void initTurret() { /* first choose the sensor */ _turret.SetFeedbackDevice(TalonSrx.FeedbackDevice.CtreMagEncoder_Relative); _turret.SetSensorDirection(false); _turret.ConfigEncoderCodesPerRev(4096); // if using CTRE.TalonSrx.FeedbackDevice.QuadEncoder _turret.SetP(0, TURRET_P); /* tweak this first, a little bit of overshoot is okay */ _turret.SetI(0, TURRET_I); _turret.SetD(0, TURRET_D); _turret.SetF(0, TURRET_F); /* use slot0 for closed-looping */ _turret.SelectProfileSlot(0); /* set the peak and nominal outputs, 12V means full */ _turret.ConfigNominalOutputVoltage(MINIMUM_TURRET_VOLTAGE, -1 * MINIMUM_TURRET_VOLTAGE); //The minimum voltage that will be applied to the turret. _turret.ConfigPeakOutputVoltage(+3.0f, -3.0f); //THe maximum voltage that will be applied to the turret. /* how much error is allowed? This defaults to 0. */ _turret.SetAllowableClosedLoopErr(0, 0); _turret.SetPosition(0); /* start our position at zero, this example uses relative positions */ _turret.SetVoltageRampRate(0); /* V per sec */ _turret.SetControlMode(ControlMode.kPosition); _turret.Set(angleSetpoint); _turret.SetEncPosition(0); }
uint [] _debLeftY = { 0, 0 }; // _debLeftY[0] is how many times leftY is zero, _debLeftY[1] is how many times leftY is not zeero. public void Run() { /* first choose the sensor */ _talon.SetFeedbackDevice(TalonSrx.FeedbackDevice.CtreMagEncoder_Relative); _talon.SetSensorDirection(false); //_talon.ConfigEncoderCodesPerRev(XXX), // if using CTRE.TalonSrx.FeedbackDevice.QuadEncoder //_talon.ConfigPotentiometerTurns(XXX), // if using CTRE.TalonSrx.FeedbackDevice.AnalogEncoder or CTRE.TalonSrx.FeedbackDevice.AnalogPot /* set closed loop gains in slot0 */ _talon.SetP(0, 0.2f); /* tweak this first, a little bit of overshoot is okay */ _talon.SetI(0, 0f); _talon.SetD(0, 0f); _talon.SetF(0, 0f); /* For position servo kF is rarely used. Leave zero */ /* use slot0 for closed-looping */ _talon.SelectProfileSlot(0); /* set the peak and nominal outputs, 12V means full */ _talon.ConfigNominalOutputVoltage(+0.0f, -0.0f); _talon.ConfigPeakOutputVoltage(+3.0f, -3.0f); /* how much error is allowed? This defaults to 0. */ _talon.SetAllowableClosedLoopErr(0, 0); /* zero the sensor and throttle */ ZeroSensorAndThrottle(); /* loop forever */ while (true) { Loop10Ms(); //if (_gamepad.GetConnectionStatus() == CTRE.UsbDeviceConnection.Connected) // check if gamepad is plugged in OR.... if (_gamepad.GetButton(kEnableButton)) // check if bottom left shoulder buttom is held down. { /* then enable motor outputs*/ CTRE.Watchdog.Feed(); } /* print signals to Output window */ Instrument(); /* 10ms loop */ Thread.Sleep(10); } }
private void SetupPositionServo() { TalonSrx armTalon = (TalonSrx)_gearBox.GetMaster(); armTalon.ConfigNominalOutputVoltage(0, 0); armTalon.ConfigPeakOutputVoltage(Constants.MAX_VOLTAGE, -Constants.MAX_VOLTAGE); armTalon.SetAllowableClosedLoopErr(0, Constants.TOLERANCE); armTalon.SetPID(0, Constants.KPARM, Constants.KIARM, Constants.KDARM); _controlMode = ControlMode.kPosition; armTalon.SelectProfileSlot(0); armTalon.SetMotionMagicAcceleration(60.0f); armTalon.SetMotionMagicCruiseVelocity(22.0f); armTalon.SetVoltageRampRate(0f); }