/**
* Write out the PID value as seen in the PIDOutput base object.
*
* @deprecated Call Set instead.
*
* @param output Write out the PercentVbus value as was computed by the
* PIDController
*/
void CANTalon::PIDWrite(float output) {
if (GetControlMode() == kPercentVbus) {
Set(output);
} else {
wpi_setWPIErrorWithContext(IncompatibleMode,
"PID only supported in PercentVbus mode");
}
}
void
SmartSpeedCANJaguar::PeriodicService()
{
static int counter = 0;
if(lastSetSpeed < 0) // Do nothing until speed has been set
return;
if(++counter %20 == 0){ // Let's just check every second or so rather thaan at 20 Hz, same some traffic...
if(GetControlMode() != CANJaguar::kSpeed){
printf("Speed Jaguar Reset, Reinitializing\n");
Initialize();
}
}
}
