public SpeedController() {
speedController.setFeedbackDevice(FeedbackDevice.QuadEncoder);
speedController.configEncoderCodesPerRev(20);
speedController.setP(0.75);
speedController.setI(0.01);
speedController.setD(0.0);
speedController.setCloseLoopRampRate(.01);
}
public MasterCANTalon(int port) {
talon = new CANTalon(port);
talon.setFeedbackDevice(FeedbackDevice.CtreMagEncoder_Relative);
talon.reverseSensor(false);
talon.setProfile(0);
talon.setF(0.1722);
talon.setP(0.1);
talon.setI(0);
talon.setD(0);
talon.configNominalOutputVoltage(+0.0f, -0.0f);
talon.configPeakOutputVoltage(+12.0f, -12.0f);
talon.changeControlMode(TalonControlMode.Speed);
}
/**
* Set the PID Controller gain parameters. Set the proportional, integral, and differential
* coefficients.
*
* @param p Proportional coefficient
* @param i Integral coefficient
* @param d Differential coefficient
*/
public synchronized void setPID(double p, double i, double d) {
m_P = p;
m_I = i;
m_D = d;
m_talon.setProfile(0);
m_talon.setP(p);
m_talon.setI(i);
m_talon.setD(d);
if (m_debugging) {
SmartDashboard.putNumber(m_name + " P", m_talon.getP());
SmartDashboard.putNumber(m_name + " I", m_talon.getI());
SmartDashboard.putNumber(m_name + " D", m_talon.getD());
}
}