From 47088c0354c217b5fd78d14fd68ae502e23e19ed Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Thu, 19 Mar 2015 22:45:21 -0700
Subject: [PATCH] CANTalon: Add getter methods for soft limits.

Added functions:
- getForwardSoftLimit
- getReverseSoftLimit
- isForwardSoftLimitEnabled
- isReverseSoftLimitEnabled

Change-Id: I03b8f692c08c326a6ff0bfd929b7fdd5d7406a0f
---
 .../java/edu/wpi/first/wpilibj/CANTalon.java  | 24 +++++++++++++++++++
 1 file changed, 24 insertions(+)

diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
index b51f48f2ef..24e0e35db3 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
@@ -812,18 +812,42 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
     m_impl.SetForwardSoftLimit(forwardLimit);
   }
 
+  public int getForwardSoftLimit() {
+    long valuep = CanTalonJNI.new_intp();
+    m_impl.GetForwardSoftLimit(new SWIGTYPE_p_int(valuep, true));
+    return CanTalonJNI.intp_value(valuep);
+  }
+
   public void enableForwardSoftLimit(boolean enable) {
     m_impl.SetForwardSoftEnable(enable ? 1 : 0);
   }
 
+  public boolean isForwardSoftLimitEnabled() {
+    long valuep = CanTalonJNI.new_intp();
+    m_impl.GetForwardSoftEnable(new SWIGTYPE_p_int(valuep, true));
+    return (CanTalonJNI.intp_value(valuep)==0) ? false : true;
+  }
+
   public void setReverseSoftLimit(int reverseLimit) {
     m_impl.SetReverseSoftLimit(reverseLimit);
   }
 
+  public int getReverseSoftLimit() {
+    long valuep = CanTalonJNI.new_intp();
+    m_impl.GetReverseSoftLimit(new SWIGTYPE_p_int(valuep, true));
+    return CanTalonJNI.intp_value(valuep);
+  }
+
   public void enableReverseSoftLimit(boolean enable) {
     m_impl.SetReverseSoftEnable(enable ? 1 : 0);
   }
 
+  public boolean isReverseSoftLimitEnabled() {
+    long valuep = CanTalonJNI.new_intp();
+    m_impl.GetReverseSoftEnable(new SWIGTYPE_p_int(valuep, true));
+    return (CanTalonJNI.intp_value(valuep)==0) ? false : true;
+  }
+
   public void clearStickyFaults() {
     m_impl.ClearStickyFaults();
   }