cantalon.py 文件源码

def __init__(self, deviceNumber,
                 controlPeriodMs=10,
                 enablePeriodMs=50):
        MotorSafety.__init__(self)

        self.pidSource = self.PIDSourceType.kDisplacement
        self.deviceNumber = deviceNumber

        # HAL bounds period to be within [1 ms,95 ms]
        self._handle = _CanTalonSRX(deviceNumber, controlPeriodMs, enablePeriodMs)

        self.__finalizer = weakref.finalize(self, _freeCANTalon,
                                                  self._handle)
        self.controlMode = self.ControlMode.PercentVbus 
        self.minimumInput = 0
        self.maximumInput = 0
        self.controlEnabled = True
        self.stopped = False
        self.isInverted = False
        self.profile = 0
        self.setPoint = 0.0
        self.codesPerRev = 0
        self.numPotTurns = 0
        self.feedbackDevice = self.FeedbackDevice.QuadEncoder
        self.setProfile(self.profile)
        self._applyControlMode(self.ControlMode.PercentVbus)

        LiveWindow.addActuatorChannel("CANTalon", deviceNumber, self)
        hal.report(hal.UsageReporting.kResourceType_CANTalonSRX,
                   deviceNumber)

        # Need this to free on unit test wpilib reset
        Resource._add_global_resource(self)