package org.usfirst.frc.team469.robot;

import com.ctre.CANTalon;
import edu.wpi.first.wpilibj.IterativeRobot;
import com.ctre.CANTalon.FeedbackDevice;
import com.ctre.CANTalon.TalonControlMode;

public class SampleTalonSRX extends IterativeRobot {
 CANTalon _talon = new CANTalon(0);

 public void robotInit() {
  /* first choose the sensor */
  _talon.setFeedbackDevice(FeedbackDevice.CtreMagEncoder_Relative);
  _talon.reverseSensor(false);

  /* set the peak and nominal outputs, 12V means full */
  _talon.configNominalOutputVoltage(+0.0 f, -0.0 f);
  _talon.configPeakOutputVoltage(+12.0 f, -12.0 f);

  /* set closed loop gains in slot0 */
  _talon.setProfile(0);
  _talon.setF(0.1097);
  _talon.setP(0.22);
  _talon.setI(0);
  _talon.setD(0);
 }

 public void teleopPeriodic() {
  _talon.changeControlMode(TalonControlMode.Speed);
  _talon.set(1500); /* 1500 RPM in either direction */
 }