mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
Moves Encoders to Handles and Moves WPILib Encoders to HAL (#124)
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
b45e0917ae
commit
36ac37db8c
@@ -29,13 +29,13 @@ extern "C" {
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: initializeEncoder
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* Signature: (BIZBIZZLjava/nio/IntBuffer;)J
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* Signature: (BIZBIZZI)I
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*/
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JNIEXPORT jlong JNICALL
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder(
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JNIEnv* env, jclass, jbyte port_a_module, jint port_a_pin,
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jboolean port_a_analog_trigger, jbyte port_b_module, jint port_b_pin,
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jboolean port_b_analog_trigger, jboolean reverseDirection, jobject index) {
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jboolean port_b_analog_trigger, jboolean reverseDirection, jint encodingType) {
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI initializeEncoder";
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ENCODERJNI_LOG(logDEBUG) << "Module A = " << (jint)port_a_module;
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ENCODERJNI_LOG(logDEBUG) << "Pin A = " << port_a_pin;
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@@ -46,46 +46,30 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder(
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ENCODERJNI_LOG(logDEBUG) << "Analog Trigger B = "
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<< (jint)port_b_analog_trigger;
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ENCODERJNI_LOG(logDEBUG) << "Reverse direction = " << (jint)reverseDirection;
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jint* indexPtr = (jint*)env->GetDirectBufferAddress(index);
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ENCODERJNI_LOG(logDEBUG) << "Index Ptr = " << indexPtr;
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ENCODERJNI_LOG(logDEBUG) << "EncodingType = " << encodingType;
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int32_t status = 0;
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void* encoder = initializeEncoder(
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auto encoder = initializeEncoder(
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port_a_module, port_a_pin, port_a_analog_trigger, port_b_module,
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port_b_pin, port_b_analog_trigger, reverseDirection, indexPtr, &status);
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ENCODERJNI_LOG(logDEBUG) << "Index = " << *indexPtr;
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port_b_pin, port_b_analog_trigger, reverseDirection,
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(EncoderEncodingType)encodingType, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "ENCODER Ptr = " << encoder;
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ENCODERJNI_LOG(logDEBUG) << "ENCODER Handle = " << encoder;
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CheckStatus(env, status);
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return (jlong)encoder;
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return (jint)encoder;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: freeEncoder
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* Signature: (J)V
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_freeEncoder(
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JNIEnv* env, jclass, jlong id) {
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JNIEnv* env, jclass, jint id) {
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI freeEncoder";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
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int32_t status = 0;
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freeEncoder((void*)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: resetEncoder
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_resetEncoder(
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JNIEnv* env, jclass, jlong id) {
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI resetEncoder";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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resetEncoder((void*)id, &status);
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freeEncoder((HalEncoderHandle)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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@@ -93,34 +77,83 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_resetEncoder(
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: getEncoder
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* Signature: (J)I
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* Signature: (I)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoder(
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JNIEnv* env, jclass, jlong id) {
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JNIEnv* env, jclass, jint id) {
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoder";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
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int32_t status = 0;
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jint returnValue = getEncoder((void*)id, &status);
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jint returnValue = getEncoder((HalEncoderHandle)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "getEncoderResult = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: getEncoderRaw
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* Signature: (I)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderRaw(
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JNIEnv* env, jclass, jint id) {
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderRaw";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
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int32_t status = 0;
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jint returnValue = getEncoderRaw((HalEncoderHandle)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "getRawEncoderResult = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: getEncodingScaleFactor
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* Signature: (I)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncodingScaleFactor(
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JNIEnv* env, jclass, jint id) {
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncodingScaleFactor";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
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int32_t status = 0;
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jint returnValue = getEncoderEncodingScale((HalEncoderHandle)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "getEncodingScaleFactorResult = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: resetEncoder
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_resetEncoder(
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JNIEnv* env, jclass, jint id) {
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI resetEncoder";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
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int32_t status = 0;
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resetEncoder((HalEncoderHandle)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: getEncoderPeriod
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* Signature: (J)D
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* Signature: (I)D
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*/
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JNIEXPORT jdouble JNICALL
