public void WriteMotorInfo(ref ArrayList talonInfoList)
{
//Write the motor
NUC_serialPort.WriteByte(KEY0);
NUC_serialPort.WriteByte(KEY1);
NUC_serialPort.WriteByte(KEY2);
byte[] motorInfoPacket = new byte[Constants.PacketSize[Constants.PacketType.MOTOR_INFO_OUT]];
NUC_serialPort.WriteByte(Constants.PacketType.MOTOR_INFO_OUT);
int idx = 0;
foreach (Object o in talonInfoList)
{
TalonInfo talonInfo = (TalonInfo)o;
talonInfo.GetDataAsByteArray().CopyTo(motorInfoPacket, TalonInfo.NUM_BYTES * idx);
idx++;
}
NUC_serialPort.Write(motorInfoPacket, 0, motorInfoPacket.Length);
}
public TalonInfo(TalonInfo info)
{
this.CAN_ID = info.CAN_ID;
this.currentDraw = info.currentDraw;
this.encoderPosition = info.encoderPosition;
this.encoderVelocity = info.encoderVelocity;
this.percentOutput = info.percentOutput;
}
public ArrayList GetTalonInfo()
{
ArrayList talonInfoList = new ArrayList();
TalonSRX t;
TalonInfo info = new TalonInfo();
t = leftActuator;
info.CAN_ID = (short)t.GetDeviceID();
info.percentOutput = TalonInfo.ConvertPercentOutputToByte((int)(100 * t.GetMotorOutputPercent()));
info.currentDraw = TalonInfo.ConvertCurrentToShort(t.GetOutputCurrent());
info.encoderPosition = TalonInfo.ConvertEncoderPositionToShort(t.GetSelectedSensorPosition());
info.encoderVelocity = (short)t.GetSelectedSensorVelocity();
talonInfoList.Add(new TalonInfo(info));
t = rightActuator;
info.CAN_ID = (short)t.GetDeviceID();
info.percentOutput = TalonInfo.ConvertPercentOutputToByte((int)(100 * t.GetMotorOutputPercent()));
info.currentDraw = TalonInfo.ConvertCurrentToShort(t.GetOutputCurrent());
info.encoderPosition = TalonInfo.ConvertEncoderPositionToShort(t.GetSelectedSensorPosition());
info.encoderVelocity = (short)t.GetSelectedSensorVelocity();
talonInfoList.Add(new TalonInfo(info));
t = augerRotator;
info.CAN_ID = (short)t.GetDeviceID();
info.percentOutput = TalonInfo.ConvertPercentOutputToByte((int)(100 * t.GetMotorOutputPercent()));
info.currentDraw = TalonInfo.ConvertCurrentToShort(t.GetOutputCurrent());
info.encoderPosition = TalonInfo.ConvertEncoderPositionToShort(t.GetSelectedSensorPosition());
info.encoderVelocity = (short)t.GetSelectedSensorVelocity();
talonInfoList.Add(new TalonInfo(info));
info.CAN_ID = (short)CAN_IDs.EXCAVATION.AUGER_EXTENDER;
info.percentOutput = TalonInfo.ConvertPercentOutputToByte((int)(100 * augerExtender.GetDirectionAsVBUS()));
info.currentDraw = -1;
int encoderPos = 0;
if (reverseLimitSwitch.IsPressed())
{
encoderPos = -1;
}
else if (forwardLimitSwitch.IsPressed())
{
encoderPos = 1;
}
info.encoderPosition = encoderPos * 100;
info.encoderVelocity = info.percentOutput;
talonInfoList.Add(new TalonInfo(info));
return(talonInfoList);
}
public ArrayList GetTalonInfo()
{
ArrayList talonInfoList = new ArrayList();
TalonSRX t;
TalonInfo info = new TalonInfo();
t = FrontLeft;
info.CAN_ID = (short)t.GetDeviceID();
info.percentOutput = TalonInfo.ConvertPercentOutputToByte((int)(100 * t.GetMotorOutputPercent()));
info.currentDraw = TalonInfo.ConvertCurrentToShort(t.GetOutputCurrent());
info.encoderPosition = TalonInfo.ConvertEncoderPositionToShort(t.GetSelectedSensorPosition());
info.encoderVelocity = (short)t.GetSelectedSensorVelocity();
talonInfoList.Add(new TalonInfo(info));
t = FrontRight;
info.CAN_ID = (short)t.GetDeviceID();
info.percentOutput = TalonInfo.ConvertPercentOutputToByte((int)(100 * t.GetMotorOutputPercent()));
info.currentDraw = TalonInfo.ConvertCurrentToShort(t.GetOutputCurrent());
info.encoderPosition = TalonInfo.ConvertEncoderPositionToShort(t.GetSelectedSensorPosition());
info.encoderVelocity = (short)t.GetSelectedSensorVelocity();
talonInfoList.Add(new TalonInfo(info));
t = BackLeft;
info.CAN_ID = (short)t.GetDeviceID();
info.percentOutput = TalonInfo.ConvertPercentOutputToByte((int)(100 * t.GetMotorOutputPercent()));
info.currentDraw = TalonInfo.ConvertCurrentToShort(t.GetOutputCurrent());
info.encoderPosition = TalonInfo.ConvertEncoderPositionToShort(t.GetSelectedSensorPosition());
info.encoderVelocity = (short)t.GetSelectedSensorVelocity();
talonInfoList.Add(new TalonInfo(info));
t = BackRight;
info.CAN_ID = (short)t.GetDeviceID();
info.percentOutput = TalonInfo.ConvertPercentOutputToByte((int)(100 * t.GetMotorOutputPercent()));
info.currentDraw = TalonInfo.ConvertCurrentToShort(t.GetOutputCurrent());
info.encoderPosition = TalonInfo.ConvertEncoderPositionToShort(t.GetSelectedSensorPosition());
info.encoderVelocity = (short)t.GetSelectedSensorVelocity();
talonInfoList.Add(new TalonInfo(info));
return(talonInfoList);
}
