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Use new CAN API for PDP (#1081)

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This commit is contained in:
Thad House
2018-06-07 22:31:26 -07:00
committed by Peter Johnson
parent f6e4df6a18
commit 056e68f2ae
13 changed files with 413 additions and 427 deletions
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23
wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java
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@@ -14,8 +14,8 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
* Class for getting voltage, current, temperature, power and energy from the Power Distribution
* Panel over CAN.
*/
public class PowerDistributionPanel extends SendableBase {
private final int m_module;
public class PowerDistributionPanel extends SendableBase {
private final int m_handle;
/**
* Constructor.
@@ -23,9 +23,8 @@ public class PowerDistributionPanel extends SendableBase {
* @param module The CAN ID of the PDP
*/
public PowerDistributionPanel(int module) {
m_module = module;
SensorUtil.checkPDPModule(module);
PDPJNI.initializePDP(module);
m_handle = PDPJNI.initializePDP(module);
setName("PowerDistributionPanel", module);
}
@@ -42,7 +41,7 @@ public class PowerDistributionPanel extends SendableBase {
* @return The voltage of the PDP in volts
*/
public double getVoltage() {
return PDPJNI.getPDPVoltage(m_module);
return PDPJNI.getPDPVoltage(m_handle);
}
/**
@@ -51,7 +50,7 @@ public class PowerDistributionPanel extends SendableBase {
* @return The temperature of the PDP in degrees Celsius
*/
public double getTemperature() {
return PDPJNI.getPDPTemperature(m_module);
return PDPJNI.getPDPTemperature(m_handle);
}
/**
@@ -60,7 +59,7 @@ public class PowerDistributionPanel extends SendableBase {
* @return The current of one of the PDP channels (channels 0-15) in Amperes
*/
public double getCurrent(int channel) {
double current = PDPJNI.getPDPChannelCurrent((byte) channel, m_module);
double current = PDPJNI.getPDPChannelCurrent((byte) channel, m_handle);
SensorUtil.checkPDPChannel(channel);
@@ -73,7 +72,7 @@ public class PowerDistributionPanel extends SendableBase {
* @return The current of all the channels in Amperes
*/
public double getTotalCurrent() {
return PDPJNI.getPDPTotalCurrent(m_module);
return PDPJNI.getPDPTotalCurrent(m_handle);
}
/**
@@ -82,7 +81,7 @@ public class PowerDistributionPanel extends SendableBase {
* @return the total power in Watts
*/
public double getTotalPower() {
return PDPJNI.getPDPTotalPower(m_module);
return PDPJNI.getPDPTotalPower(m_handle);
}
/**
@@ -91,21 +90,21 @@ public class PowerDistributionPanel extends SendableBase {
* @return the total energy in Joules
*/
public double getTotalEnergy() {
return PDPJNI.getPDPTotalEnergy(m_module);
return PDPJNI.getPDPTotalEnergy(m_handle);
}
/**
* Reset the total energy to 0.
*/
public void resetTotalEnergy() {
PDPJNI.resetPDPTotalEnergy(m_module);
PDPJNI.resetPDPTotalEnergy(m_handle);
}
/**
* Clear all PDP sticky faults.
*/
public void clearStickyFaults() {
PDPJNI.clearPDPStickyFaults(m_module);
PDPJNI.clearPDPStickyFaults(m_handle);
}
@Override