{"id":1668,"date":"2020-04-18T02:24:27","date_gmt":"2020-04-17T19:24:27","guid":{"rendered":"https:\/\/www.phidgets.com\/educationDEV\/?page_id=1668"},"modified":"2022-04-29T05:12:33","modified_gmt":"2022-04-28T22:12:33","slug":"move","status":"publish","type":"page","link":"https:\/\/www.phidgets.com\/education\/learn\/projects\/rover-thumbstick\/move\/","title":{"rendered":"Move"},"content":{"rendered":"

[et_pb_section bb_built=”1″ specialty=”on” _builder_version=”4.4.1″ use_custom_gutter=”on” gutter_width=”3″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″][et_pb_column type=”1_4″][et_pb_code admin_label=”ph-vertical-menu” _builder_version=”4.6.6″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″ disabled_on=”off|off|” disabled=”off”]<\/p>\n

Thumbstick <\/a> Parts <\/a> Setup <\/a> Move <\/a> Overview <\/a> Write Code <\/a> Practice <\/a> Turn <\/a><\/div>\n

[\/et_pb_code][\/et_pb_column][et_pb_column type=”3_4″ specialty_columns=”3″][et_pb_row_inner _builder_version=”4.6.6″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″ module_id=”overview”][et_pb_column_inner type=”4_4″ saved_specialty_column_type=”3_4″ custom_padding__hover=”|||” custom_padding=”|||” saved_specialty_column_type=”3_4″][et_pb_code admin_label=”Rover kit: Thumbstick Control – Move” _builder_version=”4.6.6″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″]<\/p>\n

Projects<\/a><\/div>\n

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Phidget Rover Kit – Thumbstick<\/div>\n

<\/p>\n

Move<\/h1>\n

[\/et_pb_code][et_pb_code admin_label=”Instructions” _builder_version=”4.6.6″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″]You can add the following code to your PhidgetsRover<\/i> project, or create a new project. If you\u2019ve forgotten how to do this, revisit the Configure section<\/a> from the Getting Started Kit. <\/pee>[\/et_pb_code][\/et_pb_column_inner][\/et_pb_row_inner][et_pb_row_inner _builder_version=”4.6.6″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″ module_id=”write-code”][et_pb_column_inner type=”4_4″ saved_specialty_column_type=”3_4″ custom_padding__hover=”|||” custom_padding=”|||” saved_specialty_column_type=”3_4″][et_pb_text admin_label=”WriteCode Placeholder” _builder_version=”4.6.6″ text_text_shadow_horizontal_length=”text_text_shadow_style,%91object Object%93″ text_text_shadow_horizontal_length_tablet=”0px” text_text_shadow_vertical_length=”text_text_shadow_style,%91object Object%93″ text_text_shadow_vertical_length_tablet=”0px” text_text_shadow_blur_strength=”text_text_shadow_style,%91object Object%93″ text_text_shadow_blur_strength_tablet=”1px” link_text_shadow_horizontal_length=”link_text_shadow_style,%91object Object%93″ link_text_shadow_horizontal_length_tablet=”0px” link_text_shadow_vertical_length=”link_text_shadow_style,%91object Object%93″ link_text_shadow_vertical_length_tablet=”0px” link_text_shadow_blur_strength=”link_text_shadow_style,%91object Object%93″ link_text_shadow_blur_strength_tablet=”1px” ul_text_shadow_horizontal_length=”ul_text_shadow_style,%91object Object%93″ ul_text_shadow_horizontal_length_tablet=”0px” ul_text_shadow_vertical_length=”ul_text_shadow_style,%91object Object%93″ ul_text_shadow_vertical_length_tablet=”0px” ul_text_shadow_blur_strength=”ul_text_shadow_style,%91object Object%93″ ul_text_shadow_blur_strength_tablet=”1px” ol_text_shadow_horizontal_length=”ol_text_shadow_style,%91object Object%93″ ol_text_shadow_horizontal_length_tablet=”0px” ol_text_shadow_vertical_length=”ol_text_shadow_style,%91object Object%93″ ol_text_shadow_vertical_length_tablet=”0px” ol_text_shadow_blur_strength=”ol_text_shadow_style,%91object Object%93″ ol_text_shadow_blur_strength_tablet=”1px” quote_text_shadow_horizontal_length=”quote_text_shadow_style,%91object Object%93″ quote_text_shadow_horizontal_length_tablet=”0px” quote_text_shadow_vertical_length=”quote_text_shadow_style,%91object Object%93″ quote_text_shadow_vertical_length_tablet=”0px” quote_text_shadow_blur_strength=”quote_text_shadow_style,%91object Object%93″ quote_text_shadow_blur_strength_tablet=”1px” header_text_shadow_horizontal_length=”header_text_shadow_style,%91object Object%93″ header_text_shadow_horizontal_length_tablet=”0px” header_text_shadow_vertical_length=”header_text_shadow_style,%91object