robot is too far left, turn right a bit		{			myRobot->Drive(turnSpeed, -turnSpeed); //(right,left)		}		if(myAngle > (desiredTurnAngle + 2))// if robot is too far right, turn left a bit		{			myRobot->Drive(-turnSpeed, turnSpeed); //(right,left)		}		else		{			myRobot->Drive(0, 0);			turning = false;		}		return turning;	}

	/**	 * Runs the motors with arcade steering. 	 */	void OperatorControl(void)	{		GetWatchdog().SetEnabled(true);		while (IsOperatorControl())		{			GetWatchdog().Feed();			myRobot.ArcadeDrive(stick); // drive with arcade style (use right stick)		}	}

	Spike::Spike(void)	{ 		GetWatchdog().SetExpiration(10.0);//set up watchdog		GetWatchdog().SetEnabled(true);				Drive = new RobotDrive(LEFT_DRV_PWM,RIGHT_DRV_PWM);		rightjoy = new Joystick(1);		leftjoy = new Joystick(2);	}

	void DashBoardInput() {		int i = 0;		GetWatchdog().SetEnabled(true);		while (IsAutonomous() && IsEnabled()) {			i++;			GetWatchdog().Feed();			dsLCD->PrintfLine(DriverStationLCD::kUser_Line1, "%f, %i",					driverStation->GetAnalogIn(1), i);			dsLCD->UpdateLCD();		}	}

	/**	 * Drive left & right motors for 2 seconds, enabled by a jumper (jumper	 * must be in for autonomous to operate).	 */	void Autonomous(void)	{		GetWatchdog().SetEnabled(false);		if (ds->GetDigitalIn(ENABLE_AUTONOMOUS) == 1)	// only run the autonomous program if jumper is in place		{			myRobot->Drive(0.5, 0.0);			// drive forwards half speed			Wait(2000);							//    for 2 seconds			myRobot->Drive(0.0, 0.0);			// stop robot		}		GetWatchdog().SetEnabled(true);	}

        /**     * Constructor for this robot subclass.     * Create an instance of a RobotDrive with left and right motors plugged into PWM     * ports 1 and 2 on the first digital module. The two servos are PWM ports 3 and 4.     * Tested with camera settings White Balance: Flurorescent1, Brightness 40, Exposure Auto     */    TwoColorDemo(void)    {        ds = DriverStation::GetInstance();        myRobot = new RobotDrive(1, 2, 0.5);    // robot will use PWM 1-2 for drive motors        rightStick = new Joystick(1);   // create the joysticks        leftStick = new Joystick(2);        // remember to use jumpers on the sidecar for the Servo PWMs        horizontalServo = new Servo(9); // create horizontal servo on PWM 9        verticalServo = new Servo(10);  // create vertical servo on PWM 10        servoDeadband = 0.01;   // move if > this amount         framesPerSecond = 15;   // number of camera frames to get per second        sinStart = 0.0;         // control where to start the sine wave for pan        memset(&par, 0, sizeof(par));   // initialize particle analysis report        /* image data for tracking - override default parameters if needed */        /* recommend making PINK the first color because GREEN is more          * subsceptible to hue variations due to lighting type so may         * result in false positives */        // PINK        sprintf(td1.name, "PINK");        td1.hue.minValue = 220;        td1.hue.maxValue = 255;        td1.saturation.minValue = 75;        td1.saturation.maxValue = 255;        td1.luminance.minValue = 85;        td1.luminance.maxValue = 255;        // GREEN        sprintf(td2.name, "GREEN");        td2.hue.minValue = 55;        td2.hue.maxValue = 125;        td2.saturation.minValue = 58;        td2.saturation.maxValue = 255;        td2.luminance.minValue = 92;        td2.luminance.maxValue = 255;        /* set up debug output:          * DEBUG_OFF, DEBUG_MOSTLY_OFF, DEBUG_SCREEN_ONLY, DEBUG_FILE_ONLY, DEBUG_SCREEN_AND_FILE          */        SetDebugFlag(DEBUG_SCREEN_ONLY);        /* start the CameraTask  */        if (StartCameraTask(framesPerSecond, 0, k320x240, ROT_0) == -1)        {            DPRINTF(LOG_ERROR,                    "Failed to spawn camera task; exiting. Error code %s",                    GetVisionErrorText(GetLastVisionError()));        }        /* allow writing to vxWorks target */        Priv_SetWriteFileAllowed(1);        /* stop the watchdog if debugging  */        GetWatchdog().SetExpiration(0.5);        GetWatchdog().SetEnabled(false);    }

