/**
* 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(PigeonIMUConfiguration allConfigs, int timeoutMs = 50)
{
ErrorCollection errorCollection = new ErrorCollection();
errorCollection.NewError(ConfigSetCustomParam(allConfigs.customParam_0, 0, timeoutMs));
errorCollection.NewError(ConfigSetCustomParam(allConfigs.customParam_1, 1, timeoutMs));
return(errorCollection._worstError);
}
/**
* Configures all peristant settings to defaults.
*
* @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 ConfigFactoryDefault(int timeoutMs = 50)
{
PigeonIMUConfiguration defaults = new PigeonIMUConfiguration();
return(ConfigAllSettings(defaults, timeoutMs));
}
/**
* 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 PigeonIMUConfiguration allConfigs, int timeoutMs = 50)
{
allConfigs = new PigeonIMUConfiguration();
allConfigs.customParam_0 = (int)ConfigGetParameter(ParamEnum.eCustomParam, 0, timeoutMs);
allConfigs.customParam_1 = (int)ConfigGetParameter(ParamEnum.eCustomParam, 1, timeoutMs);
}
public configs()
{
/*Construct all of the configurations with any set of values
* These are just arbitrary values to demonstrate the feature
*/
_talon = new TalonSRXConfiguration();
_victor = new VictorSPXConfiguration();
_pigeon = new PigeonIMUConfiguration();
_canifier = new CANifierConfiguration();
//TalonSRX:
_talon.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
_talon.primaryPID.selectedFeedbackCoefficient = 0.328293F;
_talon.auxilaryPID.selectedFeedbackSensor = FeedbackDevice.Analog;
_talon.auxilaryPID.selectedFeedbackCoefficient = 0.877686F;
_talon.forwardLimitSwitchSource = LimitSwitchSource.Deactivated;
_talon.reverseLimitSwitchSource = LimitSwitchSource.RemoteTalonSRX;
_talon.sum_0 = FeedbackDevice.QuadEncoder; //FeedbackDevice.PulseWidthEncodedPosition;
_talon.sum_1 = FeedbackDevice.RemoteSensor0;
_talon.diff_0 = FeedbackDevice.RemoteSensor1;
_talon.diff_1 = FeedbackDevice.PulseWidthEncodedPosition;
_talon.peakCurrentLimit = 20;
_talon.peakCurrentDuration = 200;
_talon.continuousCurrentLimit = 30;
_talon.openloopRamp = 1.023000F;
_talon.closedloopRamp = 1.705000F;
_talon.peakOutputForward = 0.939394F;
_talon.peakOutputReverse = -0.289345F;
_talon.nominalOutputForward = 0.739980F;
_talon.nominalOutputReverse = -0.119257F;
_talon.neutralDeadband = 0.199413F;
_talon.voltageCompSaturation = 9.296875F;
_talon.voltageMeasurementFilter = 16;
_talon.velocityMeasurementPeriod = VelocityMeasPeriod.Period_25Ms;
_talon.velocityMeasurementWindow = 8;
_talon.forwardLimitSwitchDeviceID = 6;
_talon.reverseLimitSwitchDeviceID = 5;
_talon.forwardLimitSwitchNormal = LimitSwitchNormal.NormallyClosed;
_talon.reverseLimitSwitchNormal = LimitSwitchNormal.Disabled;
_talon.forwardSoftLimitThreshold = 2767;
_talon.reverseSoftLimitThreshold = -1219;
_talon.forwardSoftLimitEnable = true;
_talon.reverseSoftLimitEnable = true;
_talon.slot_0.kP = 504.000000F;
_talon.slot_0.kI = 5.600000F;
_talon.slot_0.kD = 0.200000F;
_talon.slot_0.kF = 19.300000F;
_talon.slot_0.integralZone = 900;
_talon.slot_0.allowableClosedloopError = 217;
_talon.slot_0.maxIntegralAccumulator = 254.000000F;
_talon.slot_0.closedLoopPeakOutput = 0.869990F;