Object%93″ header_text_shadow_vertical_length_tablet=”0px” header_text_shadow_blur_strength=”header_text_shadow_style,%91object Object%93″ header_text_shadow_blur_strength_tablet=”1px” header_2_text_shadow_horizontal_length=”header_2_text_shadow_style,%91object Object%93″ header_2_text_shadow_horizontal_length_tablet=”0px” header_2_text_shadow_vertical_length=”header_2_text_shadow_style,%91object Object%93″ header_2_text_shadow_vertical_length_tablet=”0px” header_2_text_shadow_blur_strength=”header_2_text_shadow_style,%91object Object%93″ header_2_text_shadow_blur_strength_tablet=”1px” header_3_text_shadow_horizontal_length=”header_3_text_shadow_style,%91object Object%93″ header_3_text_shadow_horizontal_length_tablet=”0px” header_3_text_shadow_vertical_length=”header_3_text_shadow_style,%91object Object%93″ header_3_text_shadow_vertical_length_tablet=”0px” header_3_text_shadow_blur_strength=”header_3_text_shadow_style,%91object Object%93″ header_3_text_shadow_blur_strength_tablet=”1px” header_4_text_shadow_horizontal_length=”header_4_text_shadow_style,%91object Object%93″ header_4_text_shadow_horizontal_length_tablet=”0px” header_4_text_shadow_vertical_length=”header_4_text_shadow_style,%91object Object%93″ header_4_text_shadow_vertical_length_tablet=”0px” header_4_text_shadow_blur_strength=”header_4_text_shadow_style,%91object Object%93″ header_4_text_shadow_blur_strength_tablet=”1px” header_5_text_shadow_horizontal_length=”header_5_text_shadow_style,%91object Object%93″ header_5_text_shadow_horizontal_length_tablet=”0px” header_5_text_shadow_vertical_length=”header_5_text_shadow_style,%91object Object%93″ header_5_text_shadow_vertical_length_tablet=”0px” header_5_text_shadow_blur_strength=”header_5_text_shadow_style,%91object Object%93″ header_5_text_shadow_blur_strength_tablet=”1px” header_6_text_shadow_horizontal_length=”header_6_text_shadow_style,%91object Object%93″ header_6_text_shadow_horizontal_length_tablet=”0px” header_6_text_shadow_vertical_length=”header_6_text_shadow_style,%91object Object%93″ header_6_text_shadow_vertical_length_tablet=”0px” header_6_text_shadow_blur_strength=”header_6_text_shadow_style,%91object Object%93″ header_6_text_shadow_blur_strength_tablet=”1px” box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″ disabled=”on” disabled_on=”on|on|on” \/][\/et_pb_column_inner][\/et_pb_row_inner][et_pb_row_inner admin_label=”Row” _builder_version=”4.6.6″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” module_class=”ph-user-java” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″][et_pb_column_inner type=”4_4″ saved_specialty_column_type=”3_4″ custom_padding__hover=”|||” custom_padding=”|||” saved_specialty_column_type=”3_4″][et_pb_code admin_label=”Write code Java” _builder_version=”4.6.6″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″ saved_tabs=”all”]<\/p>\n

Write code (Java)<\/h2>\n

Not your programming language? Set your preferences<\/a> so we can display relevant code examples<\/pee>[\/et_pb_code][et_pb_code admin_label=”Code Sample – Netbeans” _builder_version=”4.6.6″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″ module_class=”ph-user-netbeans”]<\/p>\n

  package phidgetsrover;\/\/Add Phidgets Libraryimport com.phidget22.*;public class PhidgetsRover{    public static void main(String[] args) throws Exception{        \/\/Connect to wireless rover        Net.addServer(\"\", \"192.168.100.1\", 5661, \"\", 0);        \/\/Create        DCMotor leftMotors = new DCMotor();        DCMotor rightMotors = new DCMotor();        VoltageRatioInput vAxis = new VoltageRatioInput();         \/\/Address        leftMotors.setChannel(0);        rightMotors.setChannel(1);        vAxis.setChannel(0);        \/\/Open        leftMotors.open(5000);        rightMotors.open(5000);        vAxis.open(5000);        \/\/Increase acceleration        leftMotors.setAcceleration(leftMotors.getMaxAcceleration());        rightMotors.setAcceleration(rightMotors.getMaxAcceleration());        \/\/Use your Phidgets        while(true)        {            \/\/Get data from vertical axis (value between -1 and 1)            double verticalAxis = vAxis.getVoltageRatio();                        \/\/Use Thumbstick position set motor controller target velocity            leftMotors.setTargetVelocity(verticalAxis);            rightMotors.setTargetVelocity(verticalAxis);            \/\/Wait 100 milliseconds            Thread.sleep(100);        }    }}<\/code><\/pre>\n
