/// <summary>
/// Configure the desired talon for closed-loop control.
/// </summary>
/// <param name="talon">The talon to configure.</param>
/// <param name="type">Configure the talon for velocity or positional control.</param>
/// <param name="parameters">Set the settings for the talon. Some</param>
public static void ConfigureTalon(CANTalon talon, ConfigureType type, EncoderParameters parameters)
{
// Grab the 360 degree of the magnetic encoder's absolute position.
int absolutePosition = talon.GetPulseWidthPosition() & 0xFFF; // Throw out the bits dealing with wrap-arounds.
// Set the encoder's signal.
talon.SetEncoderPostition(absolutePosition);
// Set the sensor and direction.
talon.FeedBackDevice = parameters.Device;
talon.ReverseSensor(parameters.ReverseSensor);
// Set the peak and nominal outputs. +12V is full throttle forward, -12V is full throttle backwards.
talon.ConfigNominalOutputVoltage(+parameters.NominalVoltage, -parameters.NominalVoltage);
talon.ConfigPeakOutputVoltage(+parameters.PeakVoltage, -parameters.PeakVoltage);
// Set the allowed closed-loop error.
talon.SetAllowableClosedLoopErr(parameters.AllowedError);
// Set the PIDF gains.
talon.Profile = parameters.PIDProfile; // Sets the current profile for saving the variables.
talon.P = parameters.PIDFValues.kP; // Sets the proportional gain.
talon.I = parameters.PIDFValues.kI; // Sets the integral gain.
talon.D = parameters.PIDFValues.kD; // Sets the derivative gain.
talon.F = parameters.PIDFValues.kF; // Sets the filter gain.
// Switches how to configure the talon based on the 'type' parameter.
switch (type)
{
// Run the positional config.
case ConfigureType.Position:
// Set the talon to be in positional control mode.
talon.MotorControlMode = WPILib.Interfaces.ControlMode.Position;
break;
// Run the velocity config.
case ConfigureType.Velocity:
// Set the talon to be in speed control mode.
talon.MotorControlMode = WPILib.Interfaces.ControlMode.Speed;
break;
}
}
