// 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; }