	/**	 * Runs the motors with arcade steering. 	 */	void RobotMain(void)	{		GetWatchdog().SetEnabled(false);				while (true)		{			GetWatchdog().Feed();			sendIOPortData();			sendVisionData();			Wait(1.0);		}	}

	/****************************************	 * MainRobot: (The constructor)	 * Mandatory method.	 * TODO:	 * - Tweak anything related to the scissor lift - verify values.	 * - Find out how to configure Victor.	 */	MainRobot(void):		// Below: The constructor needs to know which port connects to which		// motor so it can control the Jaguars correctly.		// See constants at top.		robotDrive(LEFT_FRONT_MOTOR_PORT, LEFT_REAR_MOTOR_PORT, 		RIGHT_FRONT_MOTOR_PORT, RIGHT_REAR_MOTOR_PORT)		{			SmartDashboard::init();			GetWatchdog().SetExpiration(0.1);  				// In seconds.			stick1 = new Joystick(MOVE_JOYSTICK_USB); 		// Joystick 1			stick2 = new Joystick(LIFT_JOYSTICK_USB);		// Joystick 2						minibot = new MinibotDeployment (					MINIBOT_DEPLOY_PORT,					MINIBOT_DEPLOYED_DIO,					MINIBOT_RETRACTED_DIO);			lineSensors = new LineSensors (					LEFT_CAMERA_PORT,					MIDDLE_CAMERA_PORT,					RIGHT_CAMERA_PORT);						lift = new LiftController (					LIFT_MOTOR_PORT,					HIGH_LIFT_DIO,					LOW_LIFT_DIO);			lift->initButtons(					kJSButton_2,	// Botton top button					kJSButton_4,	// Left top button					kJSButton_3, 	// Center top button					kJSButton_5); 	// Right top button						// The wiring was inverted on the left motors, so the below			// is necessary.			robotDrive.SetInvertedMotor(RobotDrive::kFrontLeftMotor, true);			robotDrive.SetInvertedMotor(RobotDrive::kRearLeftMotor, true);						isFastSpeedOn = false;			isSafetyModeOn = true;			isLiftHigh = false;			// isSafetyModeOn:  Controlled by the driver -- should only have to			// 					choose once.			// isLiftHigh: 		Controlled by the program -- turns true only 			//					when height is too high, otherwise turns false.						isDoingPreset = false;						GetWatchdog().SetEnabled(true);			UpdateDashboard("TestingTestingTestingTesting"							"TestingTestingTestingTestingTesting");			UpdateDashboard("Finished initializing.");		}

	void OperatorControl(void)	{				GetWatchdog().SetExpiration(.1);		GetWatchdog().SetEnabled(true);		GetWatchdog().Feed();		while (IsOperatorControl())		{			GetWatchdog().Feed();	   							UpdateDash();			Wait(.001f);		}	}

void RobotBeta1::resetGyro(void) {	DBG("Enter/n");	float angle;	do {		gyro->Reset();		angle = gyro->GetAngle();		DBG("calibrate angle %f/r", angle);		GetWatchdog().Feed();		Wait(0.1);		GetWatchdog().Feed();	} while (((int)angle) != 0);	DBG("/nExit/n");}

	/**	 * Run the closed loop position controller on the Jag.	 */	void OperatorControl()	{		printf("In OperatorControl/n");		GetWatchdog().SetEnabled(true);		while (IsOperatorControl() && !IsDisabled())		{			GetWatchdog().Feed();			// Set the desired setpoint			speedJag.Set(stick.GetAxis(axis) * 150.0);			UpdateDashboardStatus();			Wait(0.05);		}	}

	void Test(void)	{		compressor->Start();		myRobot.SetSafetyEnabled(true);		GetWatchdog().SetEnabled(true);		GetWatchdog().SetExpiration(1);		GetWatchdog().Feed();		while(IsTest())		{			GetWatchdog().Feed();			Wait(0.1);		}	}

