My team and I have been banging our heads against the wall for weeks now trying to set a motor to a specific position using the onboard encoders. This is one of many iterations over the last few weeks:
#!/usr/bin/env python3
import wpilib
import ctre
class MyRobot(wpilib.TimedRobot):
def testInit(self):
"""Robot initialization function"""
self.motor_control_mode = ctre.TalonFXControlMode.Position
self.feedback_device = ctre.TalonFXFeedbackDevice.IntegratedSensor
self.motor0 = ctre.TalonFX(0)
self.motor0.configSelectedFeedbackSensor(self.feedback_device)
self.joyStick = wpilib.XboxController(3) # initialize the joystick on port 0
print("#"*50)
self.motor0.setSelectedSensorPosition(100)
print(self.motor0.getSelectedSensorPosition())
print("#"*50)
self.sensor_count = 0
def testPeriodic(self):
#"""Runs the motor from a joystick."""
#self.sensor_count += 1
#self.motor0.set(self.motor_control_mode, self.sensor_count)
pass
if __name__ == "__main__":
wpilib.run(MyRobot)
The goal of this code is to get a motor, set its integrated sensor to a position, then print that new position out. The code I have never sets the sensor position and always prints out 0.0 in the simulation. There’s a ton of documentation for Robotpy, but there doesn’t seem to be any one page that says “THIS IS HOW TO GET AN ENCODER WORKING”. Any help would be appreciated.
