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https://github.com/wpilibsuite/allwpilib
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64 lines
2.5 KiB
C++
64 lines
2.5 KiB
C++
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#include "WPILib.h"
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/**
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* This is a quick sample program to show how to use the new Talon SRX over CAN.
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* This particular sample demonstrates running a basic PID control loop with an
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* analog potentiometer.
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*
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*/
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class Robot : public SampleRobot {
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CANTalon m_motor;
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public:
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Robot()
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: m_motor(1) // Initialize the Talon as device 1. Use the roboRIO web
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// interface to change the device number on the m_motors.
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{
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// This sets the mode of the m_motor. The options are:
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// kPercentVbus: basic throttle; no closed-loop.
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// kCurrent: Runs the motor with the specified current if possible.
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// kSpeed: Runs a PID control loop to keep the motor going at a constant
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// speed using the specified sensor.
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// kPosition: Runs a PID control loop to move the motor to a specified move
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// the motor to a specified sensor position.
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// kVoltage: Runs the m_motor at a constant voltage, if possible.
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// kFollower: The m_motor will run at the same throttle as the specified other talon.
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m_motor.SetControlMode(CANSpeedController::kPosition);
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// This command allows you to specify which feedback device to use when doing
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// closed-loop control. The options are:
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// AnalogPot: Basic analog potentiometer
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// QuadEncoder: Quadrature Encoder
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// AnalogEncoder: Analog Encoder
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// EncRising: Counts the rising edges of the QuadA pin (allows use of a
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// non-quadrature encoder)
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// EncFalling: Same as EncRising, but counts on falling edges.
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m_motor.SetFeedbackDevice(CANTalon::AnalogPot);
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// This sets the basic P, I , and D values (F, Izone, and rampRate can also
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// be set, but are ignored here).
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// These must all be positive floating point numbers (SetSensorDirection will
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// multiply the sensor values by negative one in case your sensor is flipped
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// relative to your motor).
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// These values are in units of throttle / sensor_units where throttle ranges
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// from -1023 to +1023 and sensor units are from 0 - 1023 for analog
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// potentiometers, encoder ticks for encoders, and position / 10ms for
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// speeds.
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m_motor.SetPID(1.0, 0.0, 0.0);
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}
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/**
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* Runs the motor from the output of a Joystick.
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*/
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void OperatorControl() {
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while (IsOperatorControl() && IsEnabled()) {
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// In closed loop mode, this sets the goal in the units mentioned above.
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// Since we are using an analog potentiometer, this will try to go to
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// the middle of the potentiometer range.
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m_motor.Set(512);
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Wait(5.0);
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}
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}
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};
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START_ROBOT_CLASS(Robot);
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