public static void Main()
{
/* Don't initalize anything */
while (true)
{
_gamepad.GetButtons(_currentBtns);
/* Set custom configs based on which shoulder buttons is pressed */
if (_currentBtns[5] && !_previousBtns[5])
{
/* set custom config 0 on left bumper */
_talon.ConfigSetParameter(CTRE.Phoenix.LowLevel.ParamEnum.eCustomParam, 10, 0, 0, kTimeout);
_pidgey.ConfigSetParameter(CTRE.Phoenix.LowLevel.ParamEnum.eCustomParam, 20, 0, 0, kTimeout);
_canifier.ConfigSetParameter(CTRE.Phoenix.LowLevel.ParamEnum.eCustomParam, 30, 0, 0, kTimeout);
Debug.Print("First Configs Completed 0");
}
else if (_currentBtns[6] && !_previousBtns[6])
{
/* set custom config 0 on right bumper */
_talon.ConfigSetParameter(CTRE.Phoenix.LowLevel.ParamEnum.eCustomParam, 40, 0, 0, kTimeout);
_pidgey.ConfigSetParameter(CTRE.Phoenix.LowLevel.ParamEnum.eCustomParam, 50, 0, 0, kTimeout);
_canifier.ConfigSetParameter(CTRE.Phoenix.LowLevel.ParamEnum.eCustomParam, 60, 0, 0, kTimeout);
Debug.Print("Second Configs Completed 0");
}
else if (_currentBtns[7] && !_previousBtns[7])
{
/* set custom config 1 on left trigger */
_talon.ConfigSetParameter(CTRE.Phoenix.LowLevel.ParamEnum.eCustomParam, 20f, 0, 1, kTimeout);
_pidgey.ConfigSetParameter(CTRE.Phoenix.LowLevel.ParamEnum.eCustomParam, 25000, 0, 1, kTimeout);
_canifier.ConfigSetParameter(CTRE.Phoenix.LowLevel.ParamEnum.eCustomParam, 987654, 0, 1, kTimeout);
Debug.Print("Second Configs Completed 1");
}
else if (_currentBtns[8] && !_previousBtns[8])
{
/* set custom config 1 on right trigger */
_talon.ConfigSetParameter(CTRE.Phoenix.LowLevel.ParamEnum.eCustomParam, 2.123f, 0, 1, kTimeout);
_pidgey.ConfigSetParameter(CTRE.Phoenix.LowLevel.ParamEnum.eCustomParam, 575, 0, 1, kTimeout);
_canifier.ConfigSetParameter(CTRE.Phoenix.LowLevel.ParamEnum.eCustomParam, 33f, 0, 1, kTimeout);
Debug.Print("Second Configs Completed 1");
}
/* Get Custom config */
if (_currentBtns[1] && !_previousBtns[1])
{
/* Set Custom config on X-Press */
float[] ConfigValues = new float[3];
_talon.ConfigGetParameter(CTRE.Phoenix.LowLevel.ParamEnum.eCustomParam, out ConfigValues[0], 0, kTimeout);
ConfigValues[1] = _pidgey.ConfigGetParameter(CTRE.Phoenix.LowLevel.ParamEnum.eCustomParam, 0, kTimeout);
ConfigValues[2] = (float)_canifier.ConfigGetParameter(CTRE.Phoenix.LowLevel.ParamEnum.eCustomParam, 0, kTimeout);
Debug.Print(" Talon's config: " + ConfigValues[0] + " Pigeon's config: " + ConfigValues[1] + " Canifier's config: " + ConfigValues[2]);
}
else if (_currentBtns[3] && !_previousBtns[3])
{
/* Set Custom config on B-Press */
float[] ConfigValues = new float[3];
_talon.ConfigGetParameter(CTRE.Phoenix.LowLevel.ParamEnum.eCustomParam, out ConfigValues[0], 1, kTimeout);
ConfigValues[1] = _pidgey.ConfigGetParameter(CTRE.Phoenix.LowLevel.ParamEnum.eCustomParam, 1, kTimeout);
ConfigValues[2] = (float)_canifier.ConfigGetParameter(CTRE.Phoenix.LowLevel.ParamEnum.eCustomParam, 1, kTimeout);
Debug.Print(" Talon's config: " + ConfigValues[0] + " Pigeon's config: " + ConfigValues[1] + " Canifier's config: " + ConfigValues[2]);
}
System.Array.Copy(_currentBtns, _previousBtns, _previousBtns.Length);
/* wait a bit */
System.Threading.Thread.Sleep(10);
}
}
