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Added LiveWindow support for PID control for CAN speed controllers.

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Change-Id: Id32e27ee7074ffa23824d5d8c0e9509059001284
This commit is contained in:
Sam Carlberg
2015-07-27 17:17:31 -04:00
committed by Sam Carlberg
parent 64c8f1b487
commit 1316deaf5b
10 changed files with 277 additions and 134 deletions
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16
wpilibc/wpilibC++Devices/include/CANSpeedController.h
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@@ -23,6 +23,22 @@ class CANSpeedController : public SpeedController {
kFollower = 5 // Not supported in Jaguar.
};
// Helper function for the ControlMode enum
std::string GetModeName(ControlMode mode) {
switch(mode) {
case kPercentVbus: return "PercentVbus";
case kCurrent: return "Current";
case kSpeed: return "Speed";
case kPosition: return "Position";
case kVoltage: return "Voltage";
case kFollower: return "Follower";
default: return "[unknown control mode]";
}
}
// Helper function for the ControlMode enum
virtual bool IsModePID(ControlMode mode) const = 0;
enum Faults {
kCurrentFault = 1,
kTemperatureFault = 2,