	Robot2014(void){		GetWatchdog().SetExpiration(1);		GetWatchdog().SetEnabled(false);				drivePad = new Joystick(DRIVEPAD);		gamePad = new Joystick(GAMEPAD);				driveTrain = new MecanumDrive();		ballShooter = new Shooter();		pickupBall = new BallPickup();		//vision = new VisionSystem();				autonTimer = new Timer();	}

	void OperatorControl(void) {		XboxController *xbox = XboxController::getInstance();		bool isEndGame = false;		GetWatchdog().SetEnabled(true);		_driveControl.initialize();		//_poleVaultControl.initialize();		shooterControl.InitializeOperator();		while (IsEnabled() && IsOperatorControl()) {			GetWatchdog().Feed();			dsLCD->Clear();			if (xbox->isEndGame()) {				isEndGame = !isEndGame;			}			if (!isEndGame) {				shooterControl.Run();				//_poleVaultControl.act();				_driveControl.act();				dsLCD->PrintfLine(DriverStationLCD::kUser_Line1, "Normal");				led0->Set((shooterControl.getLED1())?Relay::kOn: Relay::kOff);				led1->Set((shooterControl.getLED2())?Relay::kOn: Relay::kOff);			}			else {				shooterControl.RunEndGame();				//_poleVaultControl.actEndGame();				_driveControl.actEndGame();				dsLCD->PrintfLine(DriverStationLCD::kUser_Line1, "End Game");								flashCount--;								if (flashCount<=0){					isFlashing = !isFlashing;					flashCount=FLASHTIME;								}												led0->Set((isFlashing)?Relay::kOn: Relay::kOff);				led1->Set((isFlashing)?Relay::kOn: Relay::kOff);			}//			dsLCD->PrintfLine(DriverStationLCD::kUser_Line6, "Flash: %i", flashCount);			dsLCD->UpdateLCD();			Wait(WAIT_TIME); // wait for a motor update time		}		GetWatchdog().SetEnabled(false);	}

	/**	 * Runs the motors under driver control with either tank or arcade steering selected	 * by a jumper in DS Digin 0. Also an arm will operate based on a joystick Y-axis. 	 */	void OperatorControl(void)	{		Victor armMotor(5);						// create arm motor instance		while (IsOperatorControl())		{			GetWatchdog().Feed();			// determine if tank or arcade mode; default with no jumper is for tank drive			if (ds->GetDigitalIn(ARCADE_MODE) == 0) {					myRobot->TankDrive(leftStick, rightStick);	 // drive with tank style			} else{				myRobot->ArcadeDrive(rightStick);	         // drive with arcade style (use right stick)			}			// Control the movement of the arm using the joystick			// Use the "Y" value of the arm joystick to control the movement of the arm			float armStickDirection = armStick->GetY();			// if at a limit and telling the arm to move past the limit, don't drive the motor			if ((armUpperLimit->Get() == 0) && (armStickDirection > 0.0)) {				armStickDirection = 0;			} else if ((armLowerLimit->Get() == 0) && (armStickDirection < 0.0)) {				armStickDirection = 0;			}			// Set the motor value 			armMotor.Set(armStickDirection);		}	}

	void OperatorControl(void) {		GetWatchdog().SetEnabled(true);		dsLCD->Clear();		dsLCD->UpdateLCD();		driveControl.initialize();		pneumaticsControl->initialize();		shooterControl->initialize();		while (IsOperatorControl() && IsEnabled()) {			GetWatchdog().Feed();			driveControl.run();			shooterControl->run();			dsLCD->UpdateLCD();			Wait(0.005); // wait for a motor update time		}		pneumaticsControl->disable();	}

