public void ArcadeDrive(double x, double y, bool isInverted = false)
{
double left;
double right;
if (isInverted)
{
left = (y - x) * MaxOutput;
right = (y + x) * MaxOutput;
}
else
{
left = (y + x) * MaxOutput;
right = (y - x) * MaxOutput;
}
if (right <= .2 && right >= -.2)
{
right = 0;
}
if (left <= .2 && left >= -.2)
{
left = 0;
}
RightPrimary.Set(right);
RightSecondary.Set(right);
LeftPrimary.Set(left);
LeftSecondary.Set(left);
}
private void Init()
{
LeftDrive = new CANTalon((int)TalonIDs.LeftDrive);
LeftSlave = new CANTalon((int)TalonIDs.LeftSlave)
{
MotorControlMode = WPILib.Interfaces.ControlMode.Follower
};
LeftSlave.Set(LeftDrive.DeviceId);
RightDrive = new CANTalon((int)TalonIDs.RightDrive);
RightSlave = new CANTalon((int)TalonIDs.RightSlave)
{
MotorControlMode = WPILib.Interfaces.ControlMode.Follower
};
RightSlave.Set(RightDrive.DeviceId);
}
public Drive()
{
LeftM = new CANTalon(Config.DriveLeftM);
Left1 = new CANTalon(Config.DriveLeft1);
Left1.MotorControlMode = WPILib.Interfaces.ControlMode.Follower;
Left1.Set(Config.DriveLeft1);
Left2 = new CANTalon(Config.DriveLeft2);
Left2.MotorControlMode = WPILib.Interfaces.ControlMode.Follower;
Left2.Set(Config.DriveLeft2);
LeftFollowers = new SpeedControllerGroup(Left1, Left2);
RightM = new CANTalon(Config.DriveRightM);
Right1 = new CANTalon(Config.DriveRight1);
Right1.MotorControlMode = WPILib.Interfaces.ControlMode.Follower;
Right1.Set(Config.DriveRight1);
Right2 = new CANTalon(Config.DriveRight2);
Right2.MotorControlMode = WPILib.Interfaces.ControlMode.Follower;
Right2.Set(Config.DriveRight2);
RightFollowers = new SpeedControllerGroup(Right1, Right2);
}//end Drive
}//end Drive
public void driver(double left, double right)
{
LeftM.Set(left);
RightM.Set(-right);
}
/// <summary>
/// Sets the talon to run at the given rpm.
/// </summary>
/// <param name="rpm">Amount of RPMs to run the motor at.</param>
/// <param name="talon">Which talon to run.</param>
public static void SetVelocity(double rpm, CANTalon talon)
{
talon.Set(rpm);
}
/// <summary>
/// Sets a value to the talon
/// </summary>
/// <param name="val">value to set the controller to</param>
/// <param name="sender">the caller of this method</param>
public override void Set(double val, object sender)
{
Sender = sender;
SetAllowC(upperLimit?.GetBool() ?? true);
SetAllowCc(lowerLimit?.GetBool() ?? true);
if (BrownOut && !Critical)
{
val *= Constants.BROWNOUT_MULT;
}
if (Slave)
{
Report.Warning(
$"Someone is trying to set {Name}, but {Name} is a slave, it can only be set by its master {master}.");
return;
}
if (!Master)
#if USE_LOCKING
{ lock (talon)
#endif
{
talon.ControlEnabled = true;
if ((val < -Constants.MINUMUM_JOYSTICK_RETURN) && AllowCc)
{
InUse = true;
if (IsReversed)
{
talon.Set(-val);
onValueChanged(new VirtualControlEventArgs(-val, InUse));
}
else
{
talon.Set(val);
onValueChanged(new VirtualControlEventArgs(val, InUse));
}
}
else if ((val > Constants.MINUMUM_JOYSTICK_RETURN) && AllowC)
{
InUse = true;
if (IsReversed)
{
talon.Set(-val);
onValueChanged(new VirtualControlEventArgs(-val, InUse));
}
else
{
talon.Set(val);
onValueChanged(new VirtualControlEventArgs(val, InUse));
}
}
else
{
talon.Set(0);
talon.ControlEnabled = false;
InUse = false;
onValueChanged(new VirtualControlEventArgs(val, InUse));
}
}
if (!Master)
{
return;
}
if ((val < Constants.MINUMUM_JOYSTICK_RETURN) && AllowCc)
{
if (IsReversed)
{
#if USE_LOCKING
lock (talon)
#endif
{
talon.ControlEnabled = true;
InUse = true;
talon.Set(-val);
onValueChanged(new VirtualControlEventArgs(-val, InUse));
}
foreach (var slave in slaves)
#if USE_LOCKING
lock (slave)
#endif
{
((CANTalon)slave.GetRawComponent()).ControlEnabled = true;
((CANTalon)slave.GetRawComponent()).Set(talon.DeviceId);
}
}
else
{
#if USE_LOCKING
lock (talon)
#endif
{
talon.ControlEnabled = true;
InUse = true;
talon.Set(val);
onValueChanged(new VirtualControlEventArgs(val, InUse));
}
foreach (var slave in slaves)
#if USE_LOCKING
lock (slave)
#endif
{
((CANTalon)slave.GetRawComponent()).ControlEnabled = true;
((CANTalon)slave.GetRawComponent()).Set(talon.DeviceId);
}
}
}
else if ((val > Constants.MINUMUM_JOYSTICK_RETURN) && AllowC)
{
if (IsReversed)
{
#if USE_LOCKING
lock (talon)
#endif
{
talon.ControlEnabled = true;
InUse = true;
talon.Set(-val);
onValueChanged(new VirtualControlEventArgs(-val, InUse));
}
foreach (var slave in slaves)
#if USE_LOCKING
lock (slave)
#endif
{
((CANTalon)slave.GetRawComponent()).ControlEnabled = true;
((CANTalon)slave.GetRawComponent()).Set(talon.DeviceId);
}
}
else
{
#if USE_LOCKING
lock (talon)
#endif
{
talon.ControlEnabled = true;
InUse = true;
talon.Set(val);
onValueChanged(new VirtualControlEventArgs(val, InUse));
}
foreach (var slave in slaves)
#if USE_LOCKING
lock (slave)
#endif
{
((CANTalon)slave.GetRawComponent()).ControlEnabled = true;
((CANTalon)slave.GetRawComponent()).Set(talon.DeviceId);
}
}
}
else
{
#if USE_LOCKING
lock (talon)
#endif
{
talon.Set(0);
talon.ControlEnabled = false;
InUse = false;
onValueChanged(new VirtualControlEventArgs(-val, InUse));
}
foreach (var slave in slaves)
#if USE_LOCKING
lock (slave)
#endif
{
((CANTalon)slave.GetRawComponent()).ControlEnabled = false;
}
}
}
