tuffinmuffin
commented
4 years ago you want to get Caiden to? he has a mr also that needs same addressing
On Mon, Feb 3, 2020, 4:19 PM DrKittyKat notifications@github.com wrote:
@DrKittyKat commented on this pull request.
In motorHelper.py https://github.com/Raptacon/Robot-2020/pull/49#discussion_r374397083:
- if 'currentLimits' in motorDescp:
- currentLimits = motorDescp['currentLimits']
- absMax = currentLimits['absMax']
- absMaxTimeMs = currentLimits['absMaxTimeMs']
- nominalMaxCurrent = currentLimits['maxNominal']
- motor.configPeakCurrentLimit(absMax,10)
- motor.configPeakCurrentDuration(absMaxTimeMs,10)
- motor.configContinuousCurrentLimit(nominalMaxCurrent,10)
- motor.enableCurrentLimit(True)
if 'rampRate' in motorDescp:
motor.configOpenLoopRamp(motorDescp['rampRate'],10)
- return motor
+class WPI_TalonFeedback(ctre.WPI_TalonSRX):#ctre.wpi_talonsrx.WPI_TalonSRX
I didn't write motorHelper, but I'll try to document it
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Basic drive train set up in "driveTrain.py" component. I believe it should replace "dtFxTest.py", but I left it in for now because I'm not sure.