コード例 #1
0
        void initTurret()
        {
            /* first choose the sensor */
            _turret.SetFeedbackDevice(TalonSrx.FeedbackDevice.CtreMagEncoder_Relative);
            _turret.SetSensorDirection(false);
            _turret.ConfigEncoderCodesPerRev(4096); // if using CTRE.TalonSrx.FeedbackDevice.QuadEncoder

            _turret.SetP(0, TURRET_P);              /* tweak this first, a little bit of overshoot is okay */
            _turret.SetI(0, TURRET_I);
            _turret.SetD(0, TURRET_D);
            _turret.SetF(0, TURRET_F);

            /* use slot0 for closed-looping */
            _turret.SelectProfileSlot(0);

            /* set the peak and nominal outputs, 12V means full */
            _turret.ConfigNominalOutputVoltage(MINIMUM_TURRET_VOLTAGE, -1 * MINIMUM_TURRET_VOLTAGE); //The minimum voltage that will be applied to the turret.
            _turret.ConfigPeakOutputVoltage(+3.0f, -3.0f);                                           //THe maximum voltage that will be applied to the turret.

            /* how much error is allowed?  This defaults to 0. */
            _turret.SetAllowableClosedLoopErr(0, 0);

            _turret.SetPosition(0);        /* start our position at zero, this example uses relative positions */
            _turret.SetVoltageRampRate(0); /* V per sec */

            _turret.SetControlMode(ControlMode.kPosition);
            _turret.Set(angleSetpoint);

            _turret.SetEncPosition(0);
        }