public void Setup()
{
_tal.ConfigFwdLimitSwitchNormallyOpen(true);
_tal.ConfigRevLimitSwitchNormallyOpen(true);
_tal.SetControlMode(ControlMode.kVoltage); //voltage control mode
_tal.SetFeedbackDevice(TalonSrx.FeedbackDevice.CtreMagEncoder_Relative); //sensor type
_tal.SetStatusFrameRateMs(TalonSrx.StatusFrameRate.StatusFrameRatePulseWidthMeas, 1); //feedback to 1ms
}
public void Setup()
{
TalonSrx armTalon = (TalonSrx)_gearBox.GetMaster();
armTalon.SetStatusFrameRateMs(TalonSrx.StatusFrameRate.StatusFrameRateGeneral, 10); //Send updates every 10ms instead of 10ms
armTalon.SetStatusFrameRateMs(TalonSrx.StatusFrameRate.StatusFrameRatePulseWidthMeas, 1); //1ms update insead of 100ms for encoder
armTalon.SetSensorDirection(true); //reversed sensor
armTalon.ConfigFwdLimitSwitchNormallyOpen(false);
armTalon.ConfigRevLimitSwitchNormallyOpen(false);
armTalon.EnableZeroSensorPositionOnReverseLimit(false); //enable on reverse limit
armTalon.EnableZeroSensorPositionOnForwardLimit(false);
}