[\/et_pb_code][et_pb_code admin_label=”Code Sample – Eclipse” _builder_version=”4.6.6″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″ module_class=”ph-user-eclipse”]<\/p>\n
  \/\/Add Phidgets Libraryimport com.phidget22.*;public class PhidgetsRover{    public static void main(String[] args) throws Exception{        \/\/Connect to wireless rover        Net.addServer(\"\", \"192.168.100.1\", 5661, \"\", 0);        \/\/Create        DCMotor leftMotors = new DCMotor();        DCMotor rightMotors = new DCMotor();        VoltageRatioInput vAxis = new VoltageRatioInput();         \/\/Address        leftMotors.setChannel(0);        rightMotors.setChannel(1);        vAxis.setChannel(0);        \/\/Open        leftMotors.open(5000);        rightMotors.open(5000);        vAxis.open(5000);        \/\/Increase acceleration        leftMotors.setAcceleration(leftMotors.getMaxAcceleration());        rightMotors.setAcceleration(rightMotors.getMaxAcceleration());        \/\/Use your Phidgets        while(true)        {            \/\/Get data from vertical axis (value between -1 and 1)            double verticalAxis = vAxis.getVoltageRatio();                        \/\/Use Thumbstick position set motor controller target velocity            leftMotors.setTargetVelocity(verticalAxis);            rightMotors.setTargetVelocity(verticalAxis);                       \/\/Wait 100 milliseconds            Thread.sleep(100);        }    }}<\/code><\/pre>\n
[\/et_pb_code][et_pb_code admin_label=”Code Sample – Processing” _builder_version=”4.6.6″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″ module_class=”ph-user-processing”]<\/p>\n
  \/\/Add Phidgets Library import com.phidget22.*;\/\/DefineDCMotor leftMotors;DCMotor rightMotors;VoltageRatioInput vAxis;void setup(){  try{        \/\/Connect to wireless rover    Net.addServer(\"\",\"192.168.100.1\", 5661,\"\",0);        \/\/Create    leftMotors = new DCMotor();    rightMotors = new DCMotor();    vAxis = new VoltageRatioInput();        \/\/Address     leftMotors.setChannel(0);    rightMotors.setChannel(1);    vAxis.setChannel(0);        \/\/Open    leftMotors.open(5000);    rightMotors.open(5000);    vAxis.open(5000);        \/\/Increase acceleration    leftMotors.setAcceleration(leftMotors.getMaxAcceleration());    rightMotors.setAcceleration(rightMotors.getMaxAcceleration());      }catch(Exception e){    \/\/Handle Exceptions    e.printStackTrace();  }}void draw(){  try{        \/\/Get data from vertical axis (value between -1 and 1)    double verticalAxis = vAxis.getVoltageRatio();        \/\/Use Thumbstick position to set motor controller target velocity    leftMotors.setTargetVelocity(verticalAxis);    rightMotors.setTargetVelocity(verticalAxis);        \/\/Wait 100 milliseconds    delay(100);      }catch(Exception e){    \/\/Handle Exceptions    e.printStackTrace();  }}<\/code><\/pre>\n
[\/et_pb_code][\/et_pb_column_inner][\/et_pb_row_inner][et_pb_row_inner admin_label=”Row” _builder_version=”4.6.6″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” module_class=”ph-user-python” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″][et_pb_column_inner type=”4_4″ saved_specialty_column_type=”3_4″ custom_padding__hover=”|||” custom_padding=”|||” saved_specialty_column_type=”3_4″][et_pb_code admin_label=”Write code Python” _builder_version=”4.6.6″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″ saved_tabs=”all”]<\/p>\n
Write code (Python)<\/h2>\n
Not your programming language? Set your preferences<\/a> so we can display relevant code examples.<\/pee>[\/et_pb_code][et_pb_code _builder_version=”4.6.6″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″]<\/p>\n