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Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderPeriod(
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JNIEnv* env, jclass, jlong id) {
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JNIEnv* env, jclass, jint id) {
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderPeriod";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
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int32_t status = 0;
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double returnValue = getEncoderPeriod((void*)id, &status);
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double returnValue = getEncoderPeriod((HalEncoderHandle)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "getEncoderPeriodResult = " << returnValue;
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ENCODERJNI_LOG(logDEBUG) << "getEncoderPeriodEncoderResult = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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@@ -128,15 +161,15 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderPeriod(
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: setEncoderMaxPeriod
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* Signature: (JD)V
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* Signature: (ID)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderMaxPeriod(
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JNIEnv* env, jclass, jlong id, jdouble value) {
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JNIEnv* env, jclass, jint id, jdouble value) {
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderMaxPeriod";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
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int32_t status = 0;
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setEncoderMaxPeriod((void*)id, value, &status);
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setEncoderMaxPeriod((HalEncoderHandle)id, value, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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@@ -144,17 +177,17 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderMaxPeriod(
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: getEncoderStopped
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* Signature: (J)Z
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* Signature: (I)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderStopped(
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JNIEnv* env, jclass, jlong id) {
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JNIEnv* env, jclass, jint id) {
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderStopped";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
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int32_t status = 0;
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jboolean returnValue = getEncoderStopped((void*)id, &status);
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jboolean returnValue = getEncoderStopped((HalEncoderHandle)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "getEncoderStoppedResult = " << returnValue;
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ENCODERJNI_LOG(logDEBUG) << "getStoppedEncoderResult = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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@@ -162,33 +195,101 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderStopped(
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: getEncoderDirection
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* Signature: (J)Z
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* Signature: (I)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDirection(
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JNIEnv* env, jclass, jlong id) {
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JNIEnv* env, jclass, jint id) {
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderDirection";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
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int32_t status = 0;
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jboolean returnValue = getEncoderDirection((void*)id, &status);
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jboolean returnValue = getEncoderDirection((HalEncoderHandle)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "getEncoderDirectionResult = " << returnValue;
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ENCODERJNI_LOG(logDEBUG) << "getDirectionEncoderResult = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: getEncoderDistance
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* Signature: (I)D
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*/
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JNIEXPORT jdouble JNICALL
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Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDistance(
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JNIEnv* env, jclass, jint id) {
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderDistance";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
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int32_t status = 0;
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jdouble returnValue = getEncoderDistance((HalEncoderHandle)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "getDistanceEncoderResult = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: getEncoderRate
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* Signature: (I)D
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*/
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JNIEXPORT jdouble JNICALL
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Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderRate(
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JNIEnv* env, jclass, jint id) {
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderRate";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
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int32_t status = 0;
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jdouble returnValue = getEncoderRate((HalEncoderHandle)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "getRateEncoderResult = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: setEncoderMinRate
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* Signature: (ID)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderMinRate(
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JNIEnv* env, jclass, jint id, jdouble value) {
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderMinRate";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
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int32_t status = 0;
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setEncoderMinRate((HalEncoderHandle)id, value, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: setEncoderDistancePerPulse
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* Signature: (ID)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderDistancePerPulse(
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JNIEnv* env, jclass, jint id, jdouble value) {
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderDistancePerPulse";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
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int32_t status = 0;
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setEncoderDistancePerPulse((HalEncoderHandle)id, value, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: setEncoderReverseDirection
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* Signature: (JZ)V
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* Signature: (IZ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderReverseDirection(
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JNIEnv* env, jclass, jlong id, jboolean value) {
