public IConfigure ForType <T>(Action <IConfigureType <T> > configure)
{
var typeConfigurer = new ConfigureType <T>(_runner);
configure(typeConfigurer);
return(this);
}
public IConfigParser GetParser(ConfigureType configureType)
{
if (parser != null)
{
parser = null;
}
switch (configureType)
{
case ConfigureType.INI:
parser = new IniConfigFileParser();
break;
}
return(parser);
}
public void AddConfigure(ConfigureType type, string resourcePath, string assetBundlePath = null,
bool dependent = true)
{
Debug.Log(string.Format("【Build AssetBundle】configure type:{0} resPath:{1}", Enum.GetName(typeof(ConfigureType), type),
resourcePath));
ConfigureInfo info = new ConfigureInfo();
info.Type = type;
info.ResourcePath = resourcePath;
info.AssetBundlePath = assetBundlePath;
info.Dependent = dependent;
m_ConfigureInfoList.Add(info);
}
/// <summary>
/// Configure the desired talon for closed-loop control.
/// Uses the default configuration parameters.
/// </summary>
/// <param name="talon">The talon to configure.</param>
/// <param name="type">Configure the talon for velocity or positional control.</param>
public static void ConfigureTalon(CANTalon talon, ConfigureType type)
{
switch (type)
{
case ConfigureType.Position:
EncoderParameters parametersPosition = new EncoderParameters
{
Device = FeedbackDevice.CtreMagEncoderRelative,
ReverseSensor = true,
PIDFValues = new PIDF
{
kP = 0.02,
kI = 0.00,
kD = 0.00,
kF = 0.00
},
AllowedError = 1,
NominalVoltage = 0f,
PeakVoltage = 12f
};
ConfigureTalon(talon, type, parametersPosition);
break;
case ConfigureType.Velocity:
EncoderParameters parametersVelocity = new EncoderParameters
{
Device = FeedbackDevice.CtreMagEncoderRelative,
ReverseSensor = true,
PIDFValues = new Functions.PIDF
{
kP = 0.02,
kI = 0.00,
kD = 0.00,
kF = 0.00
},
AllowedError = 1,
NominalVoltage = 0f,
PeakVoltage = 12f
};
ConfigureTalon(talon, type, parametersVelocity);
break;
}
}
/// <summary>
/// Configure the desired talon for closed-loop control.
/// </summary>
/// <param name="talon">The talon to configure.</param>
/// <param name="type">Configure the talon for velocity or positional control.</param>
/// <param name="parameters">Set the settings for the talon. Some</param>
public static void ConfigureTalon(CANTalon talon, ConfigureType type, EncoderParameters parameters)
{
// Grab the 360 degree of the magnetic encoder's absolute position.
int absolutePosition = talon.GetPulseWidthPosition() & 0xFFF; // Throw out the bits dealing with wrap-arounds.
// Set the encoder's signal.
talon.SetEncoderPostition(absolutePosition);
// Set the sensor and direction.
talon.FeedBackDevice = parameters.Device;
talon.ReverseSensor(parameters.ReverseSensor);
// Set the peak and nominal outputs. +12V is full throttle forward, -12V is full throttle backwards.
talon.ConfigNominalOutputVoltage(+parameters.NominalVoltage, -parameters.NominalVoltage);
talon.ConfigPeakOutputVoltage(+parameters.PeakVoltage, -parameters.PeakVoltage);
// Set the allowed closed-loop error.
talon.SetAllowableClosedLoopErr(parameters.AllowedError);
// Set the PIDF gains.
talon.Profile = parameters.PIDProfile; // Sets the current profile for saving the variables.
talon.P = parameters.PIDFValues.kP; // Sets the proportional gain.
talon.I = parameters.PIDFValues.kI; // Sets the integral gain.
talon.D = parameters.PIDFValues.kD; // Sets the derivative gain.
talon.F = parameters.PIDFValues.kF; // Sets the filter gain.
// Switches how to configure the talon based on the 'type' parameter.
switch (type)
{
// Run the positional config.
case ConfigureType.Position:
// Set the talon to be in positional control mode.
talon.MotorControlMode = WPILib.Interfaces.ControlMode.Position;
break;
// Run the velocity config.
case ConfigureType.Velocity:
// Set the talon to be in speed control mode.
talon.MotorControlMode = WPILib.Interfaces.ControlMode.Speed;
break;
}
}