  #Add Phidgets Libraryfrom Phidget22.Phidget import *from Phidget22.Net import *from Phidget22.Devices.DCMotor import *from Phidget22.Devices.VoltageRatioInput import *#Required for sleep statementimport time#Connect to wireless roverNet.addServer(\"\", \"192.168.100.1\", 5661, \"\", 0)#CreateleftMotors = DCMotor()rightMotors = DCMotor()vAxis = VoltageRatioInput()#AddressleftMotors.setChannel(0)rightMotors.setChannel(1)vAxis.setChannel(0)#OpenleftMotors.openWaitForAttachment(5000)rightMotors.openWaitForAttachment(5000)vAxis.openWaitForAttachment(5000)#Increase accelerationleftMotors.setAcceleration(leftMotors.getMaxAcceleration())rightMotors.setAcceleration(rightMotors.getMaxAcceleration())#Use your Phidgetswhile(True):    #Get data from vertical axis (value between -1 and 1)    verticalAxis = vAxis.getVoltageRatio()    #Use Thumbstick position set motor controller target velocity    leftMotors.setTargetVelocity(verticalAxis)    rightMotors.setTargetVelocity(verticalAxis)        #Wait 100 milliseconds    time.sleep(0.1)<\/code><\/pre>\n
[\/et_pb_code][\/et_pb_column_inner][\/et_pb_row_inner][et_pb_row_inner admin_label=”Row” _builder_version=”4.6.6″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” module_class=”ph-user-csharp” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″][et_pb_column_inner type=”4_4″ saved_specialty_column_type=”3_4″ custom_padding__hover=”|||” custom_padding=”|||” saved_specialty_column_type=”3_4″][et_pb_code admin_label=”Write code C#” _builder_version=”4.6.6″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″ saved_tabs=”all”]<\/p>\n
Write code (C#)<\/h2>\n
Not your programming language? Set your preferences<\/a> so we can display relevant code examples<\/pee>[\/et_pb_code][et_pb_code admin_label=”Code Sample” _builder_version=”4.6.6″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″ module_class=”ph-user-csharp”]<\/p>\n
  \/\/Add Phidgets Libraryusing Phidget22;namespace PhidgetsRover {    class Program {        static void Main(string[] args) {            \/\/Connect to wireless rover            Net.AddServer(\"\", \"192.168.100.1\", 5661, \"\", 0);            \/\/Create            DCMotor leftMotors = new DCMotor();            DCMotor rightMotors = new DCMotor();            VoltageRatioInput vAxis = new VoltageRatioInput();            \/\/Address            leftMotors.Channel = 0;            rightMotors.Channel = 1;            vAxis.Channel = 0;            \/\/Open            leftMotors.Open(5000);            rightMotors.Open(5000);            vAxis.Open(5000);            \/\/Increase acceleration            leftMotors.Acceleration = leftMotors.MaxAcceleration;            rightMotors.Acceleration = rightMotors.MaxAcceleration;            \/\/Use your Phidgets            while(true)             {                \/\/Get data from vertical axis (value between -1 and 1)                double verticalAxis = vAxis.VoltageRatio;                \/\/Use Thumbstick position set motor controller target velocity                leftMotors.TargetVelocity = verticalAxis;                rightMotors.TargetVelocity = verticalAxis;                                \/\/Wait for 100 milliseconds                System.Threading.Thread.Sleep(100);            }        }    }}<\/code><\/pre>\n
[\/et_pb_code][\/et_pb_column_inner][\/et_pb_row_inner][et_pb_row_inner admin_label=”Row” _builder_version=”4.6.6″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” module_class=”ph-user-swift” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″][et_pb_column_inner type=”4_4″ saved_specialty_column_type=”3_4″ custom_padding__hover=”|||” custom_padding=”|||” saved_specialty_column_type=”3_4″][et_pb_code admin_label=”Write code Swift” _builder_version=”4.6.6″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″ saved_tabs=”all”]<\/p>\n
Write code (Swift)<\/h2>\n
Not your programming language? Set your preferences<\/a> so we can display relevant code examples<\/pee>Create two buttons<\/strong><\/pee>[\/et_pb_code][et_pb_text admin_label=”Code Sample” _builder_version=”4.4.1″ text_text_shadow_horizontal_length=”text_text_shadow_style,%91object Object%93″ text_text_shadow_horizontal_length_tablet=”0px” text_text_shadow_vertical_length=”text_text_shadow_style,%91object Object%93″ text_text_shadow_vertical_length_tablet=”0px” text_text_shadow_blur_strength=”text_text_shadow_style,%91object Object%93″ text_text_shadow_blur_strength_tablet=”1px” link_text_shadow_horizontal_length=”link_text_shadow_style,%91object Object%93″ link_text_shadow_horizontal_length_tablet=”0px” link_text_shadow_vertical_length=”link_text_shadow_style,%91object Object%93″ link_text_shadow_vertical_length_tablet=”0px” link_text_shadow_blur_strength=”link_text_shadow_style,%91object Object%93″ link_text_shadow_blur_strength_tablet=”1px” ul_text_shadow_horizontal_length=”ul_text_shadow_style,%91object Object%93″ ul_text_shadow_horizontal_length_tablet=”0px” ul_text_shadow_vertical_length=”ul_text_shadow_style,%91object Object%93″ ul_text_shadow_vertical_length_tablet=”0px” ul_text_shadow_blur_strength=”ul_text_shadow_style,%91object Object%93″ ul_text_shadow_blur_strength_tablet=”1px” ol_text_shadow_horizontal_length=”ol_text_shadow_style,%91object Object%93″ ol_text_shadow_horizontal_length_tablet=”0px” ol_text_shadow_vertical_length=”ol_text_shadow_style,%91object Object%93″ ol_text_shadow_vertical_length_tablet=”0px” ol_text_shadow_blur_strength=”ol_text_shadow_style,%91object Object%93″ ol_text_shadow_blur_strength_tablet=”1px” quote_text_shadow_horizontal_length=”quote_text_shadow_style,%91object Object%93″ quote_text_shadow_horizontal_length_tablet=”0px” quote_text_shadow_vertical_length=”quote_text_shadow_style,%91object Object%93″ quote_text_shadow_vertical_length_tablet=”0px” quote_text_shadow_blur_strength=”quote_text_shadow_style,%91object Object%93″ quote_text_shadow_blur_strength_tablet=”1px” header_text_shadow_horizontal_length=”header_text_shadow_style,%91object Object%93″ header_text_shadow_horizontal_length_tablet=”0px” header_text_shadow_vertical_length=”header_text_shadow_style,%91object Object%93″ header_text_shadow_vertical_length_tablet=”0px” header_text_shadow_blur_strength=”header_text_shadow_style,%91object Object%93″ header_text_shadow_blur_strength_tablet=”1px” header_2_text_shadow_horizontal_length=”header_2_text_shadow_style,%91object Object%93″ header_2_text_shadow_horizontal_length_tablet=”0px” header_2_text_shadow_vertical_length=”header_2_text_shadow_style,%91object Object%93″ header_2_text_shadow_vertical_length_tablet=”0px” header_2_text_shadow_blur_strength=”header_2_text_shadow_style,%91object Object%93″ header_2_text_shadow_blur_strength_tablet=”1px” header_3_text_shadow_horizontal_length=”header_3_text_shadow_style,%91object Object%93″ header_3_text_shadow_horizontal_length_tablet=”0px” header_3_text_shadow_vertical_length=”header_3_text_shadow_style,%91object Object%93″ header_3_text_shadow_vertical_length_tablet=”0px” header_3_text_shadow_blur_strength=”header_3_text_shadow_style,%91object Object%93″ header_3_text_shadow_blur_strength_tablet=”1px” header_4_text_shadow_horizontal_length=”header_4_text_shadow_style,%91object Object%93″ header_4_text_shadow_horizontal_length_tablet=”0px” header_4_text_shadow_vertical_length=”header_4_text_shadow_style,%91object Object%93″ header_4_text_shadow_vertical_length_tablet=”0px” header_4_text_shadow_blur_strength=”header_4_text_shadow_style,%91object Object%93″ header_4_text_shadow_blur_strength_tablet=”1px” header_5_text_shadow_horizontal_length=”header_5_text_shadow_style,%91object Object%93″ header_5_text_shadow_horizontal_length_tablet=”0px” header_5_text_shadow_vertical_length=”header_5_text_shadow_style,%91object Object%93″ header_5_text_shadow_vertical_length_tablet=”0px” header_5_text_shadow_blur_strength=”header_5_text_shadow_style,%91object Object%93″ header_5_text_shadow_blur_strength_tablet=”1px” header_6_text_shadow_horizontal_length=”header_6_text_shadow_style,%91object Object%93″ header_6_text_shadow_horizontal_length_tablet=”0px” header_6_text_shadow_vertical_length=”header_6_text_shadow_style,%91object Object%93″ header_6_text_shadow_vertical_length_tablet=”0px” header_6_text_shadow_blur_strength=”header_6_text_shadow_style,%91object Object%93″ header_6_text_shadow_blur_strength_tablet=”1px” box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″]<\/p>\n
\n<\/p>\n
