From 2bb0a32c155aac8f0f304ff9e799c99f1c5ada6c Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Thu, 4 Dec 2014 10:22:01 -0500 Subject: [PATCH] Change Periodic Status rate to 20ms. Jaguar firmware v109 fixes issue with periodic status sending. Change-Id: I9d5e1f8dce5f63ea97fc3d14de518980d299b5eb --- wpilibc/wpilibC++Devices/src/CANJaguar.cpp | 2 +- .../src/main/java/edu/wpi/first/wpilibj/CANJaguar.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/wpilibc/wpilibC++Devices/src/CANJaguar.cpp b/wpilibc/wpilibC++Devices/src/CANJaguar.cpp index a65065a7c7..e39f2bbad5 100644 --- a/wpilibc/wpilibC++Devices/src/CANJaguar.cpp +++ b/wpilibc/wpilibC++Devices/src/CANJaguar.cpp @@ -566,7 +566,7 @@ void CANJaguar::setupPeriodicStatus() { LM_PSTAT_END }; - dataSize = packint16_t(data, kSendMessagePeriod / 10); + dataSize = packint16_t(data, kSendMessagePeriod); sendMessage(LM_API_PSTAT_PER_EN_S0, data, dataSize); sendMessage(LM_API_PSTAT_PER_EN_S1, data, dataSize); sendMessage(LM_API_PSTAT_PER_EN_S2, data, dataSize); 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 5fd73add47..6d1213d6d1 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 @@ -1928,7 +1928,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW (byte)0, }; - dataSize = packINT16(data, (short)(kSendMessagePeriod / 10)); + dataSize = packINT16(data, (short)(kSendMessagePeriod)); sendMessage(CANJNI.LM_API_PSTAT_PER_EN_S0, data, dataSize); sendMessage(CANJNI.LM_API_PSTAT_PER_EN_S1, data, dataSize); sendMessage(CANJNI.LM_API_PSTAT_PER_EN_S2, data, dataSize);