private static void processInboundData(ArrayList setpointDataList, ArrayList talons)
{
for (int i = 0; i < setpointDataList.Count; i++)
{
SetpointData setpointData = (SetpointData)setpointDataList[i];
float setpointVal = (float)(setpointData.getSetpoint());
CTRE.TalonSrx talon = (CTRE.TalonSrx)talons[i];
if (talon.GetControlMode() != setpointData.getMode())
{
talon.SetControlMode(setpointData.getMode());
Debug.Print(setpointData.getMode().ToString());
}
if (talon.GetSetpoint() != setpointVal)
{
talon.Set(setpointVal);
Debug.Print(setpointVal.ToString());
}
}
}
public static void Main()
{
CTRE.TalonSrx leftMotor = new CTRE.TalonSrx(1);
CTRE.TalonSrx rightMotor = new CTRE.TalonSrx(2);
CTRE.TalonSrx scoopMotor = new CTRE.TalonSrx(3);
CTRE.TalonSrx depthMotor = new CTRE.TalonSrx(4);
CTRE.TalonSrx winchMotor = new CTRE.TalonSrx(5);
leftMotor.SetFeedbackDevice(CTRE.TalonSrx.FeedbackDevice.QuadEncoder);
rightMotor.SetFeedbackDevice(CTRE.TalonSrx.FeedbackDevice.QuadEncoder);
scoopMotor.SetFeedbackDevice(CTRE.TalonSrx.FeedbackDevice.QuadEncoder);
depthMotor.SetFeedbackDevice(CTRE.TalonSrx.FeedbackDevice.QuadEncoder);
winchMotor.SetFeedbackDevice(CTRE.TalonSrx.FeedbackDevice.QuadEncoder);
leftMotor.SetSensorDirection(false);
rightMotor.SetSensorDirection(true);
scoopMotor.SetSensorDirection(false);
depthMotor.SetSensorDirection(false);
winchMotor.SetSensorDirection(false);
leftMotor.ConfigEncoderCodesPerRev(80);
rightMotor.ConfigEncoderCodesPerRev(80);
scoopMotor.ConfigEncoderCodesPerRev(80);
depthMotor.ConfigEncoderCodesPerRev(80);
winchMotor.ConfigEncoderCodesPerRev(80);
leftMotor.SetP(0, 0.35F);
leftMotor.SetI(0, 0.0F);
leftMotor.SetD(0, 0.0F);
leftMotor.SetF(0, 0.0F);
leftMotor.SelectProfileSlot(0);
rightMotor.SetP(0, 0.35F);
rightMotor.SetI(0, 0.0F);
rightMotor.SetD(0, 0.0F);
rightMotor.SetF(0, 0.0F);
rightMotor.SelectProfileSlot(0);
scoopMotor.SetP(0, 0.6F);
scoopMotor.SetI(0, 0.0F);
scoopMotor.SetD(0, 0.0F);
scoopMotor.SetF(0, 0.0F);
scoopMotor.SelectProfileSlot(0);
depthMotor.SetP(0, 0.6F);
depthMotor.SetI(0, 0.0F);
depthMotor.SetD(0, 0.0F);
depthMotor.SetF(0, 0.0F);
depthMotor.SelectProfileSlot(0);
winchMotor.SetP(0, 0.6F);
winchMotor.SetI(0, 0.0F);
winchMotor.SetD(0, 0.0F);
winchMotor.SetF(0, 0.0F);
winchMotor.SelectProfileSlot(0);
leftMotor.ConfigNominalOutputVoltage(+0.0F, -0.0F);
rightMotor.ConfigNominalOutputVoltage(+0.0F, -0.0F);
scoopMotor.ConfigNominalOutputVoltage(+0.0F, -0.0F);
depthMotor.ConfigNominalOutputVoltage(+0.0F, -0.0F);
winchMotor.ConfigNominalOutputVoltage(+0.0F, -0.0F);
leftMotor.SetAllowableClosedLoopErr(0, 0);
rightMotor.SetAllowableClosedLoopErr(0, 0);
scoopMotor.SetAllowableClosedLoopErr(0, 0);
depthMotor.SetAllowableClosedLoopErr(0, 0);
winchMotor.SetAllowableClosedLoopErr(0, 0);
leftMotor.SetPosition(0);
rightMotor.SetPosition(0);
scoopMotor.SetPosition(0);
depthMotor.SetPosition(0);
winchMotor.SetPosition(0);
leftMotor.SetVoltageRampRate(0);
