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);
}
