/**
* Gets all PID set persistant settings (overloaded so timeoutMs is 50 ms
* and pidIdx is 0).
*
* @param pid Object with all of the PID set persistant settings
*/
public void GetPIDConfigs(out TalonSRXPIDSetConfiguration pid, int pidIdx = 0, int timeoutMs = 50)
{
pid = new TalonSRXPIDSetConfiguration();
BaseGetPIDConfigs(pid, pidIdx, timeoutMs);
pid.selectedFeedbackSensor = (FeedbackDevice)ConfigGetParameter(ParamEnum.eFeedbackSensorType, pidIdx, timeoutMs);
}
/**
* Gets all PID set persistant settings.
*
* @param pid Object with all of the PID set persistant settings
* @param pidIdx 0 for Primary closed-loop. 1 for auxiliary closed-loop.
* @param timeoutMs
* Timeout value in ms. If nonzero, function will wait for
* config success and report an error if it times out.
* If zero, no blocking or checking is performed.
*/
public ErrorCode ConfigurePID(TalonSRXPIDSetConfiguration pid, int pidIdx = 0, int timeoutMs = 50)
{
ErrorCollection errorCollection = new ErrorCollection();
//------ sensor selection ----------//
errorCollection.NewError(BaseConfigurePID(pid, pidIdx, timeoutMs));
errorCollection.NewError(ConfigSelectedFeedbackSensor(pid.selectedFeedbackSensor, pidIdx, timeoutMs));
return(errorCollection._worstError);
}
public TalonSRXConfiguration()
{
primaryPID = new TalonSRXPIDSetConfiguration();
auxilaryPID = new TalonSRXPIDSetConfiguration();
forwardLimitSwitchSource = LimitSwitchSource.FeedbackConnector;
reverseLimitSwitchSource = LimitSwitchSource.FeedbackConnector;
sum_0 = FeedbackDevice.QuadEncoder;
sum_1 = FeedbackDevice.QuadEncoder;
diff_0 = FeedbackDevice.QuadEncoder;
diff_1 = FeedbackDevice.QuadEncoder;
peakCurrentLimit = 1;
peakCurrentDuration = 1;
continuousCurrentLimit = 1;
}
