com.ctre.phoenix.motorcontrol.can.TalonSRX Java Examples

The following examples show how to use com.ctre.phoenix.motorcontrol.can.TalonSRX. You can vote up the ones you like or vote down the ones you don't like, and go to the original project or source file by following the links above each example. You may check out the related API usage on the sidebar.
Example #1
Source File: SubsystemMast.java    From PowerUp-2018 with GNU General Public License v3.0 6 votes vote down vote up 
/** gives birth to the CANTalons */
  public SubsystemMast(){
  	/** Does it make sense to move the limit switch IDs to Constants? **/
  	//no because they could be moved due to various electrical reasons-nate
  	lowerPinionLimit = new DigitalInput(6);
      upperPinionLimit = new DigitalInput(7);
      lowerScrewLimit  = new DigitalInput(3);
      upperScrewLimit  = new DigitalInput(4);
  	
  	leftPinion = new TalonSRX(Constants.LEFT_PINION_MOTOR);
  	rightPinion = new TalonSRX(Constants.RIGHT_PINION_MOTOR);
  	screw = new TalonSRX(Constants.SCREW_MOTOR);
  		voltage(leftPinion);
  		voltage(rightPinion);
  		voltage(screw);
  		
override = false;
  }
Example #2
Source File: SubsystemDrive.java    From PowerUp-2018 with GNU General Public License v3.0 6 votes vote down vote up 
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: Drive.java    From FRC-2018-Public with MIT License 6 votes vote down vote up 
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 #4
Source File: Arm.java    From FRC-2019-Public with MIT License 6 votes vote down vote up 
@Override
public boolean checkSystem() {
    return TalonSRXChecker.checkMotors(this,
            new ArrayList<MotorChecker.MotorConfig<TalonSRX>>() {
                private static final long serialVersionUID = 3069865439600365807L;

                {
                    add(new MotorChecker.MotorConfig<>("master", mMaster));
                }
            }, new MotorChecker.CheckerConfig() {
                {
                    mRunOutputPercentage = 0.5;
                    mRunTimeSec = 0.5;
                    mCurrentFloor = 0.1;
                    mRPMFloor = 90;
                    mCurrentEpsilon = 2.0;
                    mRPMEpsilon = 200;
                    mRPMSupplier = () -> mMaster.getSelectedSensorVelocity();
                }
            });
}
Example #5
Source File: Wrist.java    From FRC-2019-Public with MIT License 6 votes vote down vote up 
@Override
public boolean checkSystem() {
    return TalonSRXChecker.checkMotors(this,
            new ArrayList<MotorChecker.MotorConfig<TalonSRX>>() {
                private static final long serialVersionUID = -716113039054569446L;

                {
                    add(new MotorChecker.MotorConfig<>("master", mMaster));
                }
            }, new MotorChecker.CheckerConfig() {
                {
                    mRunOutputPercentage = 0.5;
                    mRunTimeSec = 1.0;
                    mCurrentFloor = 0.1;
                    mRPMFloor = 90;
                    mCurrentEpsilon = 2.0;
                    mRPMEpsilon = 200;
                    mRPMSupplier = () -> mMaster.getSelectedSensorVelocity();
                }
            });
}
Example #6
Source File: Elevator.java    From FRC-2019-Public with MIT License 6 votes vote down vote up 
@Override
public boolean checkSystem() {
    return TalonSRXChecker.checkMotors(this,
            new ArrayList<MotorChecker.MotorConfig<TalonSRX>>() {
                private static final long serialVersionUID = 2555581143886197844L;

                {
                    add(new MotorChecker.MotorConfig<>("master", mMaster));
                    add(new MotorChecker.MotorConfig<>("slave 1", mSlaves[0]));
                    add(new MotorChecker.MotorConfig<>("slave 2", mSlaves[1]));
                }
            }, new MotorChecker.CheckerConfig() {
                {
                    mRunOutputPercentage = 0.5;
                    mRunTimeSec = 1.0;
                    mCurrentFloor = 0.1;
                    mRPMFloor = 90;
                    mCurrentEpsilon = 2.0;
                    mRPMEpsilon = 200;
                    mRPMSupplier = () -> mMaster.getSelectedSensorVelocity();
                }
            });
}
Example #7
Source File: Turret.java    From FRC-2019-Public with MIT License 6 votes vote down vote up 
@Override
public boolean checkSystem() {
    return TalonSRXChecker.checkMotors(this,
            new ArrayList<MotorChecker.MotorConfig<TalonSRX>>() {
                private static final long serialVersionUID = 1636612675181038895L;

