public void init()
{
/* first choose the sensor */
_talon.SetFeedbackDevice(CTRE.TalonSrx.FeedbackDevice.CtreMagEncoder_Absolute);
_talon.SetSensorDirection(false);
/* set closed loop gains in slot0 */
_talon.SetP(0, 0.5f); /* tweak this first, a little bit of overshoot is okay */
_talon.SetI(0, 0f);
_talon.SetD(0, 0f);
_talon.SetF(0, 0f); /* For position servo kF is rarely used. Leave zero */
/* use slot0 for closed-looping */
_talon.SelectProfileSlot(0);
/*set target to the current position */
ResetTargetPosition();
}
public static void Main()
{
CTRE.TalonSrx talon = new CTRE.TalonSrx(0);
talon.SetControlMode(TalonSrx.ControlMode.kVoltage);
talon.SetFeedbackDevice(TalonSrx.FeedbackDevice.CtreMagEncoder_Relative);
talon.SetSensorDirection(false);
talon.SetVoltageRampRate(0.0f);
talon.EnableCurrentLimit(false);
talon.ConfigLimitMode(TalonSrx.LimitMode.kLimitMode_SrxDisableSwitchInputs);
double time_per_voltage = 20;
double[] voltages = new double[] { 0, 7 };
bool time_out = false;
bool continuous = false;
/* simple counter to print and watch using the debugger */
int counter = 0;
/* loop forever */
double time_last = DateTime.Now.Hour * 3600 + DateTime.Now.Minute * 60 + DateTime.Now.Second + DateTime.Now.Millisecond / 1000.0;
while (true)
{
/* print the three analog inputs as three columns */
//Debug.Print("Counter Value: " + counter);
CTRE.Watchdog.Feed();
/* increment counter */
++counter; /* try to land a breakpoint here and hover over 'counter' to see it's current value. Or add it to the Watch Tab */
/* wait a bit */
//using(System.IO.StreamWriter file = new System.IO.StreamWriter(@"C:\Users\Public\TestFolder\data.srv"))
//{
double seconds = DateTime.Now.Hour * 3600 + DateTime.Now.Minute * 60 + DateTime.Now.Second + DateTime.Now.Millisecond / 1000.0;
UInt64 index = (UInt64)System.Math.Floor((seconds - time_last) / time_per_voltage);
double voltage = 0;
if (continuous)
{
if (index < (UInt64)voltages.Length - 1)
{
double value = (seconds - time_last) / time_per_voltage;
voltage = (voltages[index + 1] - voltages[index]) * (value - index) + voltages[index];
}
else if (!time_out)
{
voltage = voltages[voltages.Length - 1];
}
}
else
{
if (index < (UInt64)voltages.Length)
{
voltage = voltages[index];
}
else if (!time_out)
{
voltage = voltages[voltages.Length - 1];
}
}
talon.Set((float)voltage); //low ish voltage
//CTRE.TalonSrx.VelocityMeasurementPeriod.Period_100Ms period;
Debug.Print(seconds.ToString() + "," + talon.GetPosition().ToString() + "," + talon.GetSpeed().ToString() + "," + talon.GetOutputVoltage().ToString()
+ "," + talon.GetOutputCurrent().ToString() + "," + talon.GetBusVoltage().ToString() + "," + talon.GetTemperature().ToString());
//talon.SetVelocityMeasurementPeriod(CTRE.TalonSrx.VelocityMeasurementPeriod.Period_10Ms);
// file.WriteLine(seconds.ToString() + "," + talon.GetPosition().ToString() + "," + talon.GetSpeed().ToString());
//}
System.Threading.Thread.Sleep(10);
}
}
