void Print_All()
{
StringBuilder _ms = new StringBuilder();
_ms.Clear();
_ms.Append(" Target Angle=");
_ms.Append(angleSetpoint);
_ms.Append(" Current Angle=");
_ms.Append(scaledUnitsToDegrees(_turret.GetEncPosition()));
_ms.Append(" Target RPM=");
_ms.Append(rpmSetpoint);
_ms.Append(" Current RPM=");
_ms.Append(_shooter.GetSpeed());
Debug.Print(_ms.ToString());
}
void Instrument()
{
if (--_timeToColumns <= 0)
{
_timeToColumns = 400;
_sb.Clear();
_sb.Append("topCnt \t");
_sb.Append("btmCnt \t");
_sb.Append("setval \t");
_sb.Append("HasUndr\t");
_sb.Append("IsUnder\t");
_sb.Append(" IsVal \t");
_sb.Append(" IsLast\t");
_sb.Append("VelOnly\t");
_sb.Append(" TargetPos[AndVelocity] \t");
_sb.Append("Pos[AndVelocity]");
Debug.Print(_sb.ToString());
}
if (--_timeToPrint <= 0)
{
_timeToPrint = 40;
_sb.Clear();
_sb.Append(_motionProfileStatus.topBufferCnt);
_sb.Append("\t\t");
_sb.Append(_motionProfileStatus.btmBufferCnt);
_sb.Append("\t\t");
_sb.Append(_motionProfileStatus.outputEnable);
_sb.Append("\t\t");
_sb.Append(_motionProfileStatus.hasUnderrun ? " 1 \t" : " \t");
_sb.Append(_motionProfileStatus.isUnderrun ? " 1 \t" : " \t");
_sb.Append(_motionProfileStatus.activePointValid ? " 1 \t" : " \t");
_sb.Append(_motionProfileStatus.activePoint.isLastPoint ? " 1 \t" : " \t");
_sb.Append(_motionProfileStatus.activePoint.velocityOnly ? " 1 \t" : " \t");
_sb.Append(_motionProfileStatus.activePoint.position);
_sb.Append("[");
_sb.Append(_motionProfileStatus.activePoint.velocity);
_sb.Append("]\t");
_sb.Append("\t\t\t");
_sb.Append(_talon.GetPosition());
_sb.Append("[");
_sb.Append(_talon.GetSpeed());
_sb.Append("]");
Debug.Print(_sb.ToString());
}
}
/** occasionally builds a line and prints to output window */
void Instrument()
{
if (--_timeToPrint <= 0)
{
_timeToPrint = 20;
_sb.Clear();
_sb.Append("pos=");
_sb.Append(_talon.GetPosition());
_sb.Append(" vel=");
_sb.Append(_talon.GetSpeed());
_sb.Append(" err=");
_sb.Append(_talon.GetClosedLoopError());
_sb.Append(" out%=");
_sb.Append(_talon.GetOutputVoltage() * 100.0f / 12.0f);
Debug.Print(_sb.ToString());
}
}