//private float setpoint_converted;
public SetpointData(int deviceID, int mode, Double setpoint)
{
this.deviceID = deviceID;
this.mode = (CTRE.TalonSrx.ControlMode)mode;
this.setpoint = setpoint;
// setpoint_converted = convertSetpoint();
}
/** spin in this routine forever */
public void RunForever()
{
/* config our talon, don't continue until it's successful */
int initStatus = SetupConfig(); /* configuration */
while (initStatus != 0)
{
Instrument.PrintConfigError();
initStatus = SetupConfig(); /* (re)config*/
}
/* robot loop */
while (true)
{
/* get joystick params */
float leftY = -1f * _gamepad.GetAxis(1);
bool btnTopLeftShoulder = _gamepad.GetButton(5);
bool btnBtmLeftShoulder = _gamepad.GetButton(7);
Deadband(ref leftY);
/* keep robot enabled if gamepad is connected and in 'D' mode */
if (_gamepad.GetConnectionStatus() == CTRE.UsbDeviceConnection.Connected)
{
CTRE.Watchdog.Feed();
}
/* set the control mode based on button pressed */
if (btnTopLeftShoulder)
{
_mode = CTRE.TalonSrx.ControlMode.kPercentVbus;
}
if (btnBtmLeftShoulder)
{
_mode = CTRE.TalonSrx.ControlMode.kMotionMagic;
}
/* calc the Talon output based on mode */
if (_mode == CTRE.TalonSrx.ControlMode.kPercentVbus)
{
float output = leftY; // [-1, +1] percent duty cycle
_talon.SetControlMode(_mode);
_talon.Set(output);
}
else if (_mode == CTRE.TalonSrx.ControlMode.kMotionMagic)
{
float servoToRotation = leftY * 10;// [-10, +10] rotations
_talon.SetControlMode(_mode);
_talon.Set(servoToRotation);
}
/* instrumentation */
Instrument.Process(_talon);
/* wait a bit */
System.Threading.Thread.Sleep(5);
}
}
//reads the talons and updates the data
public void updateStatusData()
{
talonCurrent = (talon.GetOutputCurrent());
talonTemperature = (talon.GetTemperature());
talonVoltage = (talon.GetOutputVoltage());
talonSpeed = (talon.GetSpeed());
talonPosition = (talon.GetPosition());
talonSetpoint = (talon.GetSetpoint());
talonForwardLimitReached = talon.IsFwdLimitSwitchClosed() ? 1 : 0;
talonReverseLimitReached = talon.IsRevLimitSwitchClosed() ? 1 : 0;
controlMode = talon.GetControlMode();
}
/** spin in this routine forever */
public void RunForever()
{
/* config our talon, don't continue until it's successful */
int initStatus = SetupConfig(); /* configuration */
while (initStatus != 0)
{
Instrument.PrintConfigError();
initStatus = SetupConfig(); /* (re)config*/
}
/* robot loop */
while (true)
{
/* get joystick params */
float leftY = -1f * _gamepad.GetAxis(1);
bool btnTopLeftShoulder = _gamepad.GetButton(5);
bool btnBtmLeftShoulder = _gamepad.GetButton(7);
Deadband(ref leftY);
/* keep robot enabled if gamepad is connected and in 'D' mode */
if (_gamepad.GetConnectionStatus() == CTRE.UsbDeviceConnection.Connected)
CTRE.Watchdog.Feed();
/* set the control mode based on button pressed */
if (btnTopLeftShoulder)
_mode = CTRE.TalonSrx.ControlMode.kPercentVbus;
if (btnBtmLeftShoulder)
_mode = CTRE.TalonSrx.ControlMode.kMotionMagic;
/* calc the Talon output based on mode */
if (_mode == CTRE.TalonSrx.ControlMode.kPercentVbus)
{
float output = leftY; // [-1, +1] percent duty cycle
_talon.SetControlMode(_mode);
_talon.Set(output);
}
else if (_mode == CTRE.TalonSrx.ControlMode.kMotionMagic)
{
float servoToRotation = leftY * 10;// [-10, +10] rotations
_talon.SetControlMode(_mode);
_talon.Set(servoToRotation);
}
/* instrumentation */
Instrument.Process(_talon);
/* wait a bit */
System.Threading.Thread.Sleep(5);
}
}
