Motors and Pneumatics

Talons

First, import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX

To create a talon:

WPI_TalonSRX someTalon = new WPI_TalonSRX(RobotMap.Motor.SOMETALON)

Instantiate the CANTalon class, passing in an int for the Talon ID into the constructor. Please put this int in RobotMap.Motor so that we can easily check what the talon ID’s are supposed to be.

To drive a talon

someTalon.set(controlMode, value)

amount does different things based on what controlMode is.

For more details, look at the CANTalon javadoc at this URL.

Solenoids

First, import edu.wpi.first.wpilibj.Solenoid

To create a talon:

Solenoid balloon = new Solenoid(RobotMap.Solenoid.SOMESOLENOID)

Instantiate the Solenoid class, passing in an int for the Solenoid ID into the constructor. Please put this int in RobotMap.Solenoid so that we can easily check what the solenoid ID’s are supposed to be.

To move a pneumatic

balloon.set(boolean)

boolean indicates whether the pneumatic is activated or not.

For more details, look at the Solenoid javadoc at this URL.