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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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4
wpilibj/wpilibJavaDevices/pom.xml
View File

@@ -60,8 +60,8 @@
<artifactId>maven-compiler-plugin</artifactId>
<version>3.1</version>
<configuration>
<source>1.7</source>
<target>1.7</target>
<source>1.8</source>
<target>1.8</target>
<excludes>
<exclude>edu/wpi/first/wpilibj/camera/</exclude>
</excludes>

98
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
View File

@@ -13,7 +13,6 @@ import java.nio.ByteOrder;
import edu.wpi.first.wpilibj.can.CANExceptionFactory;
import edu.wpi.first.wpilibj.can.CANJNI;
import edu.wpi.first.wpilibj.can.CANMessageNotFoundException;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.tables.ITable;
import edu.wpi.first.wpilibj.tables.ITableListener;
import edu.wpi.first.wpilibj.util.AllocationException;
@@ -24,8 +23,7 @@ import edu.wpi.first.wpilibj.util.CheckedAllocationException;
*$
* @author Thomas Clark
*/
public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeedController,
LiveWindowSendable {
public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController {
public static final int kMaxMessageDataSize = 8;
@@ -73,8 +71,19 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
/**
* Mode determines how the Jaguar is controlled, used internally.
*/
public enum ControlMode {
public enum JaguarControlMode implements CANSpeedController.ControlMode {
PercentVbus, Current, Speed, Position, Voltage;
@Override
public boolean isPID() {
return this == Current || this == Speed || this == Position;
}
@Override
public int getValue() {
return ordinal();
}
}
public static final int kCurrentFault = 1;
@@ -191,7 +200,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
}
m_deviceNumber = (byte) deviceNumber;
m_controlMode = ControlMode.PercentVbus;
m_controlMode = JaguarControlMode.PercentVbus;
m_safetyHelper = new MotorSafetyHelper(this);
@@ -503,7 +512,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
m_maxOutputVoltageVerified = false;
m_faultTimeVerified = false;
if (m_controlMode == ControlMode.PercentVbus || m_controlMode == ControlMode.Voltage) {
if (m_controlMode == JaguarControlMode.PercentVbus || m_controlMode == JaguarControlMode.Voltage) {
m_voltageRampRateVerified = false;
} else {
m_pVerified = false;
@@ -545,7 +554,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
try {
getMessage(CANJNI.LM_API_STATUS_CMODE, CANJNI.CAN_MSGID_FULL_M, data);
ControlMode mode = ControlMode.values()[data[0]];
JaguarControlMode mode = JaguarControlMode.values()[data[0]];
if (m_controlMode == mode) {
m_controlModeVerified = true;
@@ -837,7 +846,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
}
if (!m_voltageRampRateVerified) {
if (m_controlMode == ControlMode.PercentVbus) {
if (m_controlMode == JaguarControlMode.PercentVbus) {
try {
getMessage(CANJNI.LM_API_VOLT_SET_RAMP, CANJNI.CAN_MSGID_FULL_M, data);
@@ -855,7 +864,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
requestMessage(CANJNI.LM_API_VOLT_SET_RAMP);
}
}
} else if (m_controlMode == ControlMode.Voltage) {
} else if (m_controlMode == JaguarControlMode.Voltage) {
try {
getMessage(CANJNI.LM_API_VCOMP_COMP_RAMP, CANJNI.CAN_MSGID_FULL_M, data);
@@ -922,7 +931,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
// PIDOutput interface
@Override
public void pidWrite(double output) {
if (m_controlMode == ControlMode.PercentVbus) {
if (m_controlMode == JaguarControlMode.PercentVbus) {
set(output);
} else {
throw new IllegalStateException("PID only supported in PercentVbus mode");
@@ -1070,7 +1079,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
* @return The proportional gain.
*/
public double getP() {
if (m_controlMode.equals(ControlMode.PercentVbus) || m_controlMode.equals(ControlMode.Voltage)) {
if (m_controlMode.equals(JaguarControlMode.PercentVbus) || m_controlMode.equals(JaguarControlMode.Voltage)) {
throw new IllegalStateException("PID does not apply in Percent or Voltage control modes");
}
return m_p;
@@ -1082,7 +1091,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
* @return The integral gain.
