/**
* Setup all of the configuration parameters.
*/
public void SetupConfig()
{
/* Factory Default all hardware to prevent unexpected behaviour */
_talon.ConfigFactoryDefault();
/* specify sensor characteristics */
_talon.ConfigSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0);
_talon.SetSensorPhase(false); /* make sure positive motor output means sensor moves in position direction */
/* brake or coast during neutral */
_talon.SetNeutralMode(NeutralMode.Brake);
/* closed-loop and motion-magic parameters */
_talon.Config_kF(kSlotIdx, 0.1153f, kTimeoutMs); // 8874 native sensor units per 100ms at full motor output (+1023)
_talon.Config_kP(kSlotIdx, 2.00f, kTimeoutMs);
_talon.Config_kI(kSlotIdx, 0f, kTimeoutMs);
_talon.Config_kD(kSlotIdx, 20f, kTimeoutMs);
_talon.Config_IntegralZone(kSlotIdx, 0, kTimeoutMs);
_talon.SelectProfileSlot(kSlotIdx, 0); /* select this slot */
_talon.ConfigNominalOutputForward(0f, kTimeoutMs);
_talon.ConfigNominalOutputReverse(0f, kTimeoutMs);
_talon.ConfigPeakOutputForward(1.0f, kTimeoutMs);
_talon.ConfigPeakOutputReverse(-1.0f, kTimeoutMs);
_talon.ConfigMotionCruiseVelocity(8000, kTimeoutMs); // 8000 native units
_talon.ConfigMotionAcceleration(16000, kTimeoutMs); // 16000 native units 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.
*/
_talon.SetSelectedSensorPosition(0, kTimeoutMs);
}
private void SetupPositionServo()
{
TalonSRX armTalon = (TalonSRX)_gearBox.MasterMotorController;
armTalon.ConfigNominalOutputForward(0);
armTalon.ConfigNominalOutputReverse(0);
armTalon.ConfigPeakOutputForward(1);
armTalon.ConfigPeakOutputReverse(-1);
armTalon.ConfigAllowableClosedloopError(0, Constants.TOLERANCE);
armTalon.Config_kP(Constants.KPARM);
armTalon.Config_kI(Constants.KIARM);
armTalon.Config_kD(Constants.KDARM);
_controlMode = ControlMode.MotionMagic;
armTalon.SelectProfileSlot(0);
armTalon.ConfigMotionAcceleration(60);
armTalon.ConfigMotionCruiseVelocity(22);
}
public void Config(int talonId0, int talonId1)
{
talon0 = new TalonSRX(talonId0);
talon1 = new TalonSRX(talonId1);
talon0.ConfigSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0);
talon0.SetSensorPhase(false);
talon0.SetNeutralMode(NeutralMode.Brake);
talon0.Config_kF(kSlotId, 0.1153f, kTimeout);
talon0.Config_kP(kSlotId, 2.00f, kTimeout);
talon0.Config_kI(kSlotId, 0f, kTimeout);
talon0.Config_kD(kSlotId, 20f, kTimeout);
talon0.Config_IntegralZone(kSlotId, 0, kTimeout);
talon0.SelectProfileSlot(kSlotId, 0);
talon0.ConfigNominalOutputForward(0f, kTimeout);
talon0.ConfigNominalOutputReverse(0f, kTimeout);
talon0.ConfigPeakOutputForward(1.0f, kTimeout);
talon0.ConfigPeakOutputReverse(-1.0f, kTimeout);
talon0.ConfigMotionCruiseVelocity(8000, kTimeout);
talon0.ConfigMotionAcceleration(16000, kTimeout);
}
public Lift()
{
const int MAX_CURRENT = 15;
const int TIMEOUT_MS = 100;
LeftActuator.ConfigContinuousCurrentLimit(MAX_CURRENT, TIMEOUT_MS);
RightActuator.ConfigContinuousCurrentLimit(MAX_CURRENT, TIMEOUT_MS);
LeftActuator.SetNeutralMode(NeutralMode.Brake);
RightActuator.SetNeutralMode(NeutralMode.Brake);
LeftActuator.ConfigSelectedFeedbackSensor(FeedbackDevice.Analog);
RightActuator.ConfigSelectedFeedbackSensor(FeedbackDevice.Analog);
const float P = 33.57f;
const float I = 0;
LeftActuator.Config_kP(P);
RightActuator.Config_kP(P);
LeftActuator.Config_kI(I);
RightActuator.Config_kI(I);
LeftActuator.ConfigMotionAcceleration(150);
RightActuator.ConfigMotionAcceleration(150);
RightActuator.ConfigMotionCruiseVelocity(4);
LeftActuator.ConfigMotionCruiseVelocity(4);
ExcavationBelt.ConfigContinuousCurrentLimit(MAX_CURRENT, TIMEOUT_MS); //REMOVE ME EVENTUALLY
ExcavationBelt.SetInverted(true);
CollectionBelt.ConfigContinuousCurrentLimit(MAX_CURRENT, TIMEOUT_MS);
Digger.ConfigContinuousCurrentLimit(MAX_CURRENT, TIMEOUT_MS);
Digger.SetInverted(true);
}
public void Settings()
{
talon0.ConfigMotionCruiseVelocity(analog1, kTimeout);
talon0.ConfigMotionAcceleration(analog2, kTimeout);
}