void initTurret()
{
/* first choose the sensor */
_turret.SetFeedbackDevice(TalonSrx.FeedbackDevice.CtreMagEncoder_Relative);
_turret.SetSensorDirection(false);
_turret.ConfigEncoderCodesPerRev(4096); // if using CTRE.TalonSrx.FeedbackDevice.QuadEncoder
_turret.SetP(0, TURRET_P); /* tweak this first, a little bit of overshoot is okay */
_turret.SetI(0, TURRET_I);
_turret.SetD(0, TURRET_D);
_turret.SetF(0, TURRET_F);
/* use slot0 for closed-looping */
_turret.SelectProfileSlot(0);
/* set the peak and nominal outputs, 12V means full */
_turret.ConfigNominalOutputVoltage(MINIMUM_TURRET_VOLTAGE, -1 * MINIMUM_TURRET_VOLTAGE); //The minimum voltage that will be applied to the turret.
_turret.ConfigPeakOutputVoltage(+3.0f, -3.0f); //THe maximum voltage that will be applied to the turret.
/* how much error is allowed? This defaults to 0. */
_turret.SetAllowableClosedLoopErr(0, 0);
_turret.SetPosition(0); /* start our position at zero, this example uses relative positions */
_turret.SetVoltageRampRate(0); /* V per sec */
_turret.SetControlMode(ControlMode.kPosition);
_turret.Set(angleSetpoint);
_turret.SetEncPosition(0);
}
uint [] _debLeftY = { 0, 0 }; // _debLeftY[0] is how many times leftY is zero, _debLeftY[1] is how many times leftY is not zeero.
public void Run()
{
/* first choose the sensor */
_talon.SetFeedbackDevice(TalonSrx.FeedbackDevice.CtreMagEncoder_Relative);
_talon.SetSensorDirection(false);
//_talon.ConfigEncoderCodesPerRev(XXX), // if using CTRE.TalonSrx.FeedbackDevice.QuadEncoder
//_talon.ConfigPotentiometerTurns(XXX), // if using CTRE.TalonSrx.FeedbackDevice.AnalogEncoder or CTRE.TalonSrx.FeedbackDevice.AnalogPot
/* set closed loop gains in slot0 */
_talon.SetP(0, 0.2f); /* tweak this first, a little bit of overshoot is okay */
_talon.SetI(0, 0f);
_talon.SetD(0, 0f);
_talon.SetF(0, 0f); /* For position servo kF is rarely used. Leave zero */
/* use slot0 for closed-looping */
_talon.SelectProfileSlot(0);
/* set the peak and nominal outputs, 12V means full */
_talon.ConfigNominalOutputVoltage(+0.0f, -0.0f);
_talon.ConfigPeakOutputVoltage(+3.0f, -3.0f);
/* how much error is allowed? This defaults to 0. */
_talon.SetAllowableClosedLoopErr(0, 0);
/* zero the sensor and throttle */
ZeroSensorAndThrottle();
/* loop forever */
while (true)
{
Loop10Ms();
//if (_gamepad.GetConnectionStatus() == CTRE.UsbDeviceConnection.Connected) // check if gamepad is plugged in OR....
if (_gamepad.GetButton(kEnableButton)) // check if bottom left shoulder buttom is held down.
{
/* then enable motor outputs*/
CTRE.Watchdog.Feed();
}
/* print signals to Output window */
Instrument();
/* 10ms loop */
Thread.Sleep(10);
}
}
private void SetupPositionServo()
{
TalonSrx armTalon = (TalonSrx)_gearBox.GetMaster();
armTalon.ConfigNominalOutputVoltage(0, 0);
armTalon.ConfigPeakOutputVoltage(Constants.MAX_VOLTAGE, -Constants.MAX_VOLTAGE);
armTalon.SetAllowableClosedLoopErr(0, Constants.TOLERANCE);
armTalon.SetPID(0, Constants.KPARM, Constants.KIARM, Constants.KDARM);
_controlMode = ControlMode.kPosition;
armTalon.SelectProfileSlot(0);
armTalon.SetMotionMagicAcceleration(60.0f);
armTalon.SetMotionMagicCruiseVelocity(22.0f);
armTalon.SetVoltageRampRate(0f);
}