*/
public double getI() {
if (m_controlMode.equals(ControlMode.PercentVbus) || m_controlMode.equals(ControlMode.Voltage)) {
if (m_controlMode.equals(JaguarControlMode.PercentVbus) || m_controlMode.equals(JaguarControlMode.Voltage)) {
throw new IllegalStateException("PID does not apply in Percent or Voltage control modes");
}
return m_i;
@@ -1094,7 +1103,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
* @return The derivative gain.
*/
public double getD() {
if (m_controlMode.equals(ControlMode.PercentVbus) || m_controlMode.equals(ControlMode.Voltage)) {
if (m_controlMode.equals(JaguarControlMode.PercentVbus) || m_controlMode.equals(JaguarControlMode.Voltage)) {
throw new IllegalStateException("PID does not apply in Percent or Voltage control modes");
}
return m_d;
@@ -1189,7 +1198,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
* {@link CANJaguar#enableControl(double)} to enable the device.
*/
public void setPercentMode() {
changeControlMode(ControlMode.PercentVbus);
changeControlMode(JaguarControlMode.PercentVbus);
setPositionReference(CANJNI.LM_REF_NONE);
setSpeedReference(CANJNI.LM_REF_NONE);
}
@@ -1204,7 +1213,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
* @param codesPerRev The counts per revolution on the encoder
*/
public void setPercentMode(EncoderTag tag, int codesPerRev) {
changeControlMode(ControlMode.PercentVbus);
changeControlMode(JaguarControlMode.PercentVbus);
setPositionReference(CANJNI.LM_REF_NONE);
setSpeedReference(CANJNI.LM_REF_ENCODER);
configEncoderCodesPerRev(codesPerRev);
@@ -1220,7 +1229,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
* @param codesPerRev The counts per revolution on the encoder
*/
public void setPercentMode(QuadEncoderTag tag, int codesPerRev) {
changeControlMode(ControlMode.PercentVbus);
changeControlMode(JaguarControlMode.PercentVbus);
setPositionReference(CANJNI.LM_REF_ENCODER);
setSpeedReference(CANJNI.LM_REF_QUAD_ENCODER);
configEncoderCodesPerRev(codesPerRev);
@@ -1235,7 +1244,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
* @param tag The constant {@link CANJaguar#kPotentiometer}
*/
public void setPercentMode(PotentiometerTag tag) {
changeControlMode(ControlMode.PercentVbus);
changeControlMode(JaguarControlMode.PercentVbus);
setPositionReference(CANJNI.LM_REF_POT);
setSpeedReference(CANJNI.LM_REF_NONE);
configPotentiometerTurns(1);
@@ -1251,7 +1260,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
* @param d The differential gain of the Jaguar's PID controller.
*/
public void setCurrentMode(double p, double i, double d) {
changeControlMode(ControlMode.Current);
changeControlMode(JaguarControlMode.Current);
setPositionReference(CANJNI.LM_REF_NONE);
setSpeedReference(CANJNI.LM_REF_NONE);
setPID(p, i, d);
@@ -1269,7 +1278,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
* @param d The differential gain of the Jaguar's PID controller.
*/
public void setCurrentMode(EncoderTag tag, int codesPerRev, double p, double i, double d) {
changeControlMode(ControlMode.Current);
changeControlMode(JaguarControlMode.Current);
setPositionReference(CANJNI.LM_REF_NONE);
setSpeedReference(CANJNI.LM_REF_NONE);
configEncoderCodesPerRev(codesPerRev);
@@ -1288,7 +1297,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
* @param d The differential gain of the Jaguar's PID controller.
*/
public void setCurrentMode(QuadEncoderTag tag, int codesPerRev, double p, double i, double d) {
changeControlMode(ControlMode.Current);
changeControlMode(JaguarControlMode.Current);
setPositionReference(CANJNI.LM_REF_ENCODER);
setSpeedReference(CANJNI.LM_REF_QUAD_ENCODER);
configEncoderCodesPerRev(codesPerRev);
@@ -1307,7 +1316,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
* @param d The differential gain of the Jaguar's PID controller.
*/
public void setCurrentMode(PotentiometerTag tag, double p, double i, double d) {
changeControlMode(ControlMode.Current);
changeControlMode(JaguarControlMode.Current);
setPositionReference(CANJNI.LM_REF_POT);
setSpeedReference(CANJNI.LM_REF_NONE);
configPotentiometerTurns(1);
@@ -1327,7 +1336,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
* @param d The differential gain of the Jaguar's PID controller.
