/**
* TODO documentation (see CANJaguar.cpp)
*/
void CANTalon::SetControlMode(CANSpeedController::ControlMode mode) {
if (m_controlMode == mode) {
/* we already are in this mode, don't perform disable workaround */
} else {
ApplyControlMode(mode);
}
}
/**
* Constructor for the CANTalon device.
* @param deviceNumber The CAN ID of the Talon SRX
*/
CANTalon::CANTalon(int deviceNumber)
: m_deviceNumber(deviceNumber),
m_impl(new CanTalonSRX(deviceNumber)),
m_safetyHelper(new MotorSafetyHelper(this)) {
ApplyControlMode(m_controlMode);
m_impl->SetProfileSlotSelect(m_profile);
m_isInverted = false;
}
/**
* Constructor for the CANTalon device.
* @param deviceNumber The CAN ID of the Talon SRX
* @param controlPeriodMs The period in ms to send the CAN control frame.
* Period is bounded to [1ms, 95ms].
*/
CANTalon::CANTalon(int deviceNumber,int controlPeriodMs)
: m_deviceNumber(deviceNumber)
, m_impl(new CanTalonSRX(deviceNumber,controlPeriodMs)) /* bounded underneath to be within [1 ms,95 ms] */
, m_safetyHelper(new MotorSafetyHelper(this))
, m_profile(0)
, m_controlEnabled(true)
, m_controlMode(kPercentVbus)
, m_setPoint(0)
{
ApplyControlMode(m_controlMode);
m_impl->SetProfileSlotSelect(m_profile);
}
/**
* Constructor for the CANTalon device.
* @param deviceNumber The CAN ID of the Talon SRX
*/
CANTalon::CANTalon(int deviceNumber)
: m_deviceNumber(deviceNumber)
, m_impl(new CanTalonSRX(deviceNumber))
, m_safetyHelper(new MotorSafetyHelper(this))
, m_profile(0)
, m_controlEnabled(true)
, m_controlMode(kPercentVbus)
, m_setPoint(0)
{
ApplyControlMode(m_controlMode);
m_impl->SetProfileSlotSelect(m_profile);
}
