Added more Talon SRX documentation and PID samples.

Change-Id: I2b1326c11452c6895846ded1277dbf4d38a5222d

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/CANTalon/src/Robot.cpp

@@ -1,35 +1,37 @@
 #include "WPILib.h"
 
 /**
- * This is a quick sample program to show how to use the new Talon SRX over CAN.
- * As of the time of this writing (11/20/14), the only mode supported on the SRX is the
- * straight-up throttle (status info, such as current and temperature should work).
+ * This sample shows how to use the new CANTalon to just run a motor in a basic
+ *   throttle mode, in the same manner as you might control a traditional PWM
+ *   controlled motor.
  *
  */
 class Robot : public SampleRobot {
 	CANTalon m_motor;
 
-	// update every 0.005 seconds/5 milliseconds.
-	double kUpdatePeriod = 0.005;
+  Joystick m_stick;
+
+	// update every 0.01 seconds/10 milliseconds.
+  // The talon only receives control packets every 10ms.
+	double kUpdatePeriod = 0.010;
 
 public:
  Robot()
-     : m_motor(1)   // Initialize the Talon as device 1. Use the roboRIO web
+     : m_motor(1),   // Initialize the Talon as device 1. Use the roboRIO web
                     // interface to change the device number on the talons.
+       m_stick(0)
  {}
 
 	/**
 	 * Runs the motor from the output of a Joystick.
 	 */
 	void OperatorControl() {
-    m_motor.EnableControl();
 		while (IsOperatorControl() && IsEnabled()) {
       // Takes a number from -1.0 (full reverse) to +1.0 (full forwards).
-			m_motor.Set(0.5);
+			m_motor.Set(m_stick.GetY());
 
-			Wait(kUpdatePeriod); // Wait 5ms for the next update.
+			Wait(kUpdatePeriod); // Wait a bit so that the loop doesn't lock everything up.
 		}
-    m_motor.Set(0.0);
 	}
 };
 

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/CANTalonPID/src/Robot.cpp

@@ -0,0 +1,63 @@
+#include "WPILib.h"
+
+/**
+ * This is a quick sample program to show how to use the new Talon SRX over CAN.
+ * This particular sample demonstrates running a basic PID control loop with an
+ *   analog potentiometer.
+ *
+ */
+class Robot : public SampleRobot {
+	CANTalon m_motor;
+
+public:
+ Robot()
+     : m_motor(1)   // Initialize the Talon as device 1. Use the roboRIO web
+                    // interface to change the device number on the m_motors.
+ {
+   // This sets the mode of the m_motor. The options are:
+   // kPercentVbus: basic throttle; no closed-loop.
+   // kCurrent: Runs the motor with the specified current if possible.
+   // kSpeed: Runs a PID control loop to keep the motor going at a constant
+   //   speed using the specified sensor.
+   // kPosition: Runs a PID control loop to move the motor to a specified move
+   //   the motor to a specified sensor position.
+   // kVoltage: Runs the m_motor at a constant voltage, if possible.
+   // kFollower: The m_motor will run at the same throttle as the specified other talon.
+   m_motor.SetControlMode(CANSpeedController::kPosition);
+   // This command allows you to specify which feedback device to use when doing
+   // closed-loop control. The options are:
+   // AnalogPot: Basic analog potentiometer
+   // QuadEncoder: Quadrature Encoder
+   // AnalogEncoder: Analog Encoder
+   // EncRising: Counts the rising edges of the QuadA pin (allows use of a
+   //   non-quadrature encoder)
+   // EncFalling: Same as EncRising, but counts on falling edges.
+   m_motor.SetFeedbackDevice(CANTalon::AnalogPot);
+   // This sets the basic P, I , and D values (F, Izone, and rampRate can also
+   //   be set, but are ignored here).
+   // These must all be positive floating point numbers (SetSensorDirection will
+   //   multiply the sensor values by negative one in case your sensor is flipped
+   //   relative to your motor).
+   // These values are in units of throttle / sensor_units where throttle ranges
+   //   from -1023 to +1023 and sensor units are from 0 - 1023 for analog
+   //   potentiometers, encoder ticks for encoders, and position / 10ms for
+   //   speeds.
+   m_motor.SetPID(1.0, 0.0, 0.0);
+ }
+
+	/**
+	 * Runs the motor from the output of a Joystick.
+	 */
+	void OperatorControl() {
+		while (IsOperatorControl() && IsEnabled()) {
+      // In closed loop mode, this sets the goal in the units mentioned above.
+      // Since we are using an analog potentiometer, this will try to go to
+      //   the middle of the potentiometer range.
+			m_motor.Set(512);
+
+			Wait(5.0);
+		}
+	}
+};
+
+START_ROBOT_CLASS(Robot);

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/examples.xml

@@ -145,6 +145,23 @@
   </files>
 </example>
 
+<example>
+  <name>CAN Talon SRX PID</name>
+  <description>Quick demo of running the SRX with a PID loop.</description>
+  <tags>
+    <tag>Robot and Motor</tag>
+    <tag>Digital</tag>
+    <tag>Actuators</tag>
+    <tag>Complete List</tag>
+  </tags>
+  <packages>
+    <package>src</package>
+  </packages>
+  <files>
+    <file source="examples/CANTalonPID/src/Robot.cpp" destination="src/Robot.cpp"></file>
+  </files>
+</example>
+
 <example>
   <name>Relay</name>
   <description>Demonstrate controlling a Relay from Joystick buttons.</description>