*/
public void setSpeedMode(EncoderTag tag, int codesPerRev, double p, double i, double d) {
changeControlMode(ControlMode.Speed);
changeControlMode(JaguarControlMode.Speed);
setPositionReference(CANJNI.LM_REF_NONE);
setSpeedReference(CANJNI.LM_REF_ENCODER);
configEncoderCodesPerRev(codesPerRev);
@@ -1347,7 +1356,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
* @param d The differential gain of the Jaguar's PID controller.
*/
public void setSpeedMode(QuadEncoderTag tag, int codesPerRev, double p, double i, double d) {
changeControlMode(ControlMode.Speed);
changeControlMode(JaguarControlMode.Speed);
setPositionReference(CANJNI.LM_REF_ENCODER);
setSpeedReference(CANJNI.LM_REF_QUAD_ENCODER);
configEncoderCodesPerRev(codesPerRev);
@@ -1367,7 +1376,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
*
*/
public void setPositionMode(QuadEncoderTag tag, int codesPerRev, double p, double i, double d) {
changeControlMode(ControlMode.Position);
changeControlMode(JaguarControlMode.Position);
setPositionReference(CANJNI.LM_REF_ENCODER);
configEncoderCodesPerRev(codesPerRev);
setPID(p, i, d);
@@ -1384,7 +1393,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
* @param d The differential gain of the Jaguar's PID controller.
*/
public void setPositionMode(PotentiometerTag tag, double p, double i, double d) {
changeControlMode(ControlMode.Position);
changeControlMode(JaguarControlMode.Position);
setPositionReference(CANJNI.LM_REF_POT);
configPotentiometerTurns(1);
setPID(p, i, d);
@@ -1397,7 +1406,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
* {@link CANJaguar#enableControl(double)} to enable the device.
*/
public void setVoltageMode() {
changeControlMode(ControlMode.Voltage);
changeControlMode(JaguarControlMode.Voltage);
setPositionReference(CANJNI.LM_REF_NONE);
setSpeedReference(CANJNI.LM_REF_NONE);
}
@@ -1412,7 +1421,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
* @param codesPerRev The counts per revolution on the encoder
*/
public void setVoltageMode(EncoderTag tag, int codesPerRev) {
changeControlMode(ControlMode.Voltage);
changeControlMode(JaguarControlMode.Voltage);
setPositionReference(CANJNI.LM_REF_NONE);
setSpeedReference(CANJNI.LM_REF_ENCODER);
configEncoderCodesPerRev(codesPerRev);
@@ -1428,7 +1437,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
* @param codesPerRev The counts per revolution on the encoder
*/
public void setVoltageMode(QuadEncoderTag tag, int codesPerRev) {
changeControlMode(ControlMode.Voltage);
changeControlMode(JaguarControlMode.Voltage);
setPositionReference(CANJNI.LM_REF_ENCODER);
setSpeedReference(CANJNI.LM_REF_QUAD_ENCODER);
configEncoderCodesPerRev(codesPerRev);
@@ -1441,7 +1450,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
* @param tag The constant {@link CANJaguar#kPotentiometer}
*/
public void setVoltageMode(PotentiometerTag tag) {
changeControlMode(ControlMode.Voltage);
changeControlMode(JaguarControlMode.Voltage);
setPositionReference(CANJNI.LM_REF_POT);
setSpeedReference(CANJNI.LM_REF_NONE);
configPotentiometerTurns(1);
@@ -1475,7 +1484,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
* @see CANJaguar#setVoltageMode(EncoderTag, int)
* @see CANJaguar#setVoltageMode(QuadEncoderTag, int)
*/
private void changeControlMode(ControlMode controlMode) {
private void changeControlMode(JaguarControlMode controlMode) {
// Disable the previous mode
disableControl();
@@ -1489,12 +1498,16 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
*
* Ask the Jagaur what mode it is in.
*
* @return ControlMode that the Jag is in.
* @return JaguarControlMode that the Jag is in.
*/
public ControlMode getControlMode() {
public JaguarControlMode getControlMode() {
return m_controlMode;
}
public void setControlMode(int mode) {
changeControlMode(JaguarControlMode.values()[mode]);
}
/**
* Get the voltage at the battery input terminals of the Jaguar.
