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https://github.com/wpilibsuite/allwpilib
synced 2026-06-30 02:31:44 +00:00
Added support for CAN Talon SRX in C++ and Java.
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
516
wpilibc/wpilibC++Devices/src/CANTalon.cpp
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516
wpilibc/wpilibC++Devices/src/CANTalon.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include "CANTalon.h"
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#include "WPIErrors.h"
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#include "ctre/CanTalonSRX.h"
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/**
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* The CANTalon object is currently incomplete. As of Nov 14 2014, we only know
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* for sure that sending a throttle and checking basic values (eg current,
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* temperature) work.
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*/
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/**
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* Constructor for the CANTalon device.
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* @param deviceNumber The CAN ID of the Talon SRX
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*/
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CANTalon::CANTalon(int deviceNumber)
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: m_deviceNumber(deviceNumber)
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, m_impl(new CanTalonSRX(deviceNumber))
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, m_safetyHelper(new MotorSafetyHelper(this))
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, m_controlEnabled(false)
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{
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// The control mode may already have been set.
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CTR_Code status = m_impl->SetModeSelect((int)m_controlMode);
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if(status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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}
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CANTalon::~CANTalon() {
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delete m_impl;
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delete m_safetyHelper;
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}
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/**
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* Write out the PID value as seen in the PIDOutput base object.
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*
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* @deprecated Call Set instead.
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*
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* @param output Write out the PercentVbus value as was computed by the PIDController
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*/
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void CANTalon::PIDWrite(float output)
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{
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if (GetControlMode() == kPercentVbus)
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{
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Set(output);
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}
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else
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{
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wpi_setWPIErrorWithContext(IncompatibleMode, "PID only supported in PercentVbus mode");
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}
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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float CANTalon::Get()
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{
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return 0.0f;
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}
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/**
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* Sets the output set-point value.
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*/
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void CANTalon::Set(float value, uint8_t syncGroup)
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{
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if(m_controlEnabled) {
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CTR_Code status;
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switch(GetControlMode()) {
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case kThrottle:
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{
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m_impl->Set(value);
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status = CTR_OKAY;
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}
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break;
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case kFollowerMode:
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{
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status = m_impl->SetDemand24((int)value);
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}
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break;
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case kVoltageMode:
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{
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// Voltage is an 8.8 fixed point number.
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int volts = int(value * 256);
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status = m_impl->SetDemand24(volts);
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}
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default:
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// TODO: Add support for other modes. Need to figure out what format
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// SetDemand24 needs.
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break;
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}
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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}
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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void CANTalon::Disable()
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{
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// Until Modes other than throttle work, just disable by setting throttle to 0.0.
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m_impl->Set(0.0); // TODO when firmware is updated, remove this.
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//m_impl->SetModeSelect(kDisabled); // TODO when firmware is updated, uncomment this.
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m_controlEnabled = false;
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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void CANTalon::EnableControl() {
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SetControlMode(m_controlMode);
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m_controlEnabled = true;
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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void CANTalon::SetP(double p)
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{
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// TODO
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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void CANTalon::SetI(double i)
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{
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// TODO
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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void CANTalon::SetD(double d)
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{
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// TODO
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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void CANTalon::SetPID(double p, double i, double d)
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{
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SetP(p);
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SetI(i);
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SetD(d);
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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double CANTalon::GetP()
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{
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// TODO
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return 0.0;
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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double CANTalon::GetI()
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{
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// TODO
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return 0.0;
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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double CANTalon::GetD()
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{
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// TODO
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return 0.0;
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}
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/**
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* Returns the voltage coming in from the battery.
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*
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* @return The input voltage in vols.
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*/
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float CANTalon::GetBusVoltage()
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{
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double voltage;
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CTR_Code status = m_impl->GetBatteryV(voltage);
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if(status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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return voltage;
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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float CANTalon::GetOutputVoltage()
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{
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int throttle11;
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CTR_Code status = m_impl->GetAppliedThrottle11(throttle11);
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float voltage = GetBusVoltage() * float(throttle11) / 1023.0;
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if(status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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return voltage;
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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float CANTalon::GetOutputCurrent()
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{
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double current;
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CTR_Code status = m_impl->GetCurrent(current);
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if(status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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return current;
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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float CANTalon::GetTemperature()
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{
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double temp;
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CTR_Code status = m_impl->GetTemp(temp);
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if(temp != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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return temp;
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*
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* @return The position of the sensor currently providing feedback.
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*/
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double CANTalon::GetPosition()
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{
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int postition;
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// TODO convert from int to appropriate units (or at least document it).
