//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();
}
/** 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());
}
}
