From 4e31b680086a5ef91dcae429bce638f8ba7d00c0 Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <koconnor@usfirst.org>
Date: Wed, 15 Oct 2014 16:11:29 -0400
Subject: [PATCH] Add method to get Device ID to Can Jaguar (fixes artf3613)

Change-Id: I7b0cb555a56ee97cf90ea32a3080b7c14bb5ca56
---
 wpilibc/wpilibC++Devices/include/CANJaguar.h                 | 1 +
 wpilibc/wpilibC++Devices/src/CANJaguar.cpp                   | 5 +++++
 .../src/main/java/edu/wpi/first/wpilibj/CANJaguar.java       | 4 ++++
 3 files changed, 10 insertions(+)

diff --git a/wpilibc/wpilibC++Devices/include/CANJaguar.h b/wpilibc/wpilibC++Devices/include/CANJaguar.h
index fddaf0d8b0..53a64af984 100644
--- a/wpilibc/wpilibC++Devices/include/CANJaguar.h
+++ b/wpilibc/wpilibC++Devices/include/CANJaguar.h
@@ -143,6 +143,7 @@ public:
 	bool IsSafetyEnabled();
 	void SetSafetyEnabled(bool enabled);
 	void GetDescription(char *desc);
+	uint8_t GetDeviceID();
 
 protected:
 	// Control mode helpers
diff --git a/wpilibc/wpilibC++Devices/src/CANJaguar.cpp b/wpilibc/wpilibC++Devices/src/CANJaguar.cpp
index 8631e7e9d4..86f10d936d 100644
--- a/wpilibc/wpilibC++Devices/src/CANJaguar.cpp
+++ b/wpilibc/wpilibC++Devices/src/CANJaguar.cpp
@@ -2036,6 +2036,11 @@ void CANJaguar::GetDescription(char *desc)
 	sprintf(desc, "CANJaguar ID %d", m_deviceNumber);
 }
 
+uint8_t CANJaguar::GetDeviceID()
+{
+	return m_deviceNumber;
+}
+
 /**
  * Common interface for stopping the motor
  * Part of the MotorSafety interface
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 2555529d70..2c45b780d2 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
@@ -2103,6 +2103,10 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
 	public String getDescription() {
 		return "CANJaguar ID "+m_deviceNumber;
 	}
+	
+	public int getDeviceID() {
+		return (int)m_deviceNumber;
+	}
 
 	/**
 	* Common interface for stopping a motor.