Programming the Titan

note

With the 2.0.0 WPILib release a lot of new changes resulted in breaking changes for previous code. Note the examples below for how to do new things.

Adding the Library

Java

import com.studica.frc.Titan;

C++

#include "studica/Titan.h"

Objects and Instances

Java

/**
 * Declare the main Titan object
 */
private Titan m_titan0;
private Titan m_titan1;

/**
 * Declare the motors of each Titan
 * Each object conforms with WPILib SpeedController class for integration with built-in libs
 */
private Titan.Motor m_leftMotor0;
private Titan.Motor m_leftMotor1;
private Titan.Motor m_rightMotor0;
private Titan.Motor m_rightMotor1;
private Titan.Motor m_armMotor0;
private Titan.Motor m_armMotor1;
private Titan.Motor m_armMotor2;
private Titan.Motor m_armMotor3;

/**
 * Declare the encoders of each Titan
 * Each object conforms with WPILib Encoder class for integration with built-in libs
 */
private Titan.Encoder m_leftEncoder0;
private Titan.Encoder m_leftEncoder1;
private Titan.Encoder m_rightEncoder0;
private Titan.Encoder m_rightEncoder1;

/**
 * Constructor
 */
public DriveTrain()
{
    /**
     * Create the main Titan instances
     */
    m_titan0 = new Titan(42);
    m_titan1 = new Titan(25);

    /**
     * Get motor instances and assign to objects
     */
    m_leftMotor0 = m_titan0.getMotor(0);
    m_leftMotor1 = m_titan0.getMotor(1);
    m_rightMotor0 = m_titan0.getMotor(2);
    m_rightMotor1 = m_titan0.getMotor(3);
    m_armMotor0 = m_titan1.getMotor(0);
    m_armMotor1 = m_titan1.getMotor(1);
    m_armMotor2 = m_titan1.getMotor(2);
    m_armMotor3 = m_titan1.getMotor(3);

    /**
     * Get encoder instances and assign to objects
     */
    m_leftEncoder0 = m_titan0.getEncoder(0, kDistPerTick);
    m_leftEncoder1 = m_titan0.getEncoder(1, kDistPerTick);
    m_rightEncoder0 = m_titan0.getEncoder(2, kDistPerTick);
    m_rightEncoder1 = m_titan0.getEncoder(3, kDistPerTick);
}

C++

Header

class DriveTrain : public frc2::SubsystemBase
{
    public: 
        DriveTrain();

    private:
        /**
        * Declare the main Titan objects
        */
        studica::Titan m_titan0{42};
        studica::Titan m_titan1{25};

        /**
        * Declare the motors of each Titan
        * Each object conforms with WPILib SpeedController class for integration with built-in libs
        */
        studica::Titan::Motor& m_leftMotor0;
        studica::Titan::Motor& m_leftMotor1;
        studica::Titan::Motor& m_rightMotor0;
        studica::Titan::Motor& m_rightMotor1;
        studica::Titan::Motor& m_armMotor0;
        studica::Titan::Motor& m_armMotor1;
        studica::Titan::Motor& m_armMotor2;
        studica::Titan::Motor& m_armMotor3;

        /**
        * Declare the encoders of each Titan
        * Each object conforms with WPILib Encoder Class for integration with built-in libs
        */
        studica::Titan::Encoder& m_leftEncoder0;
        studica::Titan::Encoder& m_leftEncoder1;
        studica::Titan::Encoder& m_rightEncoder0;
        studica::Titan::Encoder& m_rightEncoder1;
};

Source

/**
* Assign reference instances to the objects
*/
DriveTrain::DriveTrain()
    : m_leftMotor0  (m_titan0.GetMotor(0))
    , m_leftMotor1  (m_titan0.GetMotor(1))
    , m_rightMotor0 (m_titan0.GetMotor(2))
    , m_rightMotor1 (m_titan0.GetMotor(3))
    , m_armMotor0   (m_titan1.GetMotor(0))
    , m_armMotor1   (m_titan1.GetMotor(1))
    , m_armMotor2   (m_titan1.GetMotor(2))
    , m_armMotor3   (m_titan1.GetMotor(3))
    , m_leftEncoder0(m_titan0.GetEncoder(0, kDistPerTick))
    , m_leftEncoder1(m_titan0.GetEncoder(1, kDistPerTick))
    , m_rightEncoder0(m_titan0.GetEncoder(2, kDistPerTick))
    , m_rightEncoder1(m_titan0.GetEncoder(3, kDistPerTick))
{

}

Motor Outputs

Set()

Set a proportional speed from -1.0 to 1.0, where 0.0 stops the motor.

