Added more Talon SRX documentation and PID samples.

Change-Id: I2b1326c11452c6895846ded1277dbf4d38a5222d

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/CANTalon/src/org/usfirst/frc/team190/robot/Robot.java

@@ -8,31 +8,29 @@ import edu.wpi.first.wpilibj.Timer;
 
 /**
  * This is a short sample program demonstrating how to use the basic throttle
- * mode of the new CAN Talon. As of when this was made, the basic throttle mode
- * is all that is supported.
+ * mode of the new CAN Talon.
  */
 public class Robot extends SampleRobot {
 
   CANTalon motor;
 
-	private final double k_updatePeriod = 0.005; // update every 0.005 seconds/5 milliseconds (200Hz)
-
   public Robot() {
       motor = new CANTalon(1); // Initialize the CanTalonSRX on device 1.
   }
 
   /**
-    * Runs the motor from a joystick.
+    * Runs the motor.
     */
   public void operatorControl() {
-    motor.enableControl();
     while (isOperatorControl() && isEnabled()) {
       // Set the motor's output to half power.
       // This takes a number from -1 (100% speed in reverse) to +1 (100% speed
       // going forward)
       motor.set(0.5);
 
-      Timer.delay(k_updatePeriod);  // wait 5ms to the next update
+      Timer.delay(0.01);  // Note that the CANTalon only receives updates every
+                          // 10ms, so updating more quickly would not gain you
+                          // anything.
     }
     motor.disable();
   }

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/CANTalonPID/src/org/usfirst/frc/team190/robot/Robot.java

@@ -0,0 +1,62 @@
+package $package;
+
+
+import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.SampleRobot;
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * This is a short sample program demonstrating how to use the Talon SRX over
+ * CAN to run a closed-loop PID controller with an analog potentiometer.
+ */
+public class Robot extends SampleRobot {
+
+  CANTalon motor;
+
+  public Robot() {
+      motor = new CANTalon(1); // Initialize the CanTalonSRX on device 1.
+
+      // This sets the mode of the m_motor. The options are:
+      // PercentVbus: basic throttle; no closed-loop.
+      // Current: Runs the motor with the specified current if possible.
+      // Speed: Runs a PID control loop to keep the motor going at a constant
+      //   speed using the specified sensor.
+      // Position: Runs a PID control loop to move the motor to a specified move
+      //   the motor to a specified sensor position.
+      // Voltage: Runs the m_motor at a constant voltage, if possible.
+      // Follower: The m_motor will run at the same throttle as the specified
+      //   other talon.
+      motor.changeControlMode(CANTalon.ControlMode.Position);
+      // 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.
+      motor.setFeedbackDevice(CANTalon.FeedbackDevice.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 (reverseSensor 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.
+      motor.setPID(1.0, 0.0, 0.0);
+  }
+
+  public 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.
+			motor.set(512);
+
+      Timer.delay(5.0);
+    }
+  }
+}

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

@@ -171,6 +171,23 @@
   </files>
   </example>
 
+ <example>
+  <name>CAN Talon SRX PID</name>
+  <description>Demonstrate running a Talon SRX with PID Closed Loop control.</description>
+  <tags>
+    <tag>Actuators</tag>
+    <tag>Complete List</tag>
+    <tag>Robot and Motor</tag>
+  </tags>
+  <packages>
+    <package>src/$package-dir</package>
+  </packages>
+  <files>
+    <file source="examples/CANTalonPID/src/org/usfirst/frc/team190/robot/Robot.java"
+      destination="src/$package-dir/Robot.java"></file>
+  </files>
+  </example>
+
 
   <tagDescription>
     <name>CommandBased Robot</name>