rightMotor.SetVoltageRampRate(0);
scoopMotor.SetVoltageRampRate(0);
depthMotor.SetVoltageRampRate(0);
winchMotor.SetVoltageRampRate(0);
ArrayList motorSetpointData = new ArrayList();
ArrayList motorStatusData = new ArrayList();
ArrayList talons = new ArrayList();
talons.Add(leftMotor);
talons.Add(rightMotor);
talons.Add(scoopMotor);
talons.Add(depthMotor);
talons.Add(winchMotor);
String inboundMessageStr = "";
String outboundMessageStr = "";
SetpointData leftMotorSetpointData = new SetpointData(1, 0, 0.0F);
SetpointData rightMotorSetpointData = new SetpointData(2, 0, 0.0F);
SetpointData scoopMotorSetpointData = new SetpointData(3, 0, 0.0F);
SetpointData depthMotorSetpointData = new SetpointData(4, 0, 0.0F);
SetpointData winchMotorSetpointData = new SetpointData(5, 0, 0.0F);
StatusData leftMotorStatusData = new StatusData(1, leftMotor);
StatusData rightMotorStatusData = new StatusData(2, rightMotor);
StatusData scoopMotorStatusData = new StatusData(3, scoopMotor);
StatusData depthMotorStatusData = new StatusData(4, depthMotor);
StatusData winchMotorStatusData = new StatusData(5, winchMotor);
motorSetpointData.Add(leftMotorSetpointData);
motorSetpointData.Add(rightMotorSetpointData);
motorSetpointData.Add(scoopMotorSetpointData);
motorSetpointData.Add(depthMotorSetpointData);
motorSetpointData.Add(winchMotorSetpointData);
motorStatusData.Add(leftMotorStatusData);
motorStatusData.Add(rightMotorStatusData);
motorStatusData.Add(scoopMotorStatusData);
motorStatusData.Add(depthMotorStatusData);
motorStatusData.Add(winchMotorStatusData);
CTRE.Watchdog.Feed();
uart = new System.IO.Ports.SerialPort(CTRE.HERO.IO.Port1.UART, 115200);
uart.Open();
while (true)
{
//read whatever is available from the UART into the inboundMessageStr
motorSetpointData = readUART(ref inboundMessageStr);
CTRE.Watchdog.Feed();
//if any of the talon positions need to be reset, this will reset them
resetEncoderPositions(talons);
CTRE.Watchdog.Feed();
//attempt to process whatever was contained in the most recent message
processInboundData(motorSetpointData, talons);
CTRE.Watchdog.Feed();
//get a bunch of data from the motors in their current states
updateMotorStatusData(motorStatusData);
CTRE.Watchdog.Feed();
//package that motor data into a formatted message
outboundMessageStr = makeOutboundMessage(motorStatusData);
CTRE.Watchdog.Feed();
//send that message back to the main CPU
writeUART(outboundMessageStr);
//Debug.Print("set=" + winchMotor.GetSetpoint().ToString() + " mod=" + winchMotor.GetControlMode().ToString() +
// "pos=" + winchMotor.GetPosition().ToString() + " vel=" + winchMotor.GetSpeed().ToString() +
// "err=" + winchMotor.GetClosedLoopError().ToString() + "vlt=" + winchMotor.GetOutputVoltage());
//Debug.Print(DateTime.Now.ToString());
CTRE.Watchdog.Feed();
//keep the loop timing consistent //TODO: evaluate if this is necessary
//System.Threading.Thread.Sleep(10);
}
}
