public void Setup() { _tal.ConfigForwardLimitSwitchSource(CTRE.Phoenix.MotorControl.LimitSwitchSource.FeedbackConnector, CTRE.Phoenix.MotorControl.LimitSwitchNormal.NormallyOpen); _tal.ConfigReverseLimitSwitchSource(CTRE.Phoenix.MotorControl.LimitSwitchSource.FeedbackConnector, CTRE.Phoenix.MotorControl.LimitSwitchNormal.NormallyOpen); _tal.ConfigSelectedFeedbackSensor(CTRE.Phoenix.MotorControl.FeedbackDevice.CTRE_MagEncoder_Relative); _tal.SetStatusFramePeriod(StatusFrameEnhanced.Status_8_PulseWidth, 1); }
public void Setup() { TalonSRX armTalon = (TalonSRX)_gearBox.MasterMotorController; armTalon.SetInverted(false); armTalon.SetStatusFramePeriod(StatusFrame.Status_1_General_, 10); //Send updates every 10ms instead of 10ms armTalon.SetStatusFramePeriod(StatusFrameEnhanced.Status_8_PulseWidth, 1); armTalon.SetSensorPhase(true); //reversed sensor armTalon.ConfigForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyClosed); armTalon.ConfigReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyClosed); armTalon.ConfigClearPositionOnLimitR(false, 10); //enable on reverse limit armTalon.ConfigClearPositionOnLimitF(false, 10); }
static Hardware() { _leftDrive = new VictorSPX(1); _rightDrive = new VictorSPX(2); _lid = new TalonSRX(9); _leftDrive.ConfigFactoryDefault(); _rightDrive.ConfigFactoryDefault(); _lid.ConfigFactoryDefault(); _lid.ConfigForwardLimitSwitchSource(CTRE.Phoenix.MotorControl.LimitSwitchSource.FeedbackConnector, CTRE.Phoenix.MotorControl.LimitSwitchNormal.NormallyOpen); _lid.ConfigReverseLimitSwitchSource(CTRE.Phoenix.MotorControl.LimitSwitchSource.FeedbackConnector, CTRE.Phoenix.MotorControl.LimitSwitchNormal.NormallyOpen); _lid.ConfigContinuousCurrentLimit(2); // on port 3: Hardware Pin 1 is CTRE.HERO.IO.Port3.Pin3. // Hardware Pin 6 is CTRE.HERO.IO.Port3.Pin8. _testOutputPort = new OutputPort(CTRE.HERO.IO.Port5.Pin8, false); b0_supply = new OutputPort(CTRE.HERO.IO.Port3.Pin3, false); b0_tank = new OutputPort(CTRE.HERO.IO.Port3.Pin4, false); b0_shot = new OutputPort(CTRE.HERO.IO.Port3.Pin5, false); b1_supply = new OutputPort(CTRE.HERO.IO.Port3.Pin6, false); b1_tank = new OutputPort(CTRE.HERO.IO.Port3.Pin7, false); b1_shot = new OutputPort(CTRE.HERO.IO.Port3.Pin8, false); voltage = new AnalogInput(CTRE.HERO.IO.Port8.Analog_Pin5); lid_limit_switch = new InputPort(CTRE.HERO.IO.Port8.Pin6, false, Port.ResistorMode.PullUp); lid_limit_switch_led = new OutputPort(CTRE.HERO.IO.Port5.Pin3, false); UsbHostDevice usb = CTRE.Phoenix.UsbHostDevice.GetInstance(); _gamepad = new GameController(usb); usb.SetSelectableXInputFilter(UsbHostDevice.SelectableXInputFilter.XInputDevices); _display = new Display(); }