//I think this is where the magic happens and the motors move
private static void processInboundData(ArrayList setpointDataList, ArrayList talons)
{
//For each setpointData, for the talon that matches it set each mode and setpoint based on the list information
for (int i = 0; i < setpointDataList.Count; i++)
{
try
{
SetpointData setpointData = (SetpointData)setpointDataList[i];
float setpointVal = (float)(setpointData.getSetpoint());
CTRE.TalonSrx talon = (CTRE.TalonSrx)talons[i];
if (talon.GetControlMode() != setpointData.getMode())
{
talon.SetControlMode(setpointData.getMode());
//Debug.Print(setpointData.getMode().ToString());
}
if (talon.GetSetpoint() != setpointVal)
{
talon.Set(setpointVal);
Debug.Print("Setting it to value = " + setpointVal.ToString());
//Debug.Print(setpointVal.ToString());
}
}
catch (ArgumentOutOfRangeException ex)
{
Debug.Print(ex.ToString());
}
}
}
//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();
}
private static void processInboundData(ArrayList setpointDataList, ArrayList talons)
{
for (int i = 0; i < setpointDataList.Count; i++)
{
SetpointData setpointData = (SetpointData)setpointDataList[i];
float setpointVal = (float)(setpointData.getSetpoint());
CTRE.TalonSrx talon = (CTRE.TalonSrx)talons[i];
if (talon.GetControlMode() != setpointData.getMode())
{
talon.SetControlMode(setpointData.getMode());
Debug.Print(setpointData.getMode().ToString());
}
if (talon.GetSetpoint() != setpointVal)
{
talon.Set(setpointVal);
Debug.Print(setpointVal.ToString());
}
}
}
