def configure_drivetrain(motor: ctre.WPI_TalonSRX):
"""
Configure a given motor controller for drivetrain usage
:param motor:ctre.WPI_TalonSRX: The motor to be configured
"""
# TODO make sure to uncomment next line on first test/deploy
# motor.configFactoryDefault()
motor.configOpenLoopRamp(0.2)
motor.clearStickyFaults()
motor.enableCurrentLimit(True)
motor.configContinuousCurrentLimit(10)
motor.configPeakCurrentLimit(0)
motor.setNeutralMode(ctre.NeutralMode.Brake)
def config_talon(talon: WPI_TalonSRX, motor_config: MotorConfig) -> None:
talon.enableVoltageCompensation(True)
talon.configVoltageCompSaturation(motor_config.voltage_saturation)
talon.enableCurrentLimit(True)
talon.configPeakCurrentLimit(motor_config.peak_current)
talon.configContinuousCurrentLimit(motor_config.continuous_current)
talon.setNeutralMode(motor_config.default_mode)
talon.configNeutralDeadband(motor_config.deadband)
talon.configOpenLoopRamp(motor_config.ramp_rate)
def configure_drivetrain_cim(motor: ctre.WPI_TalonSRX):
"""
Configure a given motor controller for drivetrain usage
:param motor:ctre.WPI_TalonSRX: The motor to be configured
"""
# TODO Decide if following line is needed
# motor.configFactoryDefault()
# 0 is disabled for ramp rates, input is in seconds
motor.configOpenLoopRamp(0.5)
motor.clearStickyFaults()
motor.enableCurrentLimit(True)
motor.configContinuousCurrentLimit(70)
motor.configPeakCurrentLimit(0)
motor.setNeutralMode(ctre.NeutralMode.Brake)
def configure_motor(motor: ctre.WPI_TalonSRX,
neutral_mode: ctre.NeutralMode,
peak_current=0,
peak_current_duration=0,
ramp_rate=0):
# motor.configFactoryDefault()
motor.clearStickyFaults()
motor.setNeutralMode(neutral_mode)
if peak_current != 0:
motor.enableCurrentLimit(True)
motor.configPeakCurrentLimit(peak_current)
motor.configPeakCurrentDuration(peak_current_duration)
else:
motor.enableCurrentLimit(False)
if ramp_rate != 0:
motor.configOpenLoopRamp(ramp_rate)
