class GRTTalon:
def __init__(self, channel):
self.t = CANTalon(channel)
self.channel = channel
def set(self, power):
self.t.set(power)
def get(self):
return self.t.get()
print(self.t.Get())
def getDeviceID(self):
return self.t.getDeviceID()
def changeControlMode(self, mode):
self.t.changeControlMode(mode)
def setP(self, value):
self.t.setP(value)
def setI(self, value):
self.t.setI(value)
def setD(self, value):
self.t.setD(value)
def poll(self):
# self.busVoltage = t.getBusVoltage()
# self.closeLoopRampRate = t.getCloseLoopRampRate()
self.controlMode = t.getControlMode()
self.deviceID = t.getDeviceID()
self.encPosition = t.getEncPosition()
self.encVelocity = t.getEncVelocity()
self.outputCurrent = t.getOutputCurrent()
self.outputVoltage = t.getOutputVoltage()
self.closeLoopError = t.getCloseLoopError()
