protected RemoteSensoredGearbox(float unitsPerRevolution, IMotorController master) : base(master)
{
_unitsPerRevolution = unitsPerRevolution;
_rotationsPerUnit = 1f / _unitsPerRevolution;
_remoteFeedbackDevice = RemoteFeedbackDevice.RemoteFeedbackDevice_None;
/* child class takes care of sensor */
}
public RemoteSensoredGearbox(float unitsPerRevolution, IMotorController master, IFollower[] followers, RemoteFeedbackDevice remoteFeedbackDevice) : base(master, followers)
{
_unitsPerRevolution = unitsPerRevolution;
_rotationsPerUnit = 1f / _unitsPerRevolution;
_remoteFeedbackDevice = remoteFeedbackDevice;
_motor.ConfigSelectedFeedbackSensor(_remoteFeedbackDevice, 0);
}
public VictorSPXConfiguration()
{
primaryPID = new VictorSPXPIDSetConfiguration();
auxilaryPID = new VictorSPXPIDSetConfiguration();
forwardLimitSwitchSource = RemoteLimitSwitchSource.Deactivated;
reverseLimitSwitchSource = RemoteLimitSwitchSource.Deactivated;
sum_0 = RemoteFeedbackDevice.RemoteFeedbackDevice_RemoteSensor0;
sum_1 = RemoteFeedbackDevice.RemoteFeedbackDevice_RemoteSensor0;
diff_0 = RemoteFeedbackDevice.RemoteFeedbackDevice_RemoteSensor0;
diff_1 = RemoteFeedbackDevice.RemoteFeedbackDevice_RemoteSensor0;
//NOTE: while the factory default value is 0, this value can't
//be set by the API. Thus, RemoteSensor0 is the default
}
public static string ToString(RemoteFeedbackDevice value)
{
switch (value)
{
case 0: return("None (factory default value)");
case RemoteFeedbackDevice.RemoteFeedbackDevice_SensorSum: return("RemoteFeedbackDevice.RemoteFeedbackDevice_SensorSum");
case RemoteFeedbackDevice.RemoteFeedbackDevice_SensorDifference: return("RemoteFeedbackDevice.RemoteFeedbackDevice_SensorDifference");
case RemoteFeedbackDevice.RemoteFeedbackDevice_RemoteSensor0: return("RemoteFeedbackDevice.RemoteFeedbackDevice_RemoteSensor0");
case RemoteFeedbackDevice.RemoteFeedbackDevice_RemoteSensor1: return("RemoteFeedbackDevice.RemoteFeedbackDevice_RemoteSensor1");
case RemoteFeedbackDevice.RemoteFeedbackDevice_SoftwareEmulatedSensor: return("RemoteFeedbackDevice.RemoteFeedbackDevice_SoftwareEmulatedSensor");
default: return("InvalidValue");
}
}
public RemoteSensoredGearbox(float unitsPerRevolution, IMotorController mc0, IFollower mc1, IFollower mc2, RemoteFeedbackDevice remoteFeedbackDevice) : this(unitsPerRevolution, mc0, new IFollower[] { mc1, mc2 }, remoteFeedbackDevice)
{
}
//------ sensor selection ----------//
public ErrorCode ConfigSelectedFeedbackSensor(RemoteFeedbackDevice feedbackDevice, int pidIdx, int timeoutMs = 0)
{
return(_ll.ConfigSelectedFeedbackSensor((FeedbackDevice)feedbackDevice, pidIdx, timeoutMs));
}
public VictorSPXPIDSetConfiguration()
{
selectedFeedbackSensor = RemoteFeedbackDevice.RemoteFeedbackDevice_RemoteSensor0;
//NOTE: while the factory default value is 0, this value can't
//be set by the API. Thus, RemoteSensor0 is the default
}
public CurrentLimitedSensorGearbox(float unitsPerRevolution, IMotorControllerEnhanced mc0, IMotorControllerEnhanced mc1, IMotorControllerEnhanced mc2, RemoteFeedbackDevice remoteFeedbackDevice)
: base(unitsPerRevolution, mc0, mc1, mc2, remoteFeedbackDevice)
{
}
public CurrentLimitedSensorGearbox(float unitsPerRevolution, IMotorControllerEnhanced master, IMotorControllerEnhanced[] followers, RemoteFeedbackDevice remoteFeedbackDevice) : base(unitsPerRevolution, master, followers, remoteFeedbackDevice)
{
}
public SensoredGearbox(float unitsPerRevolution, IMotorControllerEnhanced master, IFollower[] followers, RemoteFeedbackDevice remoteFeedbackDevice) : base(unitsPerRevolution, master, followers, remoteFeedbackDevice)
{
_master = master;
/* parent class selects sensor */
}
