SRXSpeed::SRXSpeed(int id, double Pvalue, double Ivalue, double Dvalue, int a):CANTalon(id)
{
SetControlMode(CANTalon::kSpeed);
SetFeedbackDevice(CANTalon::QuadEncoder);
SetP(Pvalue);
SetI(Ivalue);
SetD(Dvalue);
EnableControl();
maxTicks=a;
}
SRXPosition::SRXPosition(int id, double p, double i, double d, bool invert):CANTalon(id) {
SetControlMode(CANTalon::kPosition);
SetP(p);
SetI(i);
SetD(d);
SetFeedbackDevice(CANTalon::QuadEncoder);
invertMotor=invert;
SetInverted(invert);
if (invert)
{
ConfigFwdLimitSwitchNormallyOpen(false);
}
else
{
ConfigRevLimitSwitchNormallyOpen(false);
}
SetPosition(0);
target=0;
EnableControl();
}
/*
Output command with controlmode
*/
void OutputCmdType002( char *cmdPtr, long cmdLen, short isSetTime )
{
int n;
long len;
char buf[CMD_BUF_MAX_SIZE];
char *p = buf;
n = SetBJLStart(p); p += n;
n = SetControlMode(p); p += n;
if ( isSetTime ) {
n = SetCurrentTime(p); p+=n;
}
memcpy( p, cmdPtr, cmdLen ); p += cmdLen;
n = SetBJLEnd(p); p += n;
*p = 0x00; p++;
len = (long)(p - buf);
PutPrintData( buf, len );
}
/*
Output command
*/
void OutputCmdType001( char *cmdPtr, long cmdLen )
{
int n;
long len;
char buf[CMD_BUF_MAX_SIZE];
char *p = buf;
/* Output SetTime */
n = SetBJLStart(p); p += n;
n = SetControlMode(p); p += n;
n = SetCurrentTime(p); p+=n;
n = SetBJLEnd(p); p += n;
/* Output Command */
n = SetBJLStart(p); p += n;
memcpy( p, cmdPtr, cmdLen ); p += cmdLen;
n = SetBJLEnd(p); p += n;
*p = 0x00; p++;
len = (long)(p - buf);
PutPrintData( buf, len );
}
/**
* TODO documentation (see CANJaguar.cpp)
*/
void CANTalon::EnableControl() {
SetControlMode(m_controlMode);
m_controlEnabled = true;
}
