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Added support for CAN Talon SRX in C++ and Java.

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Currently, the JNI bindings are generated by Swig and, unfortunately,
  the interface available through Java is lower-level than that for C++
  (ie, direct access to the ctre code through the JNI bindings, rather
   than an interface on top of that), but it does work.
See eclipse plugins for some short samples.
There are a couple of short unit tests as placeholders.
Still needs some cleaning up.

Change-Id: Iae2f74693ca6b80bf7d5aca0625c66aa6e0b7f85

Added quick samples for C++/Java CAN Talon stuff.

Change-Id: I3acb27d6fd5568d88931e0d678c09973d436735d
This commit is contained in:
James Kuszmaul
2014-11-17 16:02:41 -05:00
parent f590cda8f9
commit 28a41e4ac2
36 changed files with 3883 additions and 538 deletions
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48
wpilibc/wpilibC++Devices/src/CANJaguar.cpp
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@@ -342,8 +342,9 @@ void CANJaguar::Set(float outputValue, uint8_t syncGroup)
dataSize = packFXP8_8(dataBuffer, outputValue);
}
break;
default:
return;
default:
wpi_setWPIErrorWithContext(IncompatibleMode, "The Jaguar only supports Current, Voltage, Position, Speed, and Percent (Throttle) modes.");
return;
}
if (syncGroup != 0)
{
@@ -1144,6 +1145,7 @@ void CANJaguar::SetP(double p)
{
case kPercentVbus:
case kVoltage:
case kFollower:
wpi_setWPIErrorWithContext(IncompatibleMode, "PID constants only apply in Speed, Position, and Current mode");
break;
case kSpeed:
@@ -1178,6 +1180,7 @@ void CANJaguar::SetI(double i)
{
case kPercentVbus:
case kVoltage:
case kFollower:
wpi_setWPIErrorWithContext(IncompatibleMode, "PID constants only apply in Speed, Position, and Current mode");
break;
case kSpeed:
@@ -1212,6 +1215,7 @@ void CANJaguar::SetD(double d)
{
case kPercentVbus:
case kVoltage:
case kFollower:
wpi_setWPIErrorWithContext(IncompatibleMode, "PID constants only apply in Speed, Position, and Current mode");
break;
case kSpeed:
@@ -1313,6 +1317,9 @@ void CANJaguar::EnableControl(double encoderInitialPosition)
case kVoltage:
sendMessage(LM_API_VCOMP_T_EN, dataBuffer, dataSize);
break;
default:
wpi_setWPIErrorWithContext(IncompatibleMode, "The Jaguar only supports Current, Voltage, Position, Speed, and Percent (Throttle) modes.");
return;
}
m_controlEnabled = true;
@@ -1353,7 +1360,7 @@ void CANJaguar::DisableControl()
*/
void CANJaguar::SetPercentMode()
{
ChangeControlMode(kPercentVbus);
SetControlMode(kPercentVbus);
SetPositionReference(LM_REF_NONE);
SetSpeedReference(LM_REF_NONE);
}
@@ -1368,7 +1375,7 @@ void CANJaguar::SetPercentMode()
*/
void CANJaguar::SetPercentMode(CANJaguar::EncoderStruct, uint16_t codesPerRev)
{
ChangeControlMode(kPercentVbus);
SetControlMode(kPercentVbus);
SetPositionReference(LM_REF_NONE);
SetSpeedReference(LM_REF_ENCODER);
ConfigEncoderCodesPerRev(codesPerRev);
@@ -1384,7 +1391,7 @@ void CANJaguar::SetPercentMode(CANJaguar::EncoderStruct, uint16_t codesPerRev)
*/
void CANJaguar::SetPercentMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev)
{
ChangeControlMode(kPercentVbus);
SetControlMode(kPercentVbus);
SetPositionReference(LM_REF_ENCODER);
SetSpeedReference(LM_REF_QUAD_ENCODER);
ConfigEncoderCodesPerRev(codesPerRev);
@@ -1399,7 +1406,7 @@ void CANJaguar::SetPercentMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRe
*/
void CANJaguar::SetPercentMode(CANJaguar::PotentiometerStruct)
{
ChangeControlMode(kPercentVbus);
SetControlMode(kPercentVbus);
SetPositionReference(LM_REF_POT);
SetSpeedReference(LM_REF_NONE);
ConfigPotentiometerTurns(1);
@@ -1415,7 +1422,7 @@ void CANJaguar::SetPercentMode(CANJaguar::PotentiometerStruct)
*/
void CANJaguar::SetCurrentMode(double p, double i, double d)
{
ChangeControlMode(kCurrent);
SetControlMode(kCurrent);
SetPositionReference(LM_REF_NONE);
SetSpeedReference(LM_REF_NONE);
SetPID(p, i, d);
@@ -1433,7 +1440,7 @@ void CANJaguar::SetCurrentMode(double p, double i, double d)
*/
void CANJaguar::SetCurrentMode(CANJaguar::EncoderStruct, uint16_t codesPerRev, double p, double i, double d)
{
ChangeControlMode(kCurrent);
