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artf3913

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Increased wait delay to 4ms to cover worst case delays for solicted signal getters.
Specifically....
-Get firmware vers
-Get P,I,D,F gains
-Get IZone, Get CloseLoopRampRate
-Get IAccum (integral accumulator)

Change-Id: I313ea984832cce5182af8e5af5e775837fd54fdc
This commit is contained in:
Omar Zrien
2014-12-14 17:39:35 -05:00
committed by James Kuszmaul
parent 741618250b
commit 2434515d41
3 changed files with 27 additions and 16 deletions
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28
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
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@@ -21,7 +21,6 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
PercentVbus(0), Follower(5), Voltage(4), Position(1), Speed(2), Current(3), Disabled(15);
public int value;
public static ControlMode valueOf(int value) {
for(ControlMode mode : values()) {
if(mode.value == value) {
@@ -59,6 +58,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
private CanTalonSRX m_impl;
ControlMode m_controlMode;
private static double kDelayForSolicitedSignals = 0.004;
int m_deviceNumber;
boolean m_controlEnabled;
@@ -86,6 +86,16 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
setProfile(m_profile);
changeControlMode(ControlMode.PercentVbus);
}
public CANTalon(int deviceNumber,int controlPeriodMs) {
m_deviceNumber = deviceNumber;
m_impl = new CanTalonSRX(deviceNumber,controlPeriodMs); /* bound period to be within [1 ms,95 ms] */
m_safetyHelper = new MotorSafetyHelper(this);
m_controlEnabled = true;
m_profile = 0;
m_setPoint = 0;
setProfile(m_profile);
changeControlMode(ControlMode.PercentVbus);
}
@Override
public void pidWrite(double output)
@@ -375,7 +385,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_P);
// Briefly wait for new values from the Talon.
Timer.delay(0.001);
Timer.delay(kDelayForSolicitedSignals);
long pp = CanTalonJNI.new_doublep();
m_impl.GetPgain(m_profile, new SWIGTYPE_p_double(pp, true));
@@ -394,7 +404,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_I);
// Briefly wait for new values from the Talon.
Timer.delay(0.001);
Timer.delay(kDelayForSolicitedSignals);
long ip = CanTalonJNI.new_doublep();
m_impl.GetIgain(m_profile, new SWIGTYPE_p_double(ip, true));
@@ -413,7 +423,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_D);
// Briefly wait for new values from the Talon.
Timer.delay(0.001);
Timer.delay(kDelayForSolicitedSignals);
long dp = CanTalonJNI.new_doublep();
m_impl.GetDgain(m_profile, new SWIGTYPE_p_double(dp, true));
@@ -432,7 +442,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_F);
// Briefly wait for new values from the Talon.
Timer.delay(0.001);
Timer.delay(kDelayForSolicitedSignals);
long fp = CanTalonJNI.new_doublep();
m_impl.GetFgain(m_profile, new SWIGTYPE_p_double(fp, true));
@@ -451,7 +461,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_IZone);
// Briefly wait for new values from the Talon.
Timer.delay(0.001);
Timer.delay(kDelayForSolicitedSignals);
long fp = CanTalonJNI.new_intp();
m_impl.GetIzone(m_profile, new SWIGTYPE_p_int(fp, true));
@@ -478,7 +488,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_CloseLoopRampRate);
// Briefly wait for new values from the Talon.
Timer.delay(0.001);
Timer.delay(kDelayForSolicitedSignals);
long fp = CanTalonJNI.new_intp();
m_impl.GetCloseLoopRampRate(m_profile, new SWIGTYPE_p_int(fp, true));
@@ -494,7 +504,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
m_impl.RequestParam(CanTalonSRX.param_t.eFirmVers);
// Briefly wait for new values from the Talon.
Timer.delay(0.001);
Timer.delay(kDelayForSolicitedSignals);
long fp = CanTalonJNI.new_intp();
m_impl.GetParamResponseInt32(CanTalonSRX.param_t.eFirmVers, new SWIGTYPE_p_int(fp, true));
@@ -506,7 +516,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
m_impl.RequestParam(CanTalonSRX.param_t.ePidIaccum);
// Briefly wait for new values from the Talon.
Timer.delay(0.001);
Timer.delay(kDelayForSolicitedSignals);
long fp = CanTalonJNI.new_intp();
m_impl.GetParamResponseInt32(CanTalonSRX.param_t.ePidIaccum, new SWIGTYPE_p_int(fp, true));