/**
* Configures all peristant settings.
*
* @param allConfigs Object with all of the persistant settings
* @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.
*
* @return Error Code generated by function. 0 indicates no error.
*/
public ErrorCode ConfigAllSettings(TalonSRXConfiguration allConfigs, int timeoutMs = 50)
{
ErrorCollection errorCollection = new ErrorCollection();
errorCollection.NewError(BaseConfigAllSettings(allConfigs, timeoutMs));
//------ limit switch ----------//
errorCollection.NewError(ConfigSetParameter(ParamEnum.eLimitSwitchSource, (float)allConfigs.forwardLimitSwitchSource, 0, 0, timeoutMs));
errorCollection.NewError(ConfigSetParameter(ParamEnum.eLimitSwitchSource, (float)allConfigs.reverseLimitSwitchSource, 0, 1, timeoutMs));
//--------PIDs---------------//
errorCollection.NewError(ConfigurePID(allConfigs.primaryPID, 0, timeoutMs));
errorCollection.NewError(ConfigurePID(allConfigs.auxilaryPID, 1, timeoutMs));
errorCollection.NewError(ConfigSensorTerm(SensorTerm.SensorTerm_Sum0, allConfigs.sum_0, timeoutMs));
errorCollection.NewError(ConfigSensorTerm(SensorTerm.SensorTerm_Sum1, allConfigs.sum_1, timeoutMs));
errorCollection.NewError(ConfigSensorTerm(SensorTerm.SensorTerm_Diff0, allConfigs.diff_0, timeoutMs));
errorCollection.NewError(ConfigSensorTerm(SensorTerm.SensorTerm_Diff1, allConfigs.diff_1, timeoutMs));
//--------Current Limiting-----//
errorCollection.NewError(ConfigPeakCurrentLimit(allConfigs.peakCurrentLimit, timeoutMs));
errorCollection.NewError(ConfigPeakCurrentDuration(allConfigs.peakCurrentDuration, timeoutMs));
errorCollection.NewError(ConfigContinuousCurrentLimit(allConfigs.continuousCurrentLimit, timeoutMs));
return(errorCollection._worstError);
}
/**
* Gets all persistant settings.
*
* @param allConfigs Object with all of the persistant settings
* @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 void GetAllConfigs(out TalonSRXConfiguration allConfigs, int timeoutMs = 50)
{
allConfigs = new TalonSRXConfiguration();
BaseGetAllConfigs(allConfigs, timeoutMs);
GetPIDConfigs(out allConfigs.primaryPID, 0, timeoutMs);
GetPIDConfigs(out allConfigs.auxilaryPID, 1, timeoutMs);
allConfigs.sum_0 = (FeedbackDevice)ConfigGetParameter(ParamEnum.eSensorTerm, 0, timeoutMs);
allConfigs.sum_1 = (FeedbackDevice)ConfigGetParameter(ParamEnum.eSensorTerm, 1, timeoutMs);
allConfigs.diff_0 = (FeedbackDevice)ConfigGetParameter(ParamEnum.eSensorTerm, 2, timeoutMs);
allConfigs.diff_1 = (FeedbackDevice)ConfigGetParameter(ParamEnum.eSensorTerm, 3, timeoutMs);
allConfigs.forwardLimitSwitchSource = (LimitSwitchSource)ConfigGetParameter(ParamEnum.eLimitSwitchSource, 0, timeoutMs);
allConfigs.reverseLimitSwitchSource = (LimitSwitchSource)ConfigGetParameter(ParamEnum.eLimitSwitchSource, 1, timeoutMs);
allConfigs.peakCurrentLimit = (int)ConfigGetParameter(ParamEnum.ePeakCurrentLimitAmps, 0, timeoutMs);
allConfigs.peakCurrentDuration = (int)ConfigGetParameter(ParamEnum.ePeakCurrentLimitMs, 0, timeoutMs);
allConfigs.continuousCurrentLimit = (int)ConfigGetParameter(ParamEnum.eContinuousCurrentLimitAmps, 0, timeoutMs);
}