//reads the talons and updates the data
public void updateStatusData()
{
talonCurrent = (talon.GetOutputCurrent());
talonTemperature = (talon.GetTemperature());
talonVoltage = (talon.GetOutputVoltage());
talonSpeed = (talon.GetSpeed());
talonPosition = (talon.GetPosition());
talonSetpoint = (talon.GetSetpoint());
talonForwardLimitReached = talon.IsFwdLimitSwitchClosed() ? 1 : 0;
talonReverseLimitReached = talon.IsRevLimitSwitchClosed() ? 1 : 0;
controlMode = talon.GetControlMode();
}
static void Run()
{
float x = _gamepad.GetAxis(1);
Deadband(ref x);
//Set the Maximum Current Limit for the Talon (in Amps)
talon.SetCurrentLimit(10);
//Enable the Current Limiting Feature.
talon.EnableCurrentLimit(true);
talon.Set(x);
float current = talon.GetOutputCurrent();
stringBuilder.Append("\t");
stringBuilder.Append(current);
stringBuilder.Append("\t");
}