_talon.slot_0.closedLoopPeriod = 33;
_talon.slot_1.kP = 155.600000F;
_talon.slot_1.kI = 5.560000F;
_talon.slot_1.kD = 8.868600F;
_talon.slot_1.kF = 454.000000F;
_talon.slot_1.integralZone = 100;
_talon.slot_1.allowableClosedloopError = 200;
_talon.slot_1.maxIntegralAccumulator = 91.000000F;
_talon.slot_1.closedLoopPeakOutput = 0.199413F;
_talon.slot_1.closedLoopPeriod = 34;
_talon.slot_2.kP = 223.232000F;
_talon.slot_2.kI = 34.000000F;
_talon.slot_2.kD = 67.000000F;
_talon.slot_2.kF = 6.323232F;
_talon.slot_2.integralZone = 44;
_talon.slot_2.allowableClosedloopError = 343;
_talon.slot_2.maxIntegralAccumulator = 334.000000F;
_talon.slot_2.closedLoopPeakOutput = 0.399804F;
_talon.slot_2.closedLoopPeriod = 14;
_talon.slot_3.kP = 34.000000F;
_talon.slot_3.kI = 32.000000F;
_talon.slot_3.kD = 436.000000F;
_talon.slot_3.kF = 0.343430F;
_talon.slot_3.integralZone = 2323;
_talon.slot_3.allowableClosedloopError = 543;
_talon.slot_3.maxIntegralAccumulator = 687.000000F;
_talon.slot_3.closedLoopPeakOutput = 0.129032F;
_talon.slot_3.closedLoopPeriod = 12;
_talon.auxPIDPolarity = true;
_talon.filter_0.remoteSensorDeviceID = 22;
_talon.filter_0.remoteSensorSource = RemoteSensorSource.RemoteSensorSource_GadgeteerPigeon_Roll;
_talon.filter_1.remoteSensorDeviceID = 41;
_talon.filter_1.remoteSensorSource = RemoteSensorSource.RemoteSensorSource_GadgeteerPigeon_Yaw;
_talon.motionCruiseVelocity = 37;
_talon.motionAcceleration = 3;
_talon.motionProfileTrajectoryPeriod = 11;
_talon.feedbackNotContinuous = true;
_talon.remoteSensorClosedLoopDisableNeutralOnLOS = false; //true;
_talon.clearPositionOnLimitF = true;
_talon.clearPositionOnLimitR = true;
_talon.clearPositionOnQuadIdx = false; //true;
_talon.limitSwitchDisableNeutralOnLOS = true;
_talon.softLimitDisableNeutralOnLOS = false; //true;
_talon.pulseWidthPeriod_EdgesPerRot = 9;
_talon.pulseWidthPeriod_FilterWindowSz = 32;
_talon.customParam_0 = 3;
_talon.customParam_1 = 5;
//VictorSPX:
_victor.primaryPID.selectedFeedbackSensor = RemoteFeedbackDevice.RemoteFeedbackDevice_SoftwareEmulatedSensor;
_victor.primaryPID.selectedFeedbackCoefficient = 0.122208F;
_victor.auxilaryPID.selectedFeedbackSensor = RemoteFeedbackDevice.RemoteFeedbackDevice_SensorDifference;
_victor.auxilaryPID.selectedFeedbackCoefficient = 0.290985F;
_victor.forwardLimitSwitchSource = RemoteLimitSwitchSource.RemoteTalonSRX;
_victor.reverseLimitSwitchSource = RemoteLimitSwitchSource.Deactivated;
_victor.sum_0 = RemoteFeedbackDevice.RemoteFeedbackDevice_RemoteSensor0;
_victor.sum_1 = RemoteFeedbackDevice.RemoteFeedbackDevice_RemoteSensor1;
_victor.diff_0 = RemoteFeedbackDevice.RemoteFeedbackDevice_SoftwareEmulatedSensor;
_victor.diff_1 = RemoteFeedbackDevice.RemoteFeedbackDevice_RemoteSensor0;
_victor.openloopRamp = 0.300882F;
_victor.closedloopRamp = 0.100294F;
_victor.peakOutputForward = 0.659824F;
_victor.peakOutputReverse = -0.769306F;
_victor.nominalOutputForward = 0.099707F;
_victor.nominalOutputReverse = -0.119257F;
_victor.neutralDeadband = 0.049853F;
_victor.voltageCompSaturation = 10.699219F;
_victor.voltageMeasurementFilter = 32;
_victor.velocityMeasurementPeriod = VelocityMeasPeriod.Period_50Ms;