	void tune_jog(void)	{		GetWatchdog().Feed();				static volatile float time;		static volatile float pos;				if (t_axis > na) 			return;				if (t_jog_time[t_axis] < .1) 			return;		time += 0.01;				if ((time >= 0) && ( time < t_jog_time[t_axis] )) 			return;				time = 0;				if (pos == 12) pos = 24;		else pos = 12;					set_position(t_axis, pos, 1, -.35);				/*				if  (pot_pos[t_axis] < t_pos_dn[t_axis])		       set_position  (t_axis, t_pos_up[t_axis], t_lim_up[t_axis],t_lim_dn[t_axis]);		if  (pot_pos[t_axis] > t_pos_up[t_axis])		       set_position  (t_axis, t_pos_dn[t_axis], t_lim_up[t_axis],t_lim_dn[t_axis]);				*/	}

	void AutonomousContinuous(void) {		printf("Running in autonomous continuous.../n");		GetWatchdog().Feed();				if (kicker->HasBall())		{			//We have a ball, thus stop moving and kick the ball			drivetrain->Drive(0.0, 0.0);			kicker->SetKickerMode(KICKER_MODE_KICK);		} else {			//We do not have a ball			if (kicker->IsKickerInPosition())			{				//Move forward!				drivetrain->ArcadeDrive(autonomousForwardPower, 0.0);			} else {				//If not in position, wait for it to be there...				drivetrain->ArcadeDrive(0.0, 0.0);				kicker->SetKickerMode(KICKER_MODE_ARM);			}		}				//Run the kicker		kicker->Act();	}

	/**	 * Drive left & right motors for 2 seconds then stop	 */	void Autonomous(void)	{		GetWatchdog().SetEnabled(false);		myRobot.Drive(0.5, 0.0); 	// drive forwards half speed		Wait(2.0); 				//    for 2 seconds		myRobot.Drive(0.0, 0.0); 	// stop robot	}

	/********************************* INIT FUNCTIONS *********************************/	void RobotInit(void) {		printf("Robot initializing.../n");		GetWatchdog().Feed();				printf("Robot initialization complete./n");	}

	RobotDemo(void)	{					///constructs		game = false;//set to true or false before use- true for auton & tele-op, false for just 1				cd = new CustomDrive(NUM_JAGS);				closed = new Solenoid(8, 1);//true if closed		open = new Solenoid(8, 2);		stick = new Joystick(2);// arm controll		controller = new Joystick(1);// base				manEnc = new Encoder(4,5);				reset = false;//if button 				manJag = new Jaguar(6);//cons manip Jag		ShoulderJag = new Jaguar(5);						minibot = new DoubleSolenoid(3, 4);cmp = new Compressor(DOC7_RELAY_PORT, DOC7_COMPRESSOR_PORT);		track = new Tracking(DOC7_LEFT_LINE_PORT, DOC7_CENTER_LINE_PORT, DOC7_RIGHT_LINE_PORT);		red_white = new Relay(DOC7_RED_WHITE_SPIKE);		red_white->SetDirection(Relay::kBothDirections);		red_white->Set(Relay::kOff);		blue = new Relay(DOC7_BLUE_SPIKE);		blue->SetDirection(Relay::kBothDirections);		blue->Set(Relay::kOff);		GetWatchdog().Kill();	};

    void DisabledPeriodic(void)  {        GetWatchdog().Feed();        disabledPeriodicLoops++;        if ((disabledPeriodicLoops % 4) == 0) {            tiltA	=	(90.0 - (180.0 * (tiltEncoder->GetAverageVoltage() - 0.5) / 4.0));            lThrottleValue = leftStick->GetThrottle();            shootDelay = (4 - (((rightStick->GetThrottle()) + 1) * 2)); // Allows values from 0 - 4 instead of -1 to 1            Write2LCD();        }        if (lThrottleValue > 0) {            autonMode = 3;        }        else if (lThrottleValue < 0) {            autonMode = 2;        }    }

