Add brake mode setting

vanderbiltrobotics · Jan 28, 2020 · 9c99197 · 9c99197
1 parent 6952568
commit 9c99197
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Showing 2 changed files with 7 additions and 0 deletions.
diff --git a/robot_motor_control/cfg/Talon.cfg b/robot_motor_control/cfg/Talon.cfg
@@ -12,6 +12,7 @@ gen.add("invert_sensor",    bool_t,     0,  "Invert Sensor",    False)
 gen.add("cont_current",     int_t,      0,  "Continuous Current Limit (A)", 30,     0,  60)
 #gen.add("peak_current",     int_t,      0,  "Peak Current Limit (A)",       30,    0,  100)
 gen.add("peak_current_dur", int_t,      0,  "Peak Current Duration (ms)",   100,    0,  2000)
+gen.add("brake_mode",       bool_t,     0,  "Brake Mode",       True)
 
 gen.add("P", double_t, 0, "P", 0, 0, 100000)
 gen.add("I", double_t, 0, "I", 0, 0, 100000)

diff --git a/robot_motor_control/src/TalonNode.cpp b/robot_motor_control/src/TalonNode.cpp
@@ -130,6 +130,12 @@ void TalonNode::configure()
         talon.SetInverted(_config.inverted);
         talon.EnableVoltageCompensation(true);
 
+        if (_config.brake_mode) {
+            talon.SetNeutralMode(NeutralMode::Brake);
+        } else {
+            talon.SetNeutralMode(NeutralMode::Coast);
+        }
+
         ROS_INFO("Reconfigured Talon: %s with %d %f %f %f", _name.c_str(), talon.GetDeviceID(), _config.P, _config.I,
             _config.D);
         this->configured = true;