// 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!");
}
}
public static void disabledInit() {
if (!initialized) initialize();
// if exiting from teleop mode (game is over)...
if (teleopMode) {
System.out.println("FrontArmAssembly: exiting teleop, moving to coast mode");
// relax front arm motor (coast mode)
frontArmMotor.enableBrakeMode(false);
}
}
/**
* This method enables/disables motor brake mode. In motor brake mode, set power to 0 would stop
* the motor very abruptly by shorting the motor wires together using the generated back EMF to
* stop the motor. When brakMode is false (i.e. float/coast mode), the motor wires are just
* disconnected from the motor controller so the motor will stop gradually.
*
* @param brakeMode specifies true to enable brake mode, false otherwise.
*/
public void setBrakeModeEnabled(boolean enabled) {
super.enableBrakeMode(enabled);
} // setBrakeModeEnabled
@Override
public TalonSRX enableBrakeMode(boolean brake) {
talon.enableBrakeMode(brake);
return this;
}
@Override
public void stop() {
talon.enableBrakeMode(true);
talon.set(0);
}
public void setShooterBrakeMode(boolean on) {
shooterMotor.enableBrakeMode(on);
}
