Java Code Examples for com.ctre.phoenix.motorcontrol.can.TalonSRX#overrideSoftLimitsEnable()

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Example 1
Source File: TalonSRXFactory.java    From FRC-2019-Public with MIT License 4 votes vote down vote up 
public static TalonSRX createTalon(int id, Configuration config) {
    TalonSRX talon = new LazyTalonSRX(id);
    talon.set(ControlMode.PercentOutput, 0.0);

    talon.changeMotionControlFramePeriod(config.MOTION_CONTROL_FRAME_PERIOD_MS);
    talon.clearMotionProfileHasUnderrun(kTimeoutMs);
    talon.clearMotionProfileTrajectories();

    talon.clearStickyFaults(kTimeoutMs);

    talon.configForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector,
            LimitSwitchNormal.Disabled, kTimeoutMs);
    talon.configReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector,
            LimitSwitchNormal.Disabled, kTimeoutMs);
    talon.overrideLimitSwitchesEnable(config.ENABLE_LIMIT_SWITCH);

    // Turn off re-zeroing by default.
    talon.configSetParameter(
            ParamEnum.eClearPositionOnLimitF, 0, 0, 0, kTimeoutMs);
    talon.configSetParameter(
            ParamEnum.eClearPositionOnLimitR, 0, 0, 0, kTimeoutMs);

    talon.configNominalOutputForward(0, kTimeoutMs);
    talon.configNominalOutputReverse(0, kTimeoutMs);
    talon.configNeutralDeadband(config.NEUTRAL_DEADBAND, kTimeoutMs);

    talon.configPeakOutputForward(1.0, kTimeoutMs);
    talon.configPeakOutputReverse(-1.0, kTimeoutMs);

    talon.setNeutralMode(config.NEUTRAL_MODE);

    talon.configForwardSoftLimitThreshold(config.FORWARD_SOFT_LIMIT, kTimeoutMs);
    talon.configForwardSoftLimitEnable(config.ENABLE_SOFT_LIMIT, kTimeoutMs);

    talon.configReverseSoftLimitThreshold(config.REVERSE_SOFT_LIMIT, kTimeoutMs);
    talon.configReverseSoftLimitEnable(config.ENABLE_SOFT_LIMIT, kTimeoutMs);
    talon.overrideSoftLimitsEnable(config.ENABLE_SOFT_LIMIT);

    talon.setInverted(config.INVERTED);
    talon.setSensorPhase(config.SENSOR_PHASE);

    talon.selectProfileSlot(0, 0);

    talon.configVelocityMeasurementPeriod(config.VELOCITY_MEASUREMENT_PERIOD, kTimeoutMs);
    talon.configVelocityMeasurementWindow(config.VELOCITY_MEASUREMENT_ROLLING_AVERAGE_WINDOW,
            kTimeoutMs);

    talon.configOpenloopRamp(config.OPEN_LOOP_RAMP_RATE, kTimeoutMs);
    talon.configClosedloopRamp(config.CLOSED_LOOP_RAMP_RATE, kTimeoutMs);

    talon.configVoltageCompSaturation(0.0, kTimeoutMs);
    talon.configVoltageMeasurementFilter(32, kTimeoutMs);
    talon.enableVoltageCompensation(false);

    talon.enableCurrentLimit(config.ENABLE_CURRENT_LIMIT);

    talon.setStatusFramePeriod(StatusFrameEnhanced.Status_1_General,
            config.GENERAL_STATUS_FRAME_RATE_MS, kTimeoutMs);
    talon.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0,
            config.FEEDBACK_STATUS_FRAME_RATE_MS, kTimeoutMs);

    talon.setStatusFramePeriod(StatusFrameEnhanced.Status_3_Quadrature,
            config.QUAD_ENCODER_STATUS_FRAME_RATE_MS, kTimeoutMs);
    talon.setStatusFramePeriod(StatusFrameEnhanced.Status_4_AinTempVbat,
            config.ANALOG_TEMP_VBAT_STATUS_FRAME_RATE_MS, kTimeoutMs);
    talon.setStatusFramePeriod(StatusFrameEnhanced.Status_8_PulseWidth,
            config.PULSE_WIDTH_STATUS_FRAME_RATE_MS, kTimeoutMs);

    talon.setControlFramePeriod(ControlFrame.Control_3_General, config.CONTROL_FRAME_PERIOD_MS);

