Changes between Initial Version and Version 1 of Position Mode

Timestamp:

Feb 13, 2016, 4:14:22 PM (9 years ago)

Author:

alex

Comment:

--

Position Mode

@@ +1 @@
+== Position Mode ==
+
+Things needed to initialize position mode.
+
+You need to set these variables:
+{{{
+P = 100.0,
+I = 0.0,
+D = 0.0;
+}}}
+
+Change as necessary. These are *not* recommended values.
+
+Read up on PID loops as necessary.
+
+In the constructor of your subsystem, you need:
+
+{{{armMotor.setFeedbackDevice(FeedbackDevice.EncoderType);}}}
+
+{{{armMotor.configEncoderCodesPerRev(X);}}}
+
+Note that on QuadEncoders this is the nominal value, not the actual value
+
+{{{armMotor.setEncPosition(0);}}}
+
+This will save you a lot of future headache
+
+You need these methods:
+
+{{{
+public void enable() {
+        armMotor.enableControl();
+}
+}}}
+
+{{{
+public void positionMode() {
+        armMotor.changeControlMode(TalonControlMode.Position);
+        armMotor.setPID(P, I, D);
+}
+}}}
+
+Finally, here's some example code.
+
+To initialize it, you need to run this:
+
+{{{
+Robot.armSys.positionMode();
+Robot.armSys.enable();
+}}}
+
+Finally, once you've initialized the code:
+
+{{{
+Robot.armSys.setArmTalon(1F);
+}}}
+
+This will make it move one rotation.