/**
* Setup all of the configuration parameters.
*/
public int SetupConfig()
{
/* binary OR all the return values so we can make a quick decision if our init was successful */
int status = 0;
/* specify sensor characteristics */
_talon.SetFeedbackDevice(CTRE.TalonSrx.FeedbackDevice.CtreMagEncoder_Relative);
_talon.SetSensorDirection(false); /* make sure positive motor output means sensor moves in position direction */
// call ConfigEncoderCodesPerRev or ConfigPotentiometerTurns for Quadrature or Analog sensor types.
/* brake or coast during neutral */
status |= _talon.ConfigNeutralMode(CTRE.TalonSrx.NeutralMode.Brake);
/* closed-loop and motion-magic parameters */
status |= _talon.SetF(kSlotIdx, 0.1153f, kTimeoutMs); // 1300RPM (8874 native sensor units per 100ms) at full motor output (+1023)
status |= _talon.SetP(kSlotIdx, 2.00f, kTimeoutMs);
status |= _talon.SetI(kSlotIdx, 0f, kTimeoutMs);
status |= _talon.SetD(kSlotIdx, 20f, kTimeoutMs);
status |= _talon.SetIzone(kSlotIdx, 0, kTimeoutMs);
status |= _talon.SelectProfileSlot(kSlotIdx); /* select this slot */
status |= _talon.ConfigNominalOutputVoltage(0f, 0f, kTimeoutMs);
status |= _talon.ConfigPeakOutputVoltage(+12f, -12f, kTimeoutMs);
status |= _talon.SetMotionMagicCruiseVelocity(1000f, kTimeoutMs); // 1000 RPM
status |= _talon.SetMotionMagicAcceleration(2000f, kTimeoutMs); // 2000 RPM per sec, (0.5s to reach cruise velocity).
/* Home the relative sensor,
* alternatively you can throttle until limit switch,
* use an absolute signal like CtreMagEncoder_Absolute or analog sensor.
*/
status |= _talon.SetPosition(0, kTimeoutMs);
return(status);
}
