private void InitCounter(int pin)
{
int index = -1;
for (int i = 0; i < 8; i++)
{
var counter = SimData.halData["counter"][i];
if (!counter["initialized"])
continue;
if (counter["up_source_channel"] == pin || counter["down_source_channel"] == pin)
{
index = i;
}
}
if (index == -1)
{
throw new InvalidOperationException($"Counter not found for pin {pin}");
}
Dictionary = SimData.halData["counter"][index];
isEncoder = false;
k2x = Dictionary["average_size"] == 2;
}
private void InitEncoder(int pin)
{
int index = -1;
for (int i = 0; i < 4; i++)
{
var encoder = SimData.halData["encoder"][i];
if (!encoder["initialized"])
continue;
if (encoder.ContainsKey("config"))
{
if (encoder["config"]["ASource_Channel"] == pin || encoder["config"]["BSource_Channel"] == pin)
{
index = i;
}
}
}
if (index == -1)
{
throw new InvalidOperationException($"Encoder not found for pin {pin}");
}
Dictionary = SimData.halData["encoder"][index];
}
public SimPWMController(int port)
{
dictionary = SimData.halData["pwm"][port];
}
public static IntPtr c_TalonSRX_Create(int deviceNumber, int controlPeriodMs)
{
if (halData["CAN"].ContainsKey(deviceNumber))
{
throw new ArgumentOutOfRangeException(nameof(deviceNumber), "Device Already Allocated.");
}
halData["CAN"][deviceNumber] = new NotifyDict<dynamic, dynamic>()
{
["type"] = "talonsrx",
["value"] = 0,
["params"] = new NotifyDict<dynamic, dynamic>()
{
[(int)HAL_Base.HALCanTalonSRX.ParamID.eProfileParamSlot0_P] = 1.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eProfileParamSlot0_I] = 2.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eProfileParamSlot0_D] = 3.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eProfileParamSlot0_F] = 4.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eProfileParamSlot0_IZone] = 5.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eProfileParamSlot0_CloseLoopRampRate] = 6.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eProfileParamSlot1_P] = 11.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eProfileParamSlot1_I] = 12.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eProfileParamSlot1_D] = 13.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eProfileParamSlot1_F] = 14.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eProfileParamSlot1_IZone] = 15.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eProfileParamSlot1_CloseLoopRampRate] = 16.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eProfileParamSoftLimitForThreshold] = 21.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eProfileParamSoftLimitRevThreshold] = 22.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eProfileParamSoftLimitForEnable] = 23.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eProfileParamSoftLimitRevEnable] = 24.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eOnBoot_BrakeMode] = 31.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eOnBoot_LimitSwitch_Forward_NormallyClosed] = 32.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eOnBoot_LimitSwitch_Reverse_NormallyClosed] = 33.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eOnBoot_LimitSwitch_Forward_Disable] = 34.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eOnBoot_LimitSwitch_Reverse_Disable] = 35.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eFault_OverTemp] = 41.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eFault_UnderVoltage] = 42.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eFault_ForLim] = 43.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eFault_RevLim] = 44.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eFault_HardwareFailure] = 45.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eFault_ForSoftLim] = 46.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eFault_RevSoftLim] = 47.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eStckyFault_OverTemp] = 48.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eStckyFault_UnderVoltage] = 49.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eStckyFault_ForLim] = 50.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eStckyFault_RevLim] = 51.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eStckyFault_ForSoftLim] = 52.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eStckyFault_RevSoftLim] = 53.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eAppliedThrottle] = 61.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eCloseLoopErr] = 62.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eFeedbackDeviceSelect] = 63.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eRevMotDuringCloseLoopEn] = 64.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eModeSelect] = 65.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eProfileSlotSelect] = 66.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eRampThrottle] = 67.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eRevFeedbackSensor] = 68.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eLimitSwitchEn] = 69.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eLimitSwitchClosedFor] = 70.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eLimitSwitchClosedRev] = 71.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eSensorPosition] = 73.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eSensorVelocity] = 74.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eCurrent] = 75.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eBrakeIsEnabled] = 76.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eEncPosition] = 77.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eEncVel] = 78.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eEncIndexRiseEvents] = 79.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eQuadApin] = 80.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eQuadBpin] = 81.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eQuadIdxpin] = 82.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eAnalogInWithOv] = 83.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eAnalogInVel] = 84.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eTemp] = 85.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eBatteryV] = 86.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eResetCount] = 87.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eResetFlags] = 88.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eFirmVers] = 89.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eSettingsChanged] = 90.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.eQuadFilterEn] = 91.0,
[(int)HAL_Base.HALCanTalonSRX.ParamID.ePidIaccum] = 93.0,
},
["fault_overtemp"] = 0,
["fault_undervoltage"] = 0,
["fault_forlim"] = 0,
["fault_revlim"] = 0,
["fault_hwfailure"] = 0,
["fault_forsoftlim"] = 0,
["fault_revsoftlim"] = 0,
["stickyfault_overtemp"] = 0,
["stickyfault_undervoltage"] = 0,
["stickyfault_forlim"] = 0,
["stickyfault_revlim"] = 0,
["stickyfault_forsoftlim"] = 0,
["stickyfault_revsoftlim"] = 0,
["applied_throttle"] = 0,
["closeloop_err"] = 0,
["feedback_device_select"] = 0,
["mode_select"] = 0,
["limit_switch_en"] = 0,
["limit_switch_closed_for"] = 0,
["limit_switch_closed_rev"] = 0,
["sensor_position"] = 0,
["sensor_velocity"] = 0,
["current"] = 0,
["brake_enabled"] = 0,
["enc_position"] = 0,
["enc_velocity"] = 0,
["enc_index_rise_events"] = 0,
["quad_apin"] = 0,
["quad_bpin"] = 0,
["quad_idxpin"] = 0,
["analog_in_with_ov"] = 0,
["analog_in_vel"] = 0,
["temp"] = 0,
["battery"] = 0,
["reset_count"] = 0,
["reset_flags"] = 0,
["firmware_version"] = 0,
["override_limit_switch"] = 0,
["feedback_device"] = null,
["rev_motor_during_close_loop"] = null,
["override_braketype"] = null,
["profile_slot_select"] = null,
["ramp_throttle"] = null,
["rev_feedback_sensor"] = null
};
TalonSRX srx = new TalonSRX { deviceNumber = deviceNumber };
IntPtr ptr = Marshal.AllocHGlobal(Marshal.SizeOf(srx));
Marshal.StructureToPtr(srx, ptr, true);
return ptr;
}
public SimCANTalon(int id)
{
dictionary = SimData.HalData["CAN"][id];
}
public SimDigitalInput(int pin)
{
dictionary = SimData.halData["dio"][pin];
}
public SimAnalogOutput(int pin)
{
dictionary = SimData.halData["analog_out"][pin];
}
public SimRelay(int port)
{
dictionary = SimData.halData["relay"][port];
}
public SimAnalogInput(int pin)
{
dictionary = SimData.halData["analog_in"][pin];
}
