add support for multiple PID slots in MotorController #49
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if PID values are set via config, support live refreshes of these values when set() is called.
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rcahoon
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Mar 15, 2024
| @@ -23,16 +30,17 @@ public double getSensorVelocity() { | |||
| } | |||
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| @Override | |||
| public void set(final ControlMode mode, final double value) { | |||
| public void set( | |||
| final ControlMode mode, final double value, int slot, double arbitraryFeedForward) { | |||
| switch (mode) { | |||
| case PercentOutput: | |||
| delegate.set(mode, value); | |||
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should these other control modes also pass along the slot and arbFF?
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| @Override | ||
| public void setOutputRange(final double minOutput, final double maxOutput, int slot) { | ||
| if (slot != 0) { |
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the behavior might be confusing to the user - if an output range is set on Slot 0 but not on Slot 1, then the range bound will apply to both slots without warning the user
| .logRaw( | ||
| Severity.WARNING, | ||
| "Ignoring slot for setOutputRange - unsupported on Talon"); | ||
| } |
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potentially confusing behavior, as above
| } | ||
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| @Override | ||
| public void set(final ControlMode mode, double value) { | ||
| public void set(final ControlMode mode, double value, int slot, double arbitraryFeedForward) { |
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should this have m_device.selectProfileSlot like in CANVictorMotorController?
| .logRaw( | ||
| Severity.WARNING, | ||
| "Ignoring slot for setOutputRange - unsupported on Talon"); | ||
| } |
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potentially confusing behavior, as above
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Description
MotorController.LocalMotorControllersetis called.followwrt inverting the follower motor.How Has This Been Tested?
Needs testing. Sending for early feedback.