public static void Init(CANJaguar jaguar)
{
jaguar.ConfigNeutralMode = NeutralMode.Brake;
jaguar.SetSpeedMode(0.0, 0.0, 0.0, CANJaguar.SourceMode.QuadEncoder);
jaguar.EnableControl();
}
private static void AddJaguar(string key, CANJaguar jaguar)
{
CANJaguarKeys.Add(key);
CANJaguars.Add(key, jaguar);
}
private static double GetEncoderCount(CANJaguar jaguar)
{
return jaguar.GetPosition();
}
public static void ResetEncoder(CANJaguar jaguar)
{
jaguar.EnableControl(0);
}
public static void ConfigNeutralMode(CANJaguar jaguar, NeutralMode mode)
{
jaguar.ConfigNeutralMode = mode;
}
private static void InitializeDriveTrain()
{
FrontRight = new CANJaguar(22);
FrontLeft = new CANJaguar(21);
RearRight = new CANJaguar(23);
RearLeft = new CANJaguar(20);
DriveTrain = new List<CANJaguar>
{
FrontRight,
FrontLeft,
RearRight,
RearLeft
};
PivotGyro = new Gyro(0);
PitchGyro = new Gyro(1);
PivotGyro.Sensitivity = 0.007;
PitchGyro.Sensitivity = 0.007;
Gyros = new List<Gyro>
{
PivotGyro,
PitchGyro
};
}