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CTR_Code status = m_impl->GetSensorPosition(postition);
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if(status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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return (double)postition;
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*
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* @returns The speed of the sensor currently providing feedback.
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*/
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double CANTalon::GetSpeed()
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{
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int speed;
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// TODO convert from int to appropriate units (or at least document it).
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CTR_Code status = m_impl->GetSensorVelocity(speed);
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if(status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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return (double)speed;
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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bool CANTalon::GetForwardLimitOK()
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{
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// TODO
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return false;
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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bool CANTalon::GetReverseLimitOK()
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{
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// TODO
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return false;
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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uint16_t CANTalon::GetFaults()
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{
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// TODO
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return 0;
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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void CANTalon::SetVoltageRampRate(double rampRate)
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{
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// TODO
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}
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/**
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* @return The version of the firmware running on the Talon
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*/
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uint32_t CANTalon::GetFirmwareVersion()
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{
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int firmwareVersion;
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CTR_Code status = m_impl->GetFirmVers(firmwareVersion);
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if(status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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return firmwareVersion;
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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void CANTalon::ConfigNeutralMode(NeutralMode mode)
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{
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// TODO
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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void CANTalon::ConfigEncoderCodesPerRev(uint16_t codesPerRev)
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{
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// TODO
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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void CANTalon::ConfigPotentiometerTurns(uint16_t turns)
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{
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// TODO
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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void CANTalon::ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition)
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{
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// TODO
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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void CANTalon::DisableSoftPositionLimits()
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{
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// TODO
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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void CANTalon::ConfigLimitMode(LimitMode mode)
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{
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// TODO
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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void CANTalon::ConfigForwardLimit(double forwardLimitPosition)
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{
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// TODO
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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void CANTalon::ConfigReverseLimit(double reverseLimitPosition)
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{
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// TODO
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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* Does this exist on the Talon?
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*/
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void CANTalon::ConfigMaxOutputVoltage(double voltage)
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{
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// TODO
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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* Does this exist on the Talon?
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*/
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void CANTalon::ConfigFaultTime(float faultTime)
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{
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// TODO
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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void CANTalon::SetControlMode(CANSpeedController::ControlMode mode)
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{
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m_controlMode = mode;
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TalonControlMode sendMode;
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switch (mode) {
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case kPercentVbus:
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sendMode = kThrottle;
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break;
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case kCurrent:
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sendMode = kCurrentMode;
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break;
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case kSpeed:
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sendMode = kSpeedMode;
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break;
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case kPosition:
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sendMode = kPositionMode;
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break;
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case kVoltage:
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sendMode = kVoltageMode;
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break;
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case kFollower:
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sendMode = kFollowerMode;
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break;
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}
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CTR_Code status = m_impl->SetModeSelect((int)sendMode);
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if(status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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}
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/**
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* TODO documentation (see CANJaguar.cpp)
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*/
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CANSpeedController::ControlMode CANTalon::GetControlMode()
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{
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// Take the opportunity to check that the control mode is what we think it is.
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int temp;
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CTR_Code status = m_impl->GetModeSelect(temp);
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if(status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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switch ((TalonControlMode)temp) {
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case kThrottle:
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m_controlMode = kPercentVbus;
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break;
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case kCurrentMode:
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m_controlMode = kCurrent;
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break;
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case kSpeedMode:
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m_controlMode = kSpeed;
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break;
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case kPositionMode:
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m_controlMode = kPosition;
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break;
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case kVoltageMode:
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m_controlMode = kVoltage;
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break;
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case kFollowerMode:
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m_controlMode = kFollower;
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break;
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case kDisabled:
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m_controlEnabled = false;
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break;
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}
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return m_controlMode;
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}
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void CANTalon::SetExpiration(float timeout)
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{
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m_safetyHelper->SetExpiration(timeout);
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}
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float CANTalon::GetExpiration()
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{
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return m_safetyHelper->GetExpiration();
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}
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bool CANTalon::IsAlive()
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{
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return m_safetyHelper->IsAlive();
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}
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bool CANTalon::IsSafetyEnabled()
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{
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return m_safetyHelper->IsSafetyEnabled();
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}
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void CANTalon::SetSafetyEnabled(bool enabled)
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{
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m_safetyHelper->SetSafetyEnabled(enabled);
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}
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void CANTalon::GetDescription(char *desc)
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{
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sprintf(desc, "CANTalon ID %d", m_deviceNumber);
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}
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/**
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* Common interface for stopping the motor
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* Part of the MotorSafety interface
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*
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* @deprecated Call Disable instead.
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*/
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void CANTalon::StopMotor()
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{
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Disable();
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}
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