	{
                    add(new MotorChecker.MotorConfig<>("master", mMaster));
                }
            }, new MotorChecker.CheckerConfig() {
                {
                    mRunOutputPercentage = 0.1;
                    mRunTimeSec = 1.0;
                    mCurrentFloor = 0.1;
                    mRPMFloor = 90;
                    mCurrentEpsilon = 2.0;
                    mRPMEpsilon = 200;
                    mRPMSupplier = mMaster::getSelectedSensorVelocity;
                }
            });
}
Example #8
Source File: SubsystemMast.java    From PowerUp-2018 with GNU General Public License v3.0 5 votes vote down vote up 
/** configures the voltage of each CANTalon */
private void voltage(TalonSRX talon) {
	// talon.configNominalOutputVoltage(0f, 0f);
	// talon.configPeakOutputVoltage(12.0f, -12.0f);
	talon.enableCurrentLimit(true);
	talon.configContinuousCurrentLimit(60, 300);
	talon.configPeakCurrentDuration(500, 10);
}
Example #9
Source File: SubsystemDrive.java    From PowerUp-2018 with GNU General Public License v3.0 5 votes vote down vote up 
/**
 * gives birth to the talons and instantiates variables (including the Bot enum)
 */
public SubsystemDrive() {

    accel = new BuiltInAccelerometer();

    drivetrain = Drivetrain.ROCKET_LEAGUE;

    reversing = false;
    docking = false;
    dockInhibitor = 0.5d;

    pid = new PID();

    // masters
    leftMaster = new TalonSRX(Constants.LEFT_MASTER);
    	leftMaster.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, Constants.LEFT_PID, Constants.TIMEOUT_PID);
    rightMaster = new TalonSRX(Constants.RIGHT_MASTER);
    	rightMaster.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, Constants.RIGHT_PID, Constants.TIMEOUT_PID);

    // slaves
    leftSlave = new TalonSRX(Constants.LEFT_SLAVE);
    	leftSlave.follow(leftMaster);
    rightSlave = new TalonSRX(Constants.RIGHT_SLAVE);
    	rightSlave.follow(rightMaster);

    switch (Robot.bot){
        case TEUFELSKIND:
        	PID.setPIDF(Constants.TEUFELSKIND.P, Constants.TEUFELSKIND.I, Constants.TEUFELSKIND.D, Constants.TEUFELSKIND.F);
            break;
        case OOF:
        	PID.setPIDF(Constants.OOF.P, Constants.OOF.I, Constants.OOF.D, Constants.OOF.F);
            break;
    }
}
Example #10
Source File: TalonSRXChecker.java    From FRC-2019-Public with MIT License 5 votes vote down vote up 
@Override
protected void storeConfiguration() {
    // record previous configuration for all talons
    for (MotorConfig<TalonSRX> config : mMotorsToCheck) {
        LazyTalonSRX talon = (LazyTalonSRX) config.mMotor;

        StoredTalonSRXConfiguration configuration = new StoredTalonSRXConfiguration();
        configuration.mMode = talon.getControlMode();
        configuration.mSetValue = talon.getLastSet();

        mStoredConfigurations.add(configuration);
    }
}
Example #11
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 #12
Source File: TalonSRXFactory.java    From FRC-2019-Public with MIT License 4 votes vote down vote up 
public static TalonSRX createPermanentSlaveTalon(int id, int master_id) {
    final TalonSRX talon = createTalon(id, kSlaveConfiguration);
    talon.set(ControlMode.Follower, master_id);
    return talon;
}
Example #13
Source File: TalonSRXFactory.java    From FRC-2019-Public with MIT License 4 votes vote down vote up 
public static TalonSRX createDefaultTalon(int id) {
    return createTalon(id, kDefaultConfiguration);
}
Example #14
Source File: TalonSRXChecker.java    From FRC-2018-Public with MIT License 4 votes vote down vote up 
public TalonSRXConfig(String name, TalonSRX talon) {
    mName = name;
    mTalon = talon;
}
Example #15
Source File: TalonSRXFactory.java    From FRC-2018-Public with MIT License 4 votes vote down vote up 
public static TalonSRX createDefaultTalon(int id) {
    return createTalon(id, kDefaultConfiguration);
}
Example #16
Source File: TalonSRXFactory.java    From FRC-2018-Public with MIT License 4 votes vote down vote up 
public static TalonSRX createPermanentSlaveTalon(int id, int master_id) {
    final TalonSRX talon = createTalon(id, kSlaveConfiguration);
    talon.set(ControlMode.Follower, master_id);
    return talon;
}
Example #17
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;
}
Example #18
Source File: TalonSRXChecker.java    From FRC-2019-Public with MIT License 4 votes vote down vote up 
@Override
protected double getMotorCurrent(TalonSRX motor) {
    return motor.getOutputCurrent();
}
Example #19
Source File: TalonSRXChecker.java    From FRC-2019-Public with MIT License 4 votes vote down vote up 
@Override
protected void setMotorOutput(TalonSRX motor, double output) {
    motor.set(ControlMode.PercentOutput, output);
}
Example #20
Source File: SubsystemManipulator.java    From PowerUp-2018 with GNU General Public License v3.0 4 votes vote down vote up 
/** gives birth to the CANTalons */
  public SubsystemManipulator(){
armLeft = new TalonSRX(Constants.LEFT_FLYWHEEL);
  	armRight = new TalonSRX(Constants.RIGHT_FLYWHEEL);
  }
Example #21
Source File: TalonSRXChecker.java    From FRC-2019-Public with MIT License 4 votes vote down vote up 
public static boolean checkMotors(Subsystem subsystem,
                                  ArrayList<MotorConfig<TalonSRX>> motorsToCheck,
                                  CheckerConfig checkerConfig) {
    TalonSRXChecker checker = new TalonSRXChecker();
    return checker.checkMotorsImpl(subsystem, motorsToCheck, checkerConfig);
}