*
@@ -1829,7 +1842,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
double m_value = 0.0f;
// Parameters/configuration
ControlMode m_controlMode;
JaguarControlMode m_controlMode;
int m_speedReference = CANJNI.LM_REF_NONE;
int m_positionReference = CANJNI.LM_REF_NONE;
double m_p = 0.0;
@@ -2268,10 +2281,6 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
/*
* Live Window code, only does anything if live window is activated.
*/
@Override
public String getSmartDashboardType() {
return "Speed Controller";
}
private ITable m_table = null;
private ITableListener m_table_listener = null;
@@ -2290,9 +2299,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
*/
@Override
public void updateTable() {
if (m_table != null) {
m_table.putNumber("Value", get());
}
CANSpeedController.super.updateTable();
}
/**
@@ -2309,13 +2316,8 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
@Override
public void startLiveWindowMode() {
set(0); // Stop for safety
m_table_listener = new ITableListener() {
@Override
public void valueChanged(ITable itable, String key, Object value, boolean bln) {
set(((Double) value).doubleValue());
}
};
m_table.addTableListener("Value", m_table_listener, true);
m_table_listener = createTableListener();
m_table.addTableListener(m_table_listener, true);
}
/**
@@ -2324,7 +2326,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
@Override
public void stopLiveWindowMode() {
set(0); // Stop for safety
// TODO: Broken, should only remove the listener from "Value" only.
// TODO: See if this is still broken
m_table.removeTableListener(m_table_listener);
}
}

136
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANSpeedController.java
View File

@@ -1,50 +1,48 @@
package edu.wpi.first.wpilibj;
public interface CANSpeedController extends SpeedController {
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.tables.ITable;
import edu.wpi.first.wpilibj.tables.ITableListener;
public interface CANSpeedController extends SpeedController, PIDInterface, LiveWindowSendable {
/**
* Mode determines how the motor is controlled, used internally.
* Mode determines how the motor is controlled, used internally. This is meant
* to be subclassed by enums
* (see {@link CANTalon.TalonControlMode CANTalon.TalonControlMode}).
*
*
* Note that the Jaguar does not support follower mode.
*/
public enum ControlMode {
PercentVbus((byte) 0), Current((byte) 1), Speed((byte) 2), Position((byte) 3), Voltage((byte) 4), Follower(
(byte) 5); // Not supported by Jaguar.
public byte value;
public static ControlMode valueOf(byte value) {
for (ControlMode mode : values()) {
if (mode.value == value) {
return mode;
}
}
return null;
}
private ControlMode(byte value) {
this.value = value;
}
public interface ControlMode {
/**
* Gets the name of this control mode. Since this interface should only be
* subclassed by enumerations, this will be overridden by the builtin
* name() method.
*/
public String name();
/**
* Checks if this control mode is PID-compatible.
*/
public boolean isPID();
/**
* Gets the integer value of this control mode.
*/
public int getValue();
}
/**
* Return the current setpoint.
* Gets the current control mode.
*
* @return the current setpoint, as passed to {@link #set}.
* @return the current control mode
*/
public double get();
public ControlMode getControlMode();
/**
* Set the output for whichever mode we are currently in.
* Sets the control mode of this speed controller.
*
* @param value the setpoint, in some units depending on the mode.
* @param mode the the new mode
*/
public void set(double value);
/**
* Disables to motor controller output.
*/
public void disable();
public void setControlMode(int mode);
/**
* Set the proportional PID constant.
@@ -61,6 +59,20 @@ public interface CANSpeedController extends SpeedController {
*/
public void setD(double d);
/**
* Set the feed-forward PID constant. This method is optional to implement.
*/
public default void setF(double f) {
}
/**
* Gets the feed-forward PID constant. This method is optional to implement.
* If a subclass does not implement this, it will always return zero.
*/
public default double getF() {
return 0.0;
}
/**
* Get the current input (battery) voltage.
*
@@ -115,4 +127,64 @@ public interface CANSpeedController extends SpeedController {
* @param rampRate the maximum rate of change of the votlage, in Volts / sec.
*/
public void setVoltageRampRate(double rampRate);
/**
* All CAN Speed Controllers have the same SmartDashboard type: "CANSpeedController".