SetControlMode(kCurrent);
SetPositionReference(LM_REF_NONE);
SetSpeedReference(LM_REF_NONE);
ConfigEncoderCodesPerRev(codesPerRev);
@@ -1452,7 +1459,7 @@ void CANJaguar::SetCurrentMode(CANJaguar::EncoderStruct, uint16_t codesPerRev, d
*/
void CANJaguar::SetCurrentMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev, double p, double i, double d)
{
ChangeControlMode(kCurrent);
SetControlMode(kCurrent);
SetPositionReference(LM_REF_ENCODER);
SetSpeedReference(LM_REF_QUAD_ENCODER);
ConfigEncoderCodesPerRev(codesPerRev);
@@ -1471,7 +1478,7 @@ void CANJaguar::SetCurrentMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRe
*/
void CANJaguar::SetCurrentMode(CANJaguar::PotentiometerStruct, double p, double i, double d)
{
ChangeControlMode(kCurrent);
SetControlMode(kCurrent);
SetPositionReference(LM_REF_POT);
SetSpeedReference(LM_REF_NONE);
ConfigPotentiometerTurns(1);
@@ -1491,7 +1498,7 @@ void CANJaguar::SetCurrentMode(CANJaguar::PotentiometerStruct, double p, double
*/
void CANJaguar::SetSpeedMode(CANJaguar::EncoderStruct, uint16_t codesPerRev, double p, double i, double d)
{
ChangeControlMode(kSpeed);
SetControlMode(kSpeed);
SetPositionReference(LM_REF_NONE);
SetSpeedReference(LM_REF_ENCODER);
ConfigEncoderCodesPerRev(codesPerRev);
@@ -1510,7 +1517,7 @@ void CANJaguar::SetSpeedMode(CANJaguar::EncoderStruct, uint16_t codesPerRev, dou
*/
void CANJaguar::SetSpeedMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev, double p, double i, double d)
{
ChangeControlMode(kSpeed);
SetControlMode(kSpeed);
SetPositionReference(LM_REF_ENCODER);
SetSpeedReference(LM_REF_QUAD_ENCODER);
ConfigEncoderCodesPerRev(codesPerRev);
@@ -1530,7 +1537,7 @@ void CANJaguar::SetSpeedMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev,
*/
void CANJaguar::SetPositionMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev, double p, double i, double d)
{
ChangeControlMode(kPosition);
SetControlMode(kPosition);
SetPositionReference(LM_REF_ENCODER);
ConfigEncoderCodesPerRev(codesPerRev);
SetPID(p, i, d);
@@ -1545,7 +1552,7 @@ void CANJaguar::SetPositionMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerR
*/
void CANJaguar::SetPositionMode(CANJaguar::PotentiometerStruct, double p, double i, double d)
{
ChangeControlMode(kPosition);
SetControlMode(kPosition);
SetPositionReference(LM_REF_POT);
ConfigPotentiometerTurns(1);
SetPID(p, i, d);
@@ -1557,7 +1564,7 @@ void CANJaguar::SetPositionMode(CANJaguar::PotentiometerStruct, double p, double
*/
void CANJaguar::SetVoltageMode()
{
ChangeControlMode(kVoltage);
SetControlMode(kVoltage);
SetPositionReference(LM_REF_NONE);
SetSpeedReference(LM_REF_NONE);
}
@@ -1572,7 +1579,7 @@ void CANJaguar::SetVoltageMode()
*/
void CANJaguar::SetVoltageMode(CANJaguar::EncoderStruct, uint16_t codesPerRev)
{
ChangeControlMode(kVoltage);
SetControlMode(kVoltage);
SetPositionReference(LM_REF_NONE);
SetSpeedReference(LM_REF_ENCODER);
ConfigEncoderCodesPerRev(codesPerRev);
@@ -1588,7 +1595,7 @@ void CANJaguar::SetVoltageMode(CANJaguar::EncoderStruct, uint16_t codesPerRev)
*/
void CANJaguar::SetVoltageMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev)
{
ChangeControlMode(kVoltage);
SetControlMode(kVoltage);
SetPositionReference(LM_REF_ENCODER);
SetSpeedReference(LM_REF_QUAD_ENCODER);
ConfigEncoderCodesPerRev(codesPerRev);
@@ -1603,7 +1610,7 @@ void CANJaguar::SetVoltageMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRe
*/
void CANJaguar::SetVoltageMode(CANJaguar::PotentiometerStruct)
{
ChangeControlMode(kVoltage);
SetControlMode(kVoltage);
SetPositionReference(LM_REF_POT);
SetSpeedReference(LM_REF_NONE);
ConfigPotentiometerTurns(1);
@@ -1618,11 +1625,14 @@ void CANJaguar::SetVoltageMode(CANJaguar::PotentiometerStruct)
*
* @param controlMode The new mode.
*/
void CANJaguar::ChangeControlMode(ControlMode controlMode)
void CANJaguar::SetControlMode(ControlMode controlMode)
{
// Disable the previous mode
DisableControl();
if (controlMode == kFollower)
wpi_setWPIErrorWithContext(IncompatibleMode, "The Jaguar only supports Current, Voltage, Position, Speed, and Percent (Throttle) modes.");
// Update the local mode
m_controlMode = controlMode;
m_controlModeVerified = false;