/// <summary>
/// Prepares the rail for use by moving the motor all the way up to the top to find the zero position.
/// </summary>
public void Initialize()
{ // TODO: What happens when it is already at the top? This likely won't toggle the switch...
this.Initializing = true;
IPWMOutput MotorPWM = PWMBBB.PWMDevice2.OutputB;
IDigitalIn LimitSw = new DigitalInBBB(BBBPin.P8_08);
this.MotorCtrl = new TalonMC(MotorPWM, MOTOR_MAX_SPEED);
this.Limit = new LimitSwitch(LimitSw, false);
//this.Encoder = new Encoder(2, 3, 80);
this.Limit.SwitchToggle += this.EventTriggered;
//this.Encoder.Turned += this.EventTriggered;
Timer TimeoutTrigger = new Timer()
{
Interval = INIT_TIMEOUT, AutoReset = false
};
TimeoutTrigger.Elapsed += this.EventTriggered;
TimeoutTrigger.Enabled = true;
this.GotoTop();
}
public void Initialize()
{
this.Initializing = true;
IPWMOutput MotorOut = PWMBBB.PWMDevice1.OutputA;
IDigitalIn LimitSw = new DigitalInBBB(BBBPin.P8_12);
this.MotorCtrl = new TalonMC(MotorOut, MOTOR_MAX_SPEED);
this.Limit = new LimitSwitch(LimitSw, false);
//this.Encoder = new Encoder(6, 7, 420);
this.Limit.SwitchToggle += this.EventTriggered;
//this.Encoder.Turned += this.EventTriggered;
Timer TimeoutTrigger = new Timer()
{
Interval = INIT_TIMEOUT, AutoReset = false
};
TimeoutTrigger.Elapsed += this.EventTriggered;
TimeoutTrigger.Enabled = true;
// Do init stuff.
this.TargetAngle = 360;
}