*/
String SMART_DASHBOARD_TYPE = "CANSpeedController";
@Override
public default void updateTable() {
ITable table = getTable();
if(table != null) {
table.putString("~TYPE~", SMART_DASHBOARD_TYPE);
table.putString("Type", getClass().getSimpleName()); // "CANTalon", "CANJaguar"
table.putNumber("Mode", getControlMode().getValue());
if (getControlMode().isPID()) {
// CANJaguar throws an exception if you try to get its PID constants
// when it's not in a PID-compatible mode
table.putNumber("p", getP());
table.putNumber("i", getI());
table.putNumber("d", getD());
table.putNumber("f", getF());
}
table.putBoolean("Enabled", isEnabled());
table.putNumber("Value", get());
}
}
@Override
public default String getSmartDashboardType() {
return SMART_DASHBOARD_TYPE;
}
/**
* Creates an ITableListener for the LiveWindow table for this CAN speed
* controller.
*/
public default ITableListener createTableListener() {
return (table, key, value, isNew) -> {
switch(key) {
case "Enabled":
if ((Boolean) value) {
enable();
} else {
disable();
}
break;
case "Value": set((Double) value); break;
case "Mode": setControlMode(((Double) value).intValue()); break;
}
if(getControlMode().isPID()) {
switch(key) {
case "p": setP((Double) value); break;
case "i": setI((Double) value); break;
case "d": setD((Double) value); break;
case "f": setF((Double) value); break;
}
}
};
}
}

46
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
View File

@@ -6,22 +6,19 @@ import edu.wpi.first.wpilibj.communication.UsageReporting;
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
import edu.wpi.first.wpilibj.hal.SWIGTYPE_p_double;
import edu.wpi.first.wpilibj.hal.SWIGTYPE_p_int;
import edu.wpi.first.wpilibj.hal.SWIGTYPE_p_uint32_t;
import edu.wpi.first.wpilibj.hal.SWIGTYPE_p_CTR_Code;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.tables.ITable;
import edu.wpi.first.wpilibj.tables.ITableListener;
public class CANTalon implements MotorSafety, PIDOutput, PIDSource, PIDInterface,
CANSpeedController, LiveWindowSendable {
public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedController {
private MotorSafetyHelper m_safetyHelper;
private boolean isInverted = false;
protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
public enum TalonControlMode {
PercentVbus(0), Follower(5), Voltage(4), Position(1), Speed(2), Current(3), Disabled(15);
public enum TalonControlMode implements CANSpeedController.ControlMode {
PercentVbus(0), Position(1), Speed(2), Current(3), Voltage(4), Follower(5), Disabled(15);
public int value;
public final int value;
public static TalonControlMode valueOf(int value) {
for (TalonControlMode mode : values()) {
@@ -36,6 +33,16 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, PIDInterface
private TalonControlMode(int value) {
this.value = value;
}
@Override
public boolean isPID() {
return this == Current || this == Speed || this == Position;
}
@Override
public int getValue() {
return value;
}
}
public enum FeedbackDevice {
@@ -546,6 +553,12 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, PIDInterface
return m_controlMode;
}
public void setControlMode(int mode) {
TalonControlMode tcm = TalonControlMode.valueOf(mode);
if(tcm != null)
changeControlMode(tcm);
}
/**
* Fixup the m_controlMode so set() serializes the correct demand value. Also
* fills the modeSelecet in the control frame to disabled.
@@ -1132,10 +1145,6 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, PIDInterface
/*
* Live Window code, only does anything if live window is activated.
*/
@Override
public String getSmartDashboardType() {
return "Speed Controller";
}
private ITable m_table = null;
private ITableListener m_table_listener = null;
@@ -1154,9 +1163,7 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, PIDInterface
*/
@Override
public void updateTable() {
if (m_table != null) {
m_table.putNumber("Value", get());
}
CANSpeedController.super.updateTable();
}
/**
@@ -1173,13 +1180,8 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, PIDInterface
@Override
public void startLiveWindowMode() {
set(0); // Stop for safety
m_table_listener = new ITableListener() {
@Override
public void valueChanged(ITable itable, String key, Object value, boolean bln) {
set(((Double) value).doubleValue());
}
};
m_table.addTableListener("Value", m_table_listener, true);
m_table_listener = createTableListener();
m_table.addTableListener(m_table_listener, true);
}
/**
@@ -1188,7 +1190,7 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, PIDInterface
@Override
public void stopLiveWindowMode() {
set(0); // Stop for safety
// TODO: Broken, should only remove the listener from "Value" only.
// TODO: See if this is still broken
m_table.removeTableListener(m_table_listener);
}