Chief Delphi - CIM programming question

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CIM programming question

I plan on connecting a CIM motor on my pickup device. I will probably use a talon. What method is best to use in order to run the CIM? I will probably program one button to make the CIM go in one direction and another for the other direction.

Re: CIM programming question

The code for this task varies depending on what template you are using: SimpleRobot, IterativeRobot, or Command Based. If you're using SimpleRobot or IterativeRobot, just add a Talon to your robot class...

Code:

private Talon pickupMotor = new Talon(1);

...and then in your teleop code check the joystick buttons and set the Talon accordingly

Code:

// inside operatorControl() or teleopPeriodic()

// assuming there is already a Joystick object named 'joystick'

if (joystick.getRawButton(1))

    pickupMotor.set(1.0);

else if (joystick.getRawButton(2))

    pickupMotor.set(-1.0);

else

    pickupMotor.set(0.0);

With the Command Based pattern, you'll want to add the Talon to your pickup subsystem, create a command(s) to set the motor, and then bind your commands to buttons in the OI class.