	void AutonomousStateMachine() {		pneumaticsControl->initialize();		shooterControl->initializeAuto();		driveControl.initializeAuto();		enum AutoState {			AutoDrive, AutoSetup, AutoShoot		};		AutoState autoState;		autoState = AutoDrive;		bool feederState = false;		bool hasFired = false;		Timer feeder;		while (IsAutonomous() && IsEnabled()) {			GetWatchdog().Feed();			switch (autoState) {//Start of Case Machine			case AutoDrive://Drives the robot to set Destination 				bool atDestination = driveControl.autoPIDDrive2();				if (atDestination) {//If at Destination, Transition to Shooting Setup					autoState = AutoSetup;				}				break;			case AutoSetup://Starts the ballgrabber motors to place the ball and extends ballgrabber				if (!pneumaticsControl->ballGrabberIsExtended()) {//extends ballgrabber if not already extended					pneumaticsControl->ballGrabberExtend();				}				if (!feederState) {//Started the feeder timer once					feederState = true;					feeder.Start();					autoState = AutoShoot;				}				break;			case AutoShoot://Shoots the ball				if (feeder.Get() < 2.0) {//Runs ballgrabber for 2.0 Seconds at most					shooterControl->feed(true);				} else if (feeder.Get() >= 2.0) {//Transition to Shooting					shooterControl->feed(false);					feeder.Stop();				}								if (pneumaticsControl->ballGrabberIsExtended() && !hasFired) {					shooterControl->autoShoot();					dsLCD->PrintfLine(DriverStationLCD::kUser_Line1,							"The robot is(should be) shooting");					if (shooterControl->doneAutoFire()) {//Returns true only after shoot is done firing						hasFired = true;					}				} else if (hasFired) {//runs only after shoot is done					dsLCD->PrintfLine(DriverStationLCD::kUser_Line1,							"AutoMode Finished");				}				break;			}			dsLCD->UpdateLCD();		}	}

    /**     * Constructor for this robot subclass.     * Create an instance of a RobotDrive with left and right motors     * plugged into PWM ports 1 and 2 on the first digital module. The two     * servos are PWM ports 3 and 4.     */    VisionServoDemo(void)    {        ds = DriverStation::GetInstance();        myRobot = new RobotDrive(1, 2, 0.5); // robot will use PWM 1-2 for drive motors        rightStick = new Joystick(1);   // create the joysticks        leftStick = new Joystick(2);        horizontalServo = new Servo(3); // create horizontal servo        verticalServo = new Servo(4);   // create vertical servo        servoDeadband = 0.01;   // move if > this amount        sinStart = 0.0;         // control whether to start panning up or down        m_pDashboard = &(m_ds->GetDashboardPacker());        /* set up debug output:         * DEBUG_OFF, DEBUG_MOSTLY_OFF, DEBUG_SCREEN_ONLY,         * DEBUG_FILE_ONLY, DEBUG_SCREEN_AND_FILE         */        SetDebugFlag(DEBUG_FILE_ONLY);        /* start the CameraTask  */        if (StartCameraTask(20, 0, k160x120, ROT_180) == -1)        {            DPRINTF(LOG_ERROR,                    "Failed to spawn camera task; exiting. Error code %s",                    GetVisionErrorText(GetLastVisionError()));        }        m_pVideoServer = new PCVideoServer;        /* allow writing to vxWorks target */        Priv_SetWriteFileAllowed(1);        /* stop the watchdog if debugging  */        GetWatchdog().SetEnabled(false);    }

void Michael1::Autonomous(void){	printf("/n/n/tStart Autonomous:/n/n");	GetWatchdog().SetEnabled(false);	ariels_light->Set(1);			while (IsAutonomous())	{		Wait(0.1); //important		dt->SmoothTankDrive(left_stick, right_stick);		//dt->UpdateSlip();		//dt->UpdateSlip(); //calling slipControl(true) should spawn a task which does this.				//printf("Encoder: %f, ", dt->encoder_left->GetDistance());		//printf("Gyro: %f, ", dt->gyro->GetAngle());		//printf("Accel: %f", dt->accel->GetAcceleration());		//printf("/n/n");s				/*Wait(.1);		if(cam->FindTargets()){			ariels_light->Set(1);		} else {			ariels_light->Set(0);		}		*/	}}

void Metrobot::RobotInit(){	drive = new Drive( flMotor, blMotor, frMotor, brMotor, 						flEncoder, blEncoder, frEncoder, brEncoder, gyro );	drive->SetInvertedMotors( false, false, false, false );		vision = Vision::GetInstance();		ds = DriverStationLCD::GetInstance();		autonScript = NO_SCRIPT;	autonStep = 0;		GetWatchdog().SetExpiration( 0.1 );	GetWatchdog().SetEnabled( true );	}

