From 261b1857cd4eba1dbaa2060ceaac311d1f5ae4ac Mon Sep 17 00:00:00 2001 From: Joe Ross Date: Tue, 21 Oct 2014 19:54:42 -0700 Subject: [PATCH] make getControlMode public. Was public in 2014. Change-Id: I158f41e66407d47c50e3d632661a040c8cd68d14 --- wpilibc/wpilibC++Devices/include/CANJaguar.h | 4 ++-- .../src/main/java/edu/wpi/first/wpilibj/CANJaguar.java | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/wpilibc/wpilibC++Devices/include/CANJaguar.h b/wpilibc/wpilibC++Devices/include/CANJaguar.h index 53a64af984..289977d614 100644 --- a/wpilibc/wpilibC++Devices/include/CANJaguar.h +++ b/wpilibc/wpilibC++Devices/include/CANJaguar.h @@ -41,6 +41,7 @@ public: /** Sets a potentiometer as the position reference only.
Passed as the "tag" when setting the control mode. */ static const struct PotentiometerStruct {} Potentiometer; + typedef enum {kPercentVbus, kCurrent, kSpeed, kPosition, kVoltage} ControlMode; typedef enum {kCurrentFault = 1, kTemperatureFault = 2, kBusVoltageFault = 4, kGateDriverFault = 8} Faults; typedef enum {kForwardLimit = 1, kReverseLimit = 2} Limits; typedef enum { @@ -133,6 +134,7 @@ public: void ConfigReverseLimit(double reverseLimitPosition); void ConfigMaxOutputVoltage(double voltage); void ConfigFaultTime(float faultTime); + ControlMode GetControlMode(); static void UpdateSyncGroup(uint8_t syncGroup); @@ -147,10 +149,8 @@ public: protected: // Control mode helpers - typedef enum {kPercentVbus, kCurrent, kSpeed, kPosition, kVoltage} ControlMode; void ChangeControlMode(ControlMode controlMode); - ControlMode GetControlMode(); void SetSpeedReference(uint8_t reference); uint8_t GetSpeedReference(); diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java index c4e4ed6e84..5fd73add47 100644 --- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java +++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java @@ -54,7 +54,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW /** * Mode determines how the Jaguar is controlled, used internally. */ - private enum ControlMode { + public enum ControlMode { PercentVbus, Current, Speed, Position, Voltage; } @@ -1377,7 +1377,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW * * @return ControlMode that the Jag is in. */ - private ControlMode getControlMode() { + public ControlMode getControlMode() { return m_controlMode; }