public static void Process(CTRE.TalonSrx talon)
{
/* simple timeout to reduce printed lines */
if (++_instrumLoops1 > 10)
{
_instrumLoops1 = 0;
/* get closed loop info */
float pos = talon.GetPosition();
float spd = talon.GetSpeed();
int err = talon.GetClosedLoopError();
/* build the string */
_sb.Clear();
_sb.Append(pos);
if (_sb.Length < 16) { _sb.Append(' ', 16 - _sb.Length); }
_sb.Append(spd);
if (_sb.Length < 32) { _sb.Append(' ', 32 - _sb.Length); }
_sb.Append(err);
if (_sb.Length < 48) { _sb.Append(' ', 48 - _sb.Length); }
Debug.Print(_sb.ToString()); /* print data row */
if (++_instrumLoops2 > 8)
{
_instrumLoops2 = 0;
_sb.Clear();
_sb.Append("Position");
if (_sb.Length < 16) { _sb.Append(' ', 16 - _sb.Length); }
_sb.Append("Velocity");
if (_sb.Length < 32) { _sb.Append(' ', 32 - _sb.Length); }
_sb.Append("Error");
if (_sb.Length < 48) { _sb.Append(' ', 48 - _sb.Length); }
Debug.Print(_sb.ToString()); /* print columns */
}
}
}
/**
* General set frame. Since the parameter is a general integral type, this can
* be used for testing future features.
*/
public int ConfigSetParameter(CTRE.LowLevel_TalonSrx.ParamEnum paramEnum, float value, uint timeoutMs = 0)
{
int status;
/* config peak throttle when in closed-loop mode in the positive direction. */
status = m_impl.SetParam(paramEnum, value, timeoutMs);
return HandleStatus(status);
}