  \r\n    import Cocoa\r\n    import Phidget22Swift\r\n\r\n    @NSApplicationMain class AppDelegate: NSObject, NSApplicationDelegate {\r\n      @IBOutlet weak var window: NSWindow!\r\n      \/\/ Create\r\n      let leftMotors = DCMotor()\r\n      let rightMotors = DCMotor()\r\n      let vAxis = VoltageRatioInput()\r\n\r\n      @IBAction func moveRover(_ sender: Any) {\r\n      \/\/ Not used in this section\r\n      }\r\n\r\n      \/\/ Set left acceleration\r\n      func onLeftMotorsAttached(sender: Phidget) {\r\n        do {\r\n          try leftMotors.setAcceleration(leftMotors.getMaxAcceleration())\r\n        }catch {\r\n          print(error)\r\n        }\r\n      }\r\n\r\n      \/\/ Set Right acceleration\r\n      func onRightMotorsAttached(sender: Phidget) {\r\n        do {\r\n          try rightMotors.setAcceleration(rightMotors.getMaxAcceleration())\r\n        } catch {\r\n          print(error)\r\n        }\r\n      }\r\n\r\n      \/\/ Move Rover with Thumbstick\r\n      func onVerticalAxisChange(sender: VoltageRatioInput, voltageRatio: Double) {\r\n        do {\r\n          try leftMotors.setTargetVelocity(voltageRatio)\r\n          try rightMotors.setTargetVelocity(voltageRatio)\r\n        } catch {\r\n          print(error)\r\n        }\r\n      }\r\n\r\n      func applicationDidFinishLaunching(_ aNotification: Notification) {\r\n        do {\r\n          \/\/ Connect to wireless rover\r\n          try Net.addServer(serverName: \"\", address: \"192.168.100.1\", port: 5661, flags: 0)\r\n\r\n          \/\/ Address\r\n          try leftMotors.setHubPort(5)\r\n          try leftMotors.setChannel(0)\r\n          let _ = leftMotors.attach.addHandler(onLeftMotorsAttached)\r\n\r\n          try rightMotors.setHubPort(5)\r\n          try rightMotors.setChannel(1)\r\n          let _ = rightMotors.attach.addHandler(onRightMotorsAttached)\r\n\r\n          try vAxis.setHubPort(0)\r\n          try vAxis.setChannel(0)\r\n          let _ = vAxis.voltageRatioChange.addHandler(onVerticalAxisChange)\r\n\r\n          \/\/ Open\r\n          try leftMotors.open()\r\n          try rightMotors.open() try vAxis.open()\r\n        } catch {\r\n          print(error)\r\n        }\r\n      }\r\n    }\r\n  <\/code>\r\n<\/pre>\n
[\/et_pb_text][\/et_pb_column_inner][\/et_pb_row_inner][et_pb_row_inner admin_label=”Row”][et_pb_column_inner type=”4_4″ saved_specialty_column_type=”3_4″ custom_padding__hover=”|||” custom_padding=”|||” saved_specialty_column_type=”3_4″][et_pb_text admin_label=”Code Review” _builder_version=”4.4.1″ text_text_shadow_horizontal_length=”text_text_shadow_style,%91object Object%93″ text_text_shadow_horizontal_length_tablet=”0px” text_text_shadow_vertical_length=”text_text_shadow_style,%91object Object%93″ text_text_shadow_vertical_length_tablet=”0px” text_text_shadow_blur_strength=”text_text_shadow_style,%91object Object%93″ text_text_shadow_blur_strength_tablet=”1px” link_text_shadow_horizontal_length=”link_text_shadow_style,%91object Object%93″ link_text_shadow_horizontal_length_tablet=”0px” link_text_shadow_vertical_length=”link_text_shadow_style,%91object Object%93″ link_text_shadow_vertical_length_tablet=”0px” link_text_shadow_blur_strength=”link_text_shadow_style,%91object Object%93″ link_text_shadow_blur_strength_tablet=”1px” ul_text_shadow_horizontal_length=”ul_text_shadow_style,%91object Object%93″ ul_text_shadow_horizontal_length_tablet=”0px” ul_text_shadow_vertical_length=”ul_text_shadow_style,%91object Object%93″ ul_text_shadow_vertical_length_tablet=”0px” ul_text_shadow_blur_strength=”ul_text_shadow_style,%91object Object%93″ ul_text_shadow_blur_strength_tablet=”1px” ol_text_shadow_horizontal_length=”ol_text_shadow_style,%91object Object%93″ ol_text_shadow_horizontal_length_tablet=”0px” ol_text_shadow_vertical_length=”ol_text_shadow_style,%91object Object%93″ ol_text_shadow_vertical_length_tablet=”0px” ol_text_shadow_blur_strength=”ol_text_shadow_style,%91object Object%93″ ol_text_shadow_blur_strength_tablet=”1px” quote_text_shadow_horizontal_length=”quote_text_shadow_style,%91object Object%93″ quote_text_shadow_horizontal_length_tablet=”0px” quote_text_shadow_vertical_length=”quote_text_shadow_style,%91object Object%93″ quote_text_shadow_vertical_length_tablet=”0px” quote_text_shadow_blur_strength=”quote_text_shadow_style,%91object Object%93″ quote_text_shadow_blur_strength_tablet=”1px” header_text_shadow_horizontal_length=”header_text_shadow_style,%91object Object%93″ header_text_shadow_horizontal_length_tablet=”0px” header_text_shadow_vertical_length=”header_text_shadow_style,%91object