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CanTalon : Adding config routines for limit switch normally open vs normally closed.

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They already existed in Labview, so this will keep parity
New C++/Java funcs
ConfigFwdLimitSwitchNormallyOpen
ConfigRevLimitSwitchNormallyOpen

Change-Id: Ifd65ead827838e7158f7261c67adc3738c72eabf
This commit is contained in:
Omar Zrien
2014-12-17 23:15:24 -05:00
committed by James Kuszmaul
parent e1480ec798
commit 3d06a763a2
3 changed files with 84 additions and 1 deletions
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28
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
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@@ -810,6 +810,34 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
int mask = 4 + (forward ? 1 : 0) * 2 + (reverse ? 1 : 0);
m_impl.SetOverrideLimitSwitchEn(mask);
}
/**
* Configure the fwd limit switch to be normally open or normally closed.
* Talon will disable momentarilly if the Talon's current setting
* is dissimilar to the caller's requested setting.
*
* Since Talon saves setting to flash this should only affect
* a given Talon initially during robot install.
*
* @param normallyOpen true for normally open. false for normally closed.
*/
public void ConfigFwdLimitSwitchNormallyOpen(boolean normallyOpen)
{
SWIGTYPE_p_CTR_Code status = m_impl.SetParam(CanTalonSRX.param_t.eOnBoot_LimitSwitch_Forward_NormallyClosed,normallyOpen ? 0 : 1);
}
/**
* Configure the rev limit switch to be normally open or normally closed.
* Talon will disable momentarilly if the Talon's current setting
* is dissimilar to the caller's requested setting.
*
* Since Talon saves setting to flash this should only affect
* a given Talon initially during robot install.
*
* @param normallyOpen true for normally open. false for normally closed.
*/
public void ConfigRevLimitSwitchNormallyOpen(boolean normallyOpen)
{
SWIGTYPE_p_CTR_Code status = m_impl.SetParam(CanTalonSRX.param_t.eOnBoot_LimitSwitch_Reverse_NormallyClosed,normallyOpen ? 0 : 1);
}
public void enableBrakeMode(boolean brake) {
m_impl.SetOverrideBrakeType(brake ? 2 : 1);