Scaling::Scaling() : Subsystem("Scaling") {
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
scaleLift = RobotMap::scalingscaleLift;
scaleLimit = RobotMap::scalingscaleLimit;
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
ChangeControlMode(CANTalon::ControlMode::kPercentVbus);
}
void
SmartSpeedCANJaguar::Initialize()
{
ChangeControlMode(kSpeed); // Set for speed mode
SetSpeedReference(CANJaguar::kSpeedRef_Encoder); // Define the encoder type
ConfigEncoderCodesPerRev(encoderPulsesPerRevolution); // Define the lines per revolution
CANJaguar::SetPID(pid_P, pid_I, pid_D); // Set our passed in PID constants
EnableControl(); // Must enable the control paramaters
CANJaguar::Set(lastSetSpeed); // Restore the last target speed...
}