Object%93″ header_text_shadow_vertical_length_tablet=”0px” header_text_shadow_blur_strength=”header_text_shadow_style,%91object Object%93″ header_text_shadow_blur_strength_tablet=”1px” header_2_text_shadow_horizontal_length=”header_2_text_shadow_style,%91object Object%93″ header_2_text_shadow_horizontal_length_tablet=”0px” header_2_text_shadow_vertical_length=”header_2_text_shadow_style,%91object Object%93″ header_2_text_shadow_vertical_length_tablet=”0px” header_2_text_shadow_blur_strength=”header_2_text_shadow_style,%91object Object%93″ header_2_text_shadow_blur_strength_tablet=”1px” header_3_text_shadow_horizontal_length=”header_3_text_shadow_style,%91object Object%93″ header_3_text_shadow_horizontal_length_tablet=”0px” header_3_text_shadow_vertical_length=”header_3_text_shadow_style,%91object Object%93″ header_3_text_shadow_vertical_length_tablet=”0px” header_3_text_shadow_blur_strength=”header_3_text_shadow_style,%91object Object%93″ header_3_text_shadow_blur_strength_tablet=”1px” header_4_text_shadow_horizontal_length=”header_4_text_shadow_style,%91object Object%93″ header_4_text_shadow_horizontal_length_tablet=”0px” header_4_text_shadow_vertical_length=”header_4_text_shadow_style,%91object Object%93″ header_4_text_shadow_vertical_length_tablet=”0px” header_4_text_shadow_blur_strength=”header_4_text_shadow_style,%91object Object%93″ header_4_text_shadow_blur_strength_tablet=”1px” header_5_text_shadow_horizontal_length=”header_5_text_shadow_style,%91object Object%93″ header_5_text_shadow_horizontal_length_tablet=”0px” header_5_text_shadow_vertical_length=”header_5_text_shadow_style,%91object Object%93″ header_5_text_shadow_vertical_length_tablet=”0px” header_5_text_shadow_blur_strength=”header_5_text_shadow_style,%91object Object%93″ header_5_text_shadow_blur_strength_tablet=”1px” header_6_text_shadow_horizontal_length=”header_6_text_shadow_style,%91object Object%93″ header_6_text_shadow_horizontal_length_tablet=”0px” header_6_text_shadow_vertical_length=”header_6_text_shadow_style,%91object Object%93″ header_6_text_shadow_vertical_length_tablet=”0px” header_6_text_shadow_blur_strength=”header_6_text_shadow_style,%91object Object%93″ header_6_text_shadow_blur_strength_tablet=”1px” box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″]<\/p>\n
Code review<\/h2>\n
The Thumbstick Phidget records position in two axes – horizontal and vertical. The position in each axis is represented by a value between 1 and -1, we can directly use these values to set the velocity. Setting the channel distinguishes the two axes in the program<\/p>\n
[\/et_pb_text][\/et_pb_column_inner][\/et_pb_row_inner][et_pb_row_inner admin_label=”Row” _builder_version=”4.6.6″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” module_id=”practice” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″][et_pb_column_inner type=”4_4″ saved_specialty_column_type=”3_4″ custom_padding__hover=”|||” custom_padding=”|||” saved_specialty_column_type=”3_4″][et_pb_text admin_label=”Practice” _builder_version=”4.4.1″ text_text_shadow_horizontal_length=”text_text_shadow_style,%91object Object%93″ text_text_shadow_horizontal_length_tablet=”0px” text_text_shadow_vertical_length=”text_text_shadow_style,%91object Object%93″ text_text_shadow_vertical_length_tablet=”0px” text_text_shadow_blur_strength=”text_text_shadow_style,%91object Object%93″ text_text_shadow_blur_strength_tablet=”1px” link_text_shadow_horizontal_length=”link_text_shadow_style,%91object Object%93″ 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header_5_text_shadow_horizontal_length=”header_5_text_shadow_style,%91object Object%93″ header_5_text_shadow_horizontal_length_tablet=”0px” header_5_text_shadow_vertical_length=”header_5_text_shadow_style,%91object Object%93″ header_5_text_shadow_vertical_length_tablet=”0px” header_5_text_shadow_blur_strength=”header_5_text_shadow_style,%91object Object%93″ header_5_text_shadow_blur_strength_tablet=”1px” header_6_text_shadow_horizontal_length=”header_6_text_shadow_style,%91object Object%93″ header_6_text_shadow_horizontal_length_tablet=”0px” header_6_text_shadow_vertical_length=”header_6_text_shadow_style,%91object Object%93″ header_6_text_shadow_vertical_length_tablet=”0px” header_6_text_shadow_blur_strength=”header_6_text_shadow_style,%91object Object%93″ header_6_text_shadow_blur_strength_tablet=”1px” box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″]<\/p>\n
