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()