Java Code Examples for com.ctre.phoenix.motorcontrol.can.TalonSRX#setSensorPhase()
The following examples show how to use
com.ctre.phoenix.motorcontrol.can.TalonSRX#setSensorPhase() .
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Example 1
| Source File: Drive.java From FRC-2018-Public with MIT License | 6 votes |
|
private void configureMaster(TalonSRX talon, boolean left) {
talon.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 5, 100);
final ErrorCode sensorPresent = talon.configSelectedFeedbackSensor(FeedbackDevice
.CTRE_MagEncoder_Relative, 0, 100); //primary closed-loop, 100 ms timeout
if (sensorPresent != ErrorCode.OK) {
DriverStation.reportError("Could not detect " + (left ? "left" : "right") + " encoder: " + sensorPresent, false);
}
talon.setInverted(!left);
talon.setSensorPhase(true);
talon.enableVoltageCompensation(true);
talon.configVoltageCompSaturation(12.0, Constants.kLongCANTimeoutMs);
talon.configVelocityMeasurementPeriod(VelocityMeasPeriod.Period_50Ms, Constants.kLongCANTimeoutMs);
talon.configVelocityMeasurementWindow(1, Constants.kLongCANTimeoutMs);
talon.configClosedloopRamp(Constants.kDriveVoltageRampRate, Constants.kLongCANTimeoutMs);
talon.configNeutralDeadband(0.04, 0);
}
Example 2
| Source File: SubsystemDrive.java From PowerUp-2018 with GNU General Public License v3.0 | 6 votes |
|
public static void setPIDF(TalonSRX _talon, Boolean invert, double p, double i, double d, double f) {
/* first choose the sensor */
_talon.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative,
0, Constants.TIMEOUT_PID);
_talon.setSensorPhase(true);
_talon.setInverted(invert);
/* Set relevant frame periods to be at least as fast as periodic rate*/
_talon.setStatusFramePeriod(StatusFrameEnhanced.Status_13_Base_PIDF0, 10,
Constants.TIMEOUT_PID);
_talon.setStatusFramePeriod(StatusFrameEnhanced.Status_10_MotionMagic, 10,
Constants.TIMEOUT_PID);
/* set the peak and nominal outputs */
_talon.configNominalOutputForward(0, Constants.TIMEOUT_PID);
_talon.configNominalOutputReverse(0, Constants.TIMEOUT_PID);
_talon.configPeakOutputForward(1, Constants.TIMEOUT_PID);
_talon.configPeakOutputReverse(-1, Constants.TIMEOUT_PID);
/* set closed loop gains in slot0 - see documentation */
_talon.selectProfileSlot(0, Constants.RIGHT_PID);
_talon.config_kP(0, p, Constants.TIMEOUT_PID);
_talon.config_kI(0, i, Constants.TIMEOUT_PID);
_talon.config_kD(0, d, Constants.TIMEOUT_PID);
_talon.config_kF(0, f, Constants.TIMEOUT_PID);
/* set acceleration and vcruise velocity - see documentation */
_talon.configMotionCruiseVelocity(15000, Constants.TIMEOUT_PID);
_talon.configMotionAcceleration(6000, Constants.TIMEOUT_PID);
}
Example 3
| Source File: TalonSRXFactory.java From FRC-2019-Public with MIT License | 4 votes |
|
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 4
| Source File: TalonSRXFactory.java From FRC-2018-Public with MIT License | 4 votes |
|
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;
}
