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CANTalon: Add getter methods for soft limits.

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Added functions:
- getForwardSoftLimit
- getReverseSoftLimit
- isForwardSoftLimitEnabled
- isReverseSoftLimitEnabled

Change-Id: I03b8f692c08c326a6ff0bfd929b7fdd5d7406a0f
This commit is contained in:
Peter Johnson
2015-03-19 22:45:21 -07:00
committed by James Kuszmaul
parent 880eae1424
commit 47088c0354
1 changed files with 24 additions and 0 deletions
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24
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
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@@ -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();
}