Changes between Version 1 and Version 2 of Position Mode

Timestamp:

Feb 13, 2016, 4:21:52 PM (9 years ago)

Author:

alex

Comment:

--

Position Mode

@@ -16 +16 @@
 In the constructor of your subsystem, you need:
 
-{{{armMotor.setFeedbackDevice(FeedbackDevice.EncoderType);}}}
+{{{talon.setFeedbackDevice(FeedbackDevice.EncoderType);}}}
 
-{{{armMotor.configEncoderCodesPerRev(X);}}}
+{{{talon.configEncoderCodesPerRev(X);}}}
 
 Note that on QuadEncoders this is the nominal value, not the actual value
 
-{{{armMotor.setEncPosition(0);}}}
+{{{talon.setEncPosition(0);}}}
 
 This will save you a lot of future headache
@@ -30 +30 @@
 {{{
 public void enable() {
-        armMotor.enableControl();
+        talon.enableControl();
 }
 }}}
@@ -36 +36 @@
 {{{
 public void positionMode() {
-        armMotor.changeControlMode(TalonControlMode.Position);
-        armMotor.setPID(P, I, D);
+        talon.changeControlMode(TalonControlMode.Position);
+        talon.setPID(P, I, D);
 }
 }}}
@@ -46 +46 @@
 
 {{{
-Robot.armSys.positionMode();
-Robot.armSys.enable();
+Robot.SubSystem.positionMode();
+Robot.SubSystem.enable();
 }}}
 
@@ -53 +53 @@
 
 {{{
-Robot.armSys.setArmTalon(1F);
+Robot.SubSystem.<SetCommand>(1F);
 }}}