	/****************************************	 * UpdateDashboard:	 * Input = none	 * Output = Safety mode	 * 			Watchdog state	 * 			Robot Speed	 * 			System state (Autonomous or Teleoperated?)	 * 			Robot state (Enabled or Disabled?)	 * 			Timer	 * 			Minibot alert	 * Dependent on the 'SmartDashboard' class from the WPI library.	 * TODO:	 * - Test to see if this works.	 */	void UpdateDashboard(void)	{			// Setup here (default values set):		const char *watchdogCheck;		if (GetWatchdog().IsAlive()) {			watchdogCheck = GetWatchdog().GetEnabled() ? "Enabled" : "DISABLED";		} else {			watchdogCheck = "DEAD";		}				const char *systemState;		if (IsOperatorControl()) {			systemState = "Teleoperate";		} else if (IsAutonomous()) {			systemState = "Autonomous";		} else {			systemState = "???";		}				const char *minibotStatus;		float currentTime = timer.Get();		if (currentTime >= (GAMEPLAY_TIME - 15)) { 			minibotStatus = "Get Ready";			if (currentTime >= (GAMEPLAY_TIME - 10)) {				minibotStatus = "DEPLOY";			}		} else {			minibotStatus = "...";		}						// Safety info		SmartDashboard::Log(isSafetyModeOn ? "ENABLED" : "Disabled", "Safety mode: ");		SmartDashboard::Log(watchdogCheck, "Watchdog State: ");				// Robot actions		SmartDashboard::Log(isFastSpeedOn ? "Fast" : "Normal", "Speed: ");		SmartDashboard::Log(lift->getCurrentHeight(), "Current Lift Height: ");				// Info about the field state		SmartDashboard::Log(systemState, "System State: ");		SmartDashboard::Log(IsEnabled() ? "Enabled" : "DISABLED", "Robot State: ");				// Info about time		SmartDashboard::Log(minibotStatus, "MINIBOT ALERT: ");	}

    CB1(void)	{        frontLeft = new Victor(1);												//New Motors        backLeft = new Victor(2);        frontRight = new Victor(3);        backRight = new Victor(4);        shooterFront = new Victor(5);        shooterBack = new Victor(6);        tiltShooter = new Victor(7);        drive = new RobotDrive(frontLeft, backLeft, frontRight, backRight);		//Drive Train        discPush = new DoubleSolenoid(1,2);										//Pneumatics        pumpAir	= new Compressor(14,8);        ds = DriverStation::GetInstance();										//Driver Station        dsLCD = DriverStationLCD::GetInstance();        priorPacketNumber = 0;        dsPacketsReceivedInCurrentSecond = 0;        rightEncoder = new AugmentedEncoder(4, 5, d_p_r / t_p_r, false);		//Encoders        leftEncoder = new AugmentedEncoder(6, 7, d_p_r / t_p_r, true);        shooterEncoder = new AugmentedEncoder(8, 9, d_p_r / t_p_r, false);        tiltEncoder = new AnalogChannel(1, 1);        autotimer	=	new Timer();											//Timers        blinktimer	=	new Timer();        teletimer	=	new Timer();        rightStick = new Joystick(1);											//Controls        leftStick = new Joystick(2);        pilotPad = new LogitechGamepad(3);        shooterState = SHOOTEROFF;								//Values        pistonState = PISTONO;        autoPeriodicLoops = 0;        disabledPeriodicLoops = 0;        telePeriodicLoops = 0;        rightD = 0.0;        leftD = 0.0;        rightV = 0.0;        leftV = 0.0;        shooterV = 0.0;        pumpAir->Start();														//Compressor Start        leftEncoder->Start();													//Encoders Start        rightEncoder->Start();        shooterEncoder->Start();        autonMode = 2;        lThrottleValue = 0;        shootDelay = 0;        GetWatchdog().SetExpiration(50);										//50ms Timeout    }