/** * Gets all PID set persistant settings (overloaded so timeoutMs is 50 ms * and pidIdx is 0). * * @param pid Object with all of the PID set persistant settings */ public void GetPIDConfigs(out TalonSRXPIDSetConfiguration pid, int pidIdx = 0, int timeoutMs = 50) { pid = new TalonSRXPIDSetConfiguration(); BaseGetPIDConfigs(pid, pidIdx, timeoutMs); pid.selectedFeedbackSensor = (FeedbackDevice)ConfigGetParameter(ParamEnum.eFeedbackSensorType, pidIdx, timeoutMs); }
/** * Gets all PID set persistant settings. * * @param pid Object with all of the PID set persistant settings * @param pidIdx 0 for Primary closed-loop. 1 for auxiliary closed-loop. * @param timeoutMs * Timeout value in ms. If nonzero, function will wait for * config success and report an error if it times out. * If zero, no blocking or checking is performed. */ public ErrorCode ConfigurePID(TalonSRXPIDSetConfiguration pid, int pidIdx = 0, int timeoutMs = 50) { ErrorCollection errorCollection = new ErrorCollection(); //------ sensor selection ----------// errorCollection.NewError(BaseConfigurePID(pid, pidIdx, timeoutMs)); errorCollection.NewError(ConfigSelectedFeedbackSensor(pid.selectedFeedbackSensor, pidIdx, timeoutMs)); return(errorCollection._worstError); }
public TalonSRXConfiguration() { primaryPID = new TalonSRXPIDSetConfiguration(); auxilaryPID = new TalonSRXPIDSetConfiguration(); forwardLimitSwitchSource = LimitSwitchSource.FeedbackConnector; reverseLimitSwitchSource = LimitSwitchSource.FeedbackConnector; sum_0 = FeedbackDevice.QuadEncoder; sum_1 = FeedbackDevice.QuadEncoder; diff_0 = FeedbackDevice.QuadEncoder; diff_1 = FeedbackDevice.QuadEncoder; peakCurrentLimit = 1; peakCurrentDuration = 1; continuousCurrentLimit = 1; }