public void Setup()
{
_tal.ConfigForwardLimitSwitchSource(CTRE.Phoenix.MotorControl.LimitSwitchSource.FeedbackConnector, CTRE.Phoenix.MotorControl.LimitSwitchNormal.NormallyOpen);
_tal.ConfigReverseLimitSwitchSource(CTRE.Phoenix.MotorControl.LimitSwitchSource.FeedbackConnector, CTRE.Phoenix.MotorControl.LimitSwitchNormal.NormallyOpen);
_tal.ConfigSelectedFeedbackSensor(CTRE.Phoenix.MotorControl.FeedbackDevice.CTRE_MagEncoder_Relative);
_tal.SetStatusFramePeriod(StatusFrameEnhanced.Status_8_PulseWidth, 1);
}
public void Setup()
{
TalonSRX armTalon = (TalonSRX)_gearBox.MasterMotorController;
armTalon.SetInverted(false);
armTalon.SetStatusFramePeriod(StatusFrame.Status_1_General_, 10); //Send updates every 10ms instead of 10ms
armTalon.SetStatusFramePeriod(StatusFrameEnhanced.Status_8_PulseWidth, 1);
armTalon.SetSensorPhase(true); //reversed sensor
armTalon.ConfigForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyClosed);
armTalon.ConfigReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyClosed);
armTalon.ConfigClearPositionOnLimitR(false, 10); //enable on reverse limit
armTalon.ConfigClearPositionOnLimitF(false, 10);
}
static Hardware()
{
_leftDrive = new VictorSPX(1);
_rightDrive = new VictorSPX(2);
_lid = new TalonSRX(9);
_leftDrive.ConfigFactoryDefault();
_rightDrive.ConfigFactoryDefault();
_lid.ConfigFactoryDefault();
_lid.ConfigForwardLimitSwitchSource(CTRE.Phoenix.MotorControl.LimitSwitchSource.FeedbackConnector, CTRE.Phoenix.MotorControl.LimitSwitchNormal.NormallyOpen);
_lid.ConfigReverseLimitSwitchSource(CTRE.Phoenix.MotorControl.LimitSwitchSource.FeedbackConnector, CTRE.Phoenix.MotorControl.LimitSwitchNormal.NormallyOpen);
_lid.ConfigContinuousCurrentLimit(2);
// on port 3: Hardware Pin 1 is CTRE.HERO.IO.Port3.Pin3.
// Hardware Pin 6 is CTRE.HERO.IO.Port3.Pin8.
_testOutputPort = new OutputPort(CTRE.HERO.IO.Port5.Pin8, false);
b0_supply = new OutputPort(CTRE.HERO.IO.Port3.Pin3, false);
b0_tank = new OutputPort(CTRE.HERO.IO.Port3.Pin4, false);
b0_shot = new OutputPort(CTRE.HERO.IO.Port3.Pin5, false);
b1_supply = new OutputPort(CTRE.HERO.IO.Port3.Pin6, false);
b1_tank = new OutputPort(CTRE.HERO.IO.Port3.Pin7, false);
b1_shot = new OutputPort(CTRE.HERO.IO.Port3.Pin8, false);
voltage = new AnalogInput(CTRE.HERO.IO.Port8.Analog_Pin5);
lid_limit_switch = new InputPort(CTRE.HERO.IO.Port8.Pin6, false, Port.ResistorMode.PullUp);
lid_limit_switch_led = new OutputPort(CTRE.HERO.IO.Port5.Pin3, false);
UsbHostDevice usb = CTRE.Phoenix.UsbHostDevice.GetInstance();
_gamepad = new GameController(usb);
usb.SetSelectableXInputFilter(UsbHostDevice.SelectableXInputFilter.XInputDevices);
_display = new Display();
}