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JNIEnv* env, jclass, jint id, jboolean value) {
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderReverseDirection";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
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int32_t status = 0;
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setEncoderReverseDirection((void*)id, value, &status);
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setEncoderReverseDirection((HalEncoderHandle)id, value, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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@@ -196,15 +297,15 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderReverseDirection(
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: setEncoderSamplesToAverage
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* Signature: (JI)V
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderSamplesToAverage(
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JNIEnv* env, jclass, jlong id, jint value) {
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JNIEnv* env, jclass, jint id, jint value) {
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderSamplesToAverage";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
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int32_t status = 0;
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setEncoderSamplesToAverage((void*)id, value, &status);
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setEncoderSamplesToAverage((HalEncoderHandle)id, value, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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if (status == PARAMETER_OUT_OF_RANGE) {
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ThrowBoundaryException(env, value, 1, 127);
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@@ -216,15 +317,15 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderSamplesToAverage(
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: getEncoderSamplesToAverage
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* Signature: (J)I
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* Signature: (I)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderSamplesToAverage(
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JNIEnv* env, jclass, jlong id) {
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JNIEnv* env, jclass, jint id) {
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
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int32_t status = 0;
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jint returnValue = getEncoderSamplesToAverage((void*)id, &status);
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jint returnValue = getEncoderSamplesToAverage((HalEncoderHandle)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
|
||||
ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
|
||||
<< returnValue;
|
||||
@@ -235,26 +336,118 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderSamplesToAverage(
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
|
||||
* Method: setEncoderIndexSource
|
||||
* Signature: (JIZZZ)V
|
||||
* Signature: (IIZI)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderIndexSource(
|
||||
JNIEnv* env, jclass, jlong id, jint pin, jboolean analogTrigger,
|
||||
jboolean activeHigh, jboolean edgeSensitive) {
|
||||
JNIEnv* env, jclass, jint id, jint pin, jboolean analogTrigger,
|
||||
jint type) {
|
||||
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderIndexSource";
|
||||
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
|
||||
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
|
||||
ENCODERJNI_LOG(logDEBUG) << "Pin = " << pin;
|
||||
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger = "
|
||||
<< (analogTrigger ? "true" : "false");
|
||||
ENCODERJNI_LOG(logDEBUG) << "Active High = "
|
||||
<< (activeHigh ? "true" : "false");
|
||||
ENCODERJNI_LOG(logDEBUG) << "Edge Sensitive = "
|
||||
<< (edgeSensitive ? "true" : "false");
|
||||
ENCODERJNI_LOG(logDEBUG) << "IndexingType = " << type;
|
||||
int32_t status = 0;
|
||||
setEncoderIndexSource((void*)id, pin, analogTrigger, activeHigh,
|
||||
edgeSensitive, &status);
|
||||
setEncoderIndexSource((HalEncoderHandle)id, pin, analogTrigger,
|
||||
(EncoderIndexingType)type, &status);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
|
||||
CheckStatus(env, status);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
|
||||
* Method: getEncoderFPGAIndex
|
||||
* Signature: (I)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL
|
||||
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderFPGAIndex(
|
||||
JNIEnv* env, jclass, jint id) {
|
||||
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
|
||||
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
|
||||
int32_t status = 0;
|
||||
jint returnValue = getEncoderFPGAIndex((HalEncoderHandle)id, &status);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
|
||||
ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
|
||||
<< returnValue;
|
||||
CheckStatus(env, status);
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
|
||||
* Method: getEncoderEncodingScale
|
||||
* Signature: (I)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL
|
||||
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderEncodingScale(
|
||||
JNIEnv* env, jclass, jint id) {
|
||||
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
|
||||
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
|
||||
int32_t status = 0;
|
||||
jint returnValue = getEncoderEncodingScale((HalEncoderHandle)id, &status);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
|
||||
ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
|
||||
<< returnValue;
|
||||
CheckStatus(env, status);
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
|
||||
* Method: getEncoderDecodingScaleFactor
|
||||
* Signature: (I)D
|
||||
*/
|
||||
JNIEXPORT jdouble JNICALL
|
||||
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDecodingScaleFactor(
|
||||
JNIEnv* env, jclass, jint id) {
|
||||
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
|
||||
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
|
||||
int32_t status = 0;
|
||||
jint returnValue = getEncoderDecodingScaleFactor((HalEncoderHandle)id, &status);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
|
||||
ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
|
||||
<< returnValue;
|
||||
CheckStatus(env, status);
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
|
||||
* Method: getEncoderDistancePerPulse
|
||||
* Signature: (I)D
|
||||
*/
|
||||
JNIEXPORT jdouble JNICALL
|
||||
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDistancePerPulse(
|
||||
JNIEnv* env, jclass, jint id) {
|
||||
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
|
||||
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
|
||||
int32_t status = 0;
|
||||
jint returnValue = getEncoderDistancePerPulse((HalEncoderHandle)id, &status);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
|
||||
ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
|
||||
<< returnValue;
|
||||
CheckStatus(env, status);
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
|
||||
* Method: getEncoderEncodingType
|
||||
* Signature: (I)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL
|
||||
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderEncodingType(
|
||||
JNIEnv* env, jclass, jint id) {
|
||||
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
|
||||
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
|
||||
int32_t status = 0;
|
||||
jint returnValue = getEncoderEncodingType((HalEncoderHandle)id, &status);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
|
||||
ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
|
||||
<< returnValue;
|
||||
CheckStatus(env, status);
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
} // extern "C"
|
||||
|
||||
Reference in New Issue
Block a user