// static initializer
public static void initialize() {
if (!initialized) {
gamepad = new Joystick(GAMEPAD_ID);
initialized = true;
teleopMode = false;
// create and initialize arm motor
frontArmMotor = new CANTalon(FRONT_ARM_MOTOR_ID);
if (frontArmMotor != null) {
System.out.println("Initializing front arm motor (position control)...");
// VERY IMPORTANT - resets talon faults to render them usable again!!
frontArmMotor.clearStickyFaults();
frontArmMotor.setFeedbackDevice(CANTalon.FeedbackDevice.QuadEncoder);
frontArmMotor.changeControlMode(CANTalon.TalonControlMode.PercentVbus);
// set brake mode
frontArmMotor.enableBrakeMode(true);
// initializes encoder to zero
frontArmMotor.setPosition(0);
} else System.out.println("ERROR: Front Arm motor not initialized!");
// create and initialize roller motor
frontArmRollerMotor = new CANTalon(FRONT_ARM_ROLLER_ID);
if (frontArmRollerMotor != null) {
System.out.println("Initializing front arm roller motor (PercentVbus control)...");
frontArmRollerMotor.clearStickyFaults();
// set up roller motor for percent Vbus control mode
frontArmRollerMotor.changeControlMode(CANTalon.TalonControlMode.PercentVbus);
frontArmRollerMotor.enableBrakeMode(false);
// initializes speed of rollers to zero
frontArmRollerMotor.set(0);
} else System.out.println("ERROR: Front Arm roller motor not initialized!");
}
}
@Override
public TalonSRX clearStickyFaults() {
talon.clearStickyFaults();
return this;
}