    return talon;
}
Example 2
Source File: TalonSRXFactory.java    From FRC-2018-Public with MIT License 4 votes vote down vote up 
public static TalonSRX createTalon(int id, Configuration config) {
    TalonSRX talon = new LazyTalonSRX(id);
    talon.set(ControlMode.PercentOutput, 0.0);

    talon.changeMotionControlFramePeriod(config.MOTION_CONTROL_FRAME_PERIOD_MS);
    talon.clearMotionProfileHasUnderrun(kTimeoutMs);
    talon.clearMotionProfileTrajectories();

    talon.clearStickyFaults(kTimeoutMs);

    talon.configForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector,
            LimitSwitchNormal.NormallyOpen, kTimeoutMs);
    talon.configReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector,
            LimitSwitchNormal.NormallyOpen, kTimeoutMs);
    talon.overrideLimitSwitchesEnable(config.ENABLE_LIMIT_SWITCH);

    // Turn off re-zeroing by default.
    talon.configSetParameter(
            ParamEnum.eClearPositionOnLimitF, 0, 0, 0, kTimeoutMs);
    talon.configSetParameter(
            ParamEnum.eClearPositionOnLimitR, 0, 0, 0, kTimeoutMs);

    talon.configNominalOutputForward(0, kTimeoutMs);
    talon.configNominalOutputReverse(0, kTimeoutMs);
    talon.configNeutralDeadband(config.NEUTRAL_DEADBAND, kTimeoutMs);

    talon.configPeakOutputForward(1.0, kTimeoutMs);
    talon.configPeakOutputReverse(-1.0, kTimeoutMs);

    talon.setNeutralMode(config.NEUTRAL_MODE);

    talon.configForwardSoftLimitThreshold(config.FORWARD_SOFT_LIMIT, kTimeoutMs);
    talon.configForwardSoftLimitEnable(config.ENABLE_SOFT_LIMIT, kTimeoutMs);

    talon.configReverseSoftLimitThreshold(config.REVERSE_SOFT_LIMIT, kTimeoutMs);
    talon.configReverseSoftLimitEnable(config.ENABLE_SOFT_LIMIT, kTimeoutMs);
    talon.overrideSoftLimitsEnable(config.ENABLE_SOFT_LIMIT);

    talon.setInverted(config.INVERTED);
    talon.setSensorPhase(config.SENSOR_PHASE);

    talon.selectProfileSlot(0, 0);

    talon.configVelocityMeasurementPeriod(config.VELOCITY_MEASUREMENT_PERIOD, kTimeoutMs);
    talon.configVelocityMeasurementWindow(config.VELOCITY_MEASUREMENT_ROLLING_AVERAGE_WINDOW,
            kTimeoutMs);

    talon.configOpenloopRamp(config.OPEN_LOOP_RAMP_RATE, kTimeoutMs);
    talon.configClosedloopRamp(config.CLOSED_LOOP_RAMP_RATE, kTimeoutMs);

    talon.configVoltageCompSaturation(0.0, kTimeoutMs);
    talon.configVoltageMeasurementFilter(32, kTimeoutMs);
    talon.enableVoltageCompensation(false);

    talon.enableCurrentLimit(config.ENABLE_CURRENT_LIMIT);

    talon.setStatusFramePeriod(StatusFrameEnhanced.Status_1_General,
            config.GENERAL_STATUS_FRAME_RATE_MS, kTimeoutMs);
    talon.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0,
            config.FEEDBACK_STATUS_FRAME_RATE_MS, kTimeoutMs);

    talon.setStatusFramePeriod(StatusFrameEnhanced.Status_3_Quadrature,
            config.QUAD_ENCODER_STATUS_FRAME_RATE_MS, kTimeoutMs);
    talon.setStatusFramePeriod(StatusFrameEnhanced.Status_4_AinTempVbat,
            config.ANALOG_TEMP_VBAT_STATUS_FRAME_RATE_MS, kTimeoutMs);
    talon.setStatusFramePeriod(StatusFrameEnhanced.Status_8_PulseWidth,
            config.PULSE_WIDTH_STATUS_FRAME_RATE_MS, kTimeoutMs);

    talon.setControlFramePeriod(ControlFrame.Control_3_General, config.CONTROL_FRAME_PERIOD_MS);

    return talon;
}