Practice<\/h2>\n
    \n
  1. Try printing the value of the vertical axis to the screen to understand how the thumbstick works. What is the output range from the thumbstick? <\/li>\n
  2. Try modifying your code so that it uses the horizontal axis instead of the vertical axis. (Hint: channel should be 1 instead of 0).<\/li>\n<\/ol>\n
    [\/et_pb_text][\/et_pb_column_inner][\/et_pb_row_inner][et_pb_row_inner admin_label=”Row”][et_pb_column_inner type=”4_4″ saved_specialty_column_type=”3_4″ custom_padding__hover=”|||” custom_padding=”|||” saved_specialty_column_type=”3_4″][et_pb_code admin_label=”ph-button-cta: Finish” _builder_version=”4.4.1″ box_shadow_horizontal_tablet=”0px” box_shadow_vertical_tablet=”0px” box_shadow_blur_tablet=”40px” box_shadow_spread_tablet=”0px” vertical_offset_tablet=”0″ horizontal_offset_tablet=”0″ z_index_tablet=”0″]<\/p>\n
            Back to Setup  <\/a>        Next: Turn<\/a><\/div>\n
    [\/et_pb_code][\/et_pb_column_inner][\/et_pb_row_inner][\/et_pb_column][\/et_pb_section]<\/p>\n","protected":false},"excerpt":{"rendered":"
    package phidgetsrover;\/\/Add Phidgets Libraryimport com.phidget22.*;public class PhidgetsRover{ public static void main(String[] args) throws Exception{ \/\/Connect to wireless rover Net.addServer(“”, “192.168.100.1”, 5661, “”, 0); \/\/Create DCMotor leftMotors = new DCMotor(); DCMotor rightMotors = new DCMotor(); VoltageRatioInput vAxis = new VoltageRatioInput(); \/\/Address leftMotors.setChannel(0); rightMotors.setChannel(1); vAxis.setChannel(0); \/\/Open leftMotors.open(5000); rightMotors.open(5000); vAxis.open(5000); \/\/Increase acceleration leftMotors.setAcceleration(leftMotors.getMaxAcceleration()); rightMotors.setAcceleration(rightMotors.getMaxAcceleration()); \/\/Use your Phidgets while(true) […]<\/p>\n","protected":false},"author":3,"featured_media":0,"parent":1116,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_et_pb_use_builder":"on","_et_pb_old_content":"\r\n
    This is an example page. It's different from a blog post because it will stay in one place and will show up in your site navigation (in most themes). Most people start with an About page that introduces them to potential site visitors. It might say something like this:<\/p>\r\n\r\n
    \r\n
    Hi there! I'm a bike messenger by day, aspiring actor by night, and this is my website. I live in Los Angeles, have a great dog named Jack, and I like pi\u00f1a coladas. (And gettin' caught in the rain.)<\/p>\r\n<\/blockquote>\r\n\r\n
    ...or something like this:<\/p>\r\n\r\n
    \r\n
    The XYZ Doohickey Company was founded in 1971, and has been providing quality doohickeys to the public ever since. Located in Gotham City, XYZ employs over 2,000 people and does all kinds of awesome things for the Gotham community.<\/p>\r\n<\/blockquote>\r\n\r\n
    As a new WordPress user, you should go to your dashboard<\/a> to delete this page and create new pages for your content. Have fun!<\/p>\r\n","_et_gb_content_width":"","footnotes":""},"class_list":["post-1668","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/www.phidgets.com\/education\/wp-json\/wp\/v2\/pages\/1668","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.phidgets.com\/education\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/www.phidgets.com\/education\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/www.phidgets.com\/education\/wp-json\/wp\/v2\/users\/3"}],"replies":[{"embeddable":true,"href":"https:\/\/www.phidgets.com\/education\/wp-json\/wp\/v2\/comments?post=1668"}],"version-history":[{"count":24,"href":"https:\/\/www.phidgets.com\/education\/wp-json\/wp\/v2\/pages\/1668\/revisions"}],"predecessor-version":[{"id":2349,"href":"https:\/\/www.phidgets.com\/education\/wp-json\/wp\/v2\/pages\/1668\/revisions\/2349"}],"up":[{"embeddable":true,"href":"https:\/\/www.phidgets.com\/education\/wp-json\/wp\/v2\/pages\/1116"}],"wp:attachment":[{"href":"https:\/\/www.phidgets.com\/education\/wp-json\/wp\/v2\/media?parent=1668"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}