public override Int32 Begin()
{
#if DEBUG
Debug.Print(ToString() + " [BEGIN]");
#endif
/* Setup Left and Right followers */
RightSlave.SetControlMode(CTRE.TalonSrx.ControlMode.kFollower);
RightSlave.Set(RIGHT_TALONSRX_ID);
LeftSlave.SetControlMode(CTRE.TalonSrx.ControlMode.kFollower);
LeftSlave.Set(LEFT_TALONSRX_ID);
/* Configure the Left TalonSRX */
Left.SetInverted(LEFT_INVT);
Left.ConfigLimitMode(CTRE.TalonSrx.LimitMode.kLimitMode_SrxDisableSwitchInputs);
Left.ConfigFwdLimitSwitchNormallyOpen(true);
Left.ConfigRevLimitSwitchNormallyOpen(true);
LeftSlave.ConfigLimitMode(CTRE.TalonSrx.LimitMode.kLimitMode_SrxDisableSwitchInputs);
LeftSlave.ConfigFwdLimitSwitchNormallyOpen(true);
LeftSlave.ConfigRevLimitSwitchNormallyOpen(true);
/* Configure the Right TalonSRX */
Right.SetInverted(!LEFT_INVT);
Right.ConfigLimitMode(CTRE.TalonSrx.LimitMode.kLimitMode_SrxDisableSwitchInputs);
Right.ConfigFwdLimitSwitchNormallyOpen(true);
Right.ConfigRevLimitSwitchNormallyOpen(true);
RightSlave.ConfigLimitMode(CTRE.TalonSrx.LimitMode.kLimitMode_SrxDisableSwitchInputs);
RightSlave.ConfigFwdLimitSwitchNormallyOpen(true);
RightSlave.ConfigRevLimitSwitchNormallyOpen(true);
if (USE_SPEED_MODE)
{
/* Setup Left and Right leaders with PID */
Right.SetFeedbackDevice(CTRE.TalonSrx.FeedbackDevice.QuadEncoder);
Right.SetSensorDirection(false);
Right.ConfigEncoderCodesPerRev(RIGHT_EncTPR);
Right.SetControlMode(CTRE.TalonSrx.ControlMode.kSpeed);
Right.SetPID(0, RIGHT_P, RIGHT_I, RIGHT_D);
Right.SetF(0, RIGHT_F);
Left.SetFeedbackDevice(CTRE.TalonSrx.FeedbackDevice.QuadEncoder);
Left.SetSensorDirection(false);
Left.ConfigEncoderCodesPerRev(LEFT_EncTPR);
Left.SetControlMode(CTRE.TalonSrx.ControlMode.kSpeed);
Left.SetPID(0, LEFT_P, LEFT_I, LEFT_D);
Left.SetF(0, LEFT_F);
}
/* Enable the TalonSRXs */
Right.Enable();
RightSlave.Enable();
Left.Enable();
LeftSlave.Enable();
return(0);
}
public override Int32 Begin()
{
#if DEBUG
Debug.Print(ToString() + " [BEGIN]");
#endif
// TODO: Set and check config for winch and dog.
Winch.ConfigLimitMode(CTRE.TalonSrx.LimitMode.kLimitMode_SwitchInputsOnly);
Dog.ConfigLimitMode(CTRE.TalonSrx.LimitMode.kLimitMode_SwitchInputsOnly);
Winch.ConfigFwdLimitSwitchNormallyOpen(true);
Winch.ConfigRevLimitSwitchNormallyOpen(false);
Dog.ConfigFwdLimitSwitchNormallyOpen(false);
Dog.ConfigRevLimitSwitchNormallyOpen(false);
Winch.Enable();
Dog.Enable();
return(0);
}
