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Added Get/clear routine for IntegralAccumulator
Added missing status check in GetFirmwareVersion().  I don't expect this to affect anything.

JAVA
Renamed getRampRate to getCloseLoopRampRate in java to match the set routines in java, and match all routines in cpp.
Added GetFirmwareVersion to java to match cpp.
Added Get/clear routine for IntegralAccumulator
Retested all three routines in java.

Change-Id: I4ce9d9c87a379b9d4a76aae226e2072876218688
This commit is contained in:
Omar Zrien
2014-12-06 21:59:44 -05:00
committed by James Kuszmaul
parent e3ac0b628c
commit 19a7243bfc
9 changed files with 102 additions and 4 deletions
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34
wpilibc/wpilibC++Devices/src/CANTalon.cpp
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@@ -815,9 +815,12 @@ void CANTalon::SetCloseLoopRampRate(double rampRate)
uint32_t CANTalon::GetFirmwareVersion()
{
int firmwareVersion;
m_impl->RequestParam(CanTalonSRX::eFirmVers);
CTR_Code status = m_impl->RequestParam(CanTalonSRX::eFirmVers);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
usleep(1000);
CTR_Code status = m_impl->GetParamResponseInt32(CanTalonSRX::eFirmVers,firmwareVersion);
status = m_impl->GetParamResponseInt32(CanTalonSRX::eFirmVers,firmwareVersion);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
@@ -830,6 +833,33 @@ uint32_t CANTalon::GetFirmwareVersion()
return firmwareVersion;
}
/**
* @return The accumulator for I gain.
*/
int CANTalon::GetIaccum()
{
CTR_Code status = m_impl->RequestParam(CanTalonSRX::ePidIaccum);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
usleep(1000); /* small yield for getting response */
int iaccum;
status = m_impl->GetParamResponseInt32(CanTalonSRX::ePidIaccum,iaccum);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
return iaccum;
}
/**
* Clear the accumulator for I gain.
*/
void CANTalon::ClearIaccum()
{
CTR_Code status = m_impl->SetParam(CanTalonSRX::ePidIaccum, 0);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
* TODO documentation (see CANJaguar.cpp)