Java 类edu.wpi.first.wpilibj.CANTalon.ControlMode 实例源码

public static void changeControlMode(ControlMode mode) {
    // Set control mode for the CAN Talon motor controllers
    mecanumDriveControlsLeftFront.changeControlMode(mode);
    mecanumDriveControlsLeftRear.changeControlMode(mode);
    mecanumDriveControlsRightFront.changeControlMode(mode);
    mecanumDriveControlsRightRear.changeControlMode(mode);

    // Makes sure the Feedback Device is a Quad Encoder
    mecanumDriveControlsLeftFront.setFeedbackDevice(CANTalon.FeedbackDevice.QuadEncoder);
    mecanumDriveControlsLeftRear.setFeedbackDevice(CANTalon.FeedbackDevice.QuadEncoder);
    mecanumDriveControlsRightFront.setFeedbackDevice(CANTalon.FeedbackDevice.QuadEncoder);
    mecanumDriveControlsRightRear.setFeedbackDevice(CANTalon.FeedbackDevice.QuadEncoder);

    // Sets PID Values for the Mecanum Drive Train
    if (mode.equals(ControlMode.Speed)) {
        mecanumDriveControlsLeftFront.setPID(1, 0.002, 1.0, 0.0001, 255, 200, 0);
        mecanumDriveControlsLeftRear.setPID(1, 0.002, 1.0, 0.0001, 255, 200, 0);
        mecanumDriveControlsRightFront.setPID(1, 0.002, 1.0, 0.0001, 255, 200, 0);
        mecanumDriveControlsRightRear.setPID(1, 0.002, 1.0, 0.0001, 255, 200, 0);
    }

}

/**
 * Turns the robot.
 * @param left Whether to turn left (true), or right (false)
 */
public void turn(boolean left){
    for (int i = 0; i < motors.size(); i++) {
        RobotMap.changeControlMode(ControlMode.Speed);
        if (left) {
            robotDrive.mecanumDrive_Cartesian(0, 0, -.5, 0);
        }
        else {
            robotDrive.mecanumDrive_Cartesian(0, 0, .5, 0);
        }
    }
   }