Java

m_leftMotor0.set(speed);

C++

m_leftMotor0.Set(speed);

SetTargetVelocity()

Set the internal S-Curve algorithm to control the output of the motor. The algorithm will attempt to hit the desired speed with the configured smoothness settings.

Java

m_leftMotor0.setTargetVelocity((short)80.0); // Target 80 rpm

C++

m_leftMotor0.SetTargetVelocity(80); // Target 80 rpm

SetTargetAngle()

When using the Cypher Max as an encoder input, the absolute feature allows direct angle targeting. Set the desired angle for the motor to turn to.

Java

m_leftMotor0.setTargetAngle(90.0); // 90 degrees

C++

m_leftMotor0.SetTargetAngle(90.0); // 90 Degrees

Motor Settings

SetPIDType()

Sets the PID to Manual configured in the App or using S-Curve.

Java

m_leftMotor0.setPIDType(0); // Set to Manual Configured 

note

Use Manual Type: 0 when using Set(). When using SetTargetVelocity() or SetTargetAngle() use Type: 1.

SetPositionHold()

When enabled the controller actively maintains the last commanded position.

Java

m_leftMotor0.setPositionHold(true); // use false to release 

C++

m_leftMotor0.SetPositionHold(true); // use false to release

SetSensitivity()

Control the S-Curve velocity control smoothness. Higher values increase smoothness. Range 0 (off) - 10 (full smoothness).

Java

m_leftMotor0.setSensitivity(10); 

C++

m_leftMotor0.SetSensitivity(10);

important

At full sensitivity, the acceleration and deceleration become hyper smooth, which can cause problems such as reduced distance control accuracy.

SetCurrentLimit()

Sometimes you just want to control the current going to a motor.

Java

m_leftMotor0.setCurrentLimit(20); // in Amps

C++

m_leftMotor0.SetCurrentLimit(20); // In Amps

SetCurrentLimitMode()

Enables or disables the current limit.

Java

m_leftMotor0.setCurrentLimitMode(0); // disabled, 1 for enabled

C++

m_leftMotor0.SetCurrentLimitMode(0); // disabled, 1 for enabled

InvertRPM()

Inverts the RPM readings.

Java

m_leftMotor0.invertRPM();

C++

m_leftMotor0.InvertRPM();

Motor Inputs

GetRPM()

Gets the current RPM reported by the Titan.

Java

m_leftMotor0.getRPM();

C++

m_leftMotor0.GetRPM();

GetLimitSwitch()

Gets the value of the limit switch inputs on the Titan.

note

These inputs support normal digital input operation. Just disable the limit switch function in SHM.

Java

m_leftMotor0.getLimitSwitch(false); // false for forward limit and true for reverse limit

C++

m_leftMotor0.GetLimitSwitch(false); // false for forward, true for reverse limit

GetCypherPosition()

Get the current angle reported by a Cypher Max.

Java

m_leftMotor0.getCypherPosition();

C++

m_leftMotor0.GetCypherPosition();

Encoder Inputs

GetDistance()

Reports the distance traveled by the encoder. Set kDistPerTick correctly before using this feature.

Java

m_leftEncoder0.getDistance();

C++

m_leftEncoder0.GetEncoderDistance();

GetRaw()

Reports the raw count from the Titan.

Java

m_leftEncoder0.getRaw();

C++

m_leftEncoder0.GetRaw();

GetCount()

Same as GetRaw() but provides higher accuracy because it avoids double conversion.

Java

m_leftEncoder0.getCount();

C++

m_leftEncoder0.GetCount();

GetSpeed()

Same as GetRPM(), but needed for encoder interface.

Java

m_leftEncoder0.getRPM();

C++

m_leftEncoder0.GetSpeed();

Encoder Settings

InvertSpeed()

Same as InvertRPM(), needed for encoder interface.

Java

m_leftEncoder0.invertSpeed();

C++

m_leftEncoder0.InvertSpeed();

SetReverseDirection()

Invert the count direction.

Java

m_leftEncoder0.setReverseDirection();

C++

m_leftEncoder0.SetReverseDirection();

Reset()

Resets the encoder count back to 0.

Java

m_leftEncoder0.reset();

C++

m_leftEncoder0.Reset();