Exemplo n.º 1
0
  // 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;
 }