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);
 	}
 };