_victor.velocityMeasurementWindow = 4;
_victor.forwardLimitSwitchDeviceID = 8;
_victor.reverseLimitSwitchDeviceID = 7;
_victor.forwardLimitSwitchNormal = LimitSwitchNormal.NormallyOpen; //LimitSwitchNormal.NormallyClosed;
_victor.reverseLimitSwitchNormal = LimitSwitchNormal.NormallyClosed;
_victor.forwardSoftLimitThreshold = 2326;
_victor.reverseSoftLimitThreshold = -9023;
_victor.forwardSoftLimitEnable = false; //true;
_victor.reverseSoftLimitEnable = true;
_victor.slot_0.kP = 0.100000F;
_victor.slot_0.kI = 0.010000F;
_victor.slot_0.kD = 0.050000F;
_victor.slot_0.kF = 0.320000F;
_victor.slot_0.integralZone = 900;
_victor.slot_0.allowableClosedloopError = 124;
_victor.slot_0.maxIntegralAccumulator = 22.000000F;
_victor.slot_0.closedLoopPeakOutput = 0.599218F;
_victor.slot_0.closedLoopPeriod = 33;
_victor.slot_1.kP = 0.400000F;
_victor.slot_1.kI = 0.300000F;
_victor.slot_1.kD = 0.100000F;
_victor.slot_1.kF = 0.923000F;
_victor.slot_1.integralZone = 90;
_victor.slot_1.allowableClosedloopError = 21;
_victor.slot_1.maxIntegralAccumulator = 54.000000F;
_victor.slot_1.closedLoopPeakOutput = 0.399804F;
_victor.slot_1.closedLoopPeriod = 23;
_victor.slot_2.kP = 2.200000F;
_victor.slot_2.kI = 0.670000F;
_victor.slot_2.kD = 9.232000F;
_victor.slot_2.kF = 1.121000F;
_victor.slot_2.integralZone = 19;
_victor.slot_2.allowableClosedloopError = 190;
_victor.slot_2.maxIntegralAccumulator = 37.000000F;
_victor.slot_2.closedLoopPeakOutput = 0.299120F;
_victor.slot_2.closedLoopPeriod = 9;
_victor.slot_3.kP = 10.000000F;
_victor.slot_3.kI = 11.000000F;
_victor.slot_3.kD = 12.000000F;
_victor.slot_3.kF = 13.000000F;
_victor.slot_3.integralZone = 654;
_victor.slot_3.allowableClosedloopError = 557;
_victor.slot_3.maxIntegralAccumulator = 342.000000F;
_victor.slot_3.closedLoopPeakOutput = 0.899316F;
_victor.slot_3.closedLoopPeriod = 21;
_victor.auxPIDPolarity = true;
_victor.filter_0.remoteSensorDeviceID = 22;
_victor.filter_0.remoteSensorSource = RemoteSensorSource.RemoteSensorSource_GadgeteerPigeon_Roll;
_victor.filter_1.remoteSensorDeviceID = 41;
_victor.filter_1.remoteSensorSource = RemoteSensorSource.RemoteSensorSource_GadgeteerPigeon_Yaw;
_victor.motionCruiseVelocity = 50;
_victor.motionAcceleration = 3;
_victor.motionProfileTrajectoryPeriod = 20;
_victor.feedbackNotContinuous = false; //true;
_victor.remoteSensorClosedLoopDisableNeutralOnLOS = true;
_victor.clearPositionOnLimitF = false; //true;
_victor.clearPositionOnLimitR = false; //true;
_victor.clearPositionOnQuadIdx = true;
_victor.limitSwitchDisableNeutralOnLOS = false; //true;
_victor.softLimitDisableNeutralOnLOS = true;
_victor.pulseWidthPeriod_EdgesPerRot = 8;
_victor.pulseWidthPeriod_FilterWindowSz = 19;
_victor.customParam_0 = 7;
_victor.customParam_1 = 9;
//PigeonIMU:
_pigeon.customParam_0 = 6;
_pigeon.customParam_1 = 14;
//CANifier
_canifier.velocityMeasurementPeriod = CANifierVelocityMeasPeriod.Period_50Ms;
_canifier.velocityMeasurementWindow = 8;
_canifier.clearPositionOnLimitF = true;
_canifier.clearPositionOnLimitR = false; //true;
_canifier.clearPositionOnQuadIdx = true;
_canifier.customParam_0 = 2;
_canifier.customParam_1 = 1;
}
