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https://github.com/wpilibsuite/allwpilib
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Remove CAN TalonSRX from WPILib (moving to external library) (#268)
This commit is contained in:
Kevin-OConnor
committed by
Fred Silberberg
Fred Silberberg
parent
55346e28d0
commit
567ea1d58d
File diff suppressed because it is too large
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@@ -1,343 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.hal;
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@SuppressWarnings("MethodName")
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public class CanTalonJNI extends JNIWrapper {
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// Motion Profile status bits
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public static final int kMotionProfileFlag_ActTraj_IsValid = 0x1;
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public static final int kMotionProfileFlag_HasUnderrun = 0x2;
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public static final int kMotionProfileFlag_IsUnderrun = 0x4;
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public static final int kMotionProfileFlag_ActTraj_IsLast = 0x8;
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public static final int kMotionProfileFlag_ActTraj_VelOnly = 0x10;
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/**
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* Signal enumeration for generic signal access. Although every signal is enumerated, only use
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* this for traffic that must be solicited. Use the auto generated getters/setters at bottom of
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* this header as much as possible.
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*/
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@SuppressWarnings("TypeName")
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public enum param_t {
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eProfileParamSlot0_P(1),
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eProfileParamSlot0_I(2),
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eProfileParamSlot0_D(3),
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eProfileParamSlot0_F(4),
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eProfileParamSlot0_IZone(5),
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eProfileParamSlot0_CloseLoopRampRate(6),
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eProfileParamSlot1_P(11),
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eProfileParamSlot1_I(12),
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eProfileParamSlot1_D(13),
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eProfileParamSlot1_F(14),
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eProfileParamSlot1_IZone(15),
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eProfileParamSlot1_CloseLoopRampRate(16),
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eProfileParamSoftLimitForThreshold(21),
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eProfileParamSoftLimitRevThreshold(22),
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eProfileParamSoftLimitForEnable(23),
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eProfileParamSoftLimitRevEnable(24),
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eOnBoot_BrakeMode(31),
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eOnBoot_LimitSwitch_Forward_NormallyClosed(32),
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eOnBoot_LimitSwitch_Reverse_NormallyClosed(33),
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eOnBoot_LimitSwitch_Forward_Disable(34),
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eOnBoot_LimitSwitch_Reverse_Disable(35),
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eFault_OverTemp(41),
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eFault_UnderVoltage(42),
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eFault_ForLim(43),
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eFault_RevLim(44),
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eFault_HardwareFailure(45),
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eFault_ForSoftLim(46),
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eFault_RevSoftLim(47),
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eStckyFault_OverTemp(48),
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eStckyFault_UnderVoltage(49),
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eStckyFault_ForLim(50),
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eStckyFault_RevLim(51),
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eStckyFault_ForSoftLim(52),
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eStckyFault_RevSoftLim(53),
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eAppliedThrottle(61),
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eCloseLoopErr(62),
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eFeedbackDeviceSelect(63),
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eRevMotDuringCloseLoopEn(64),
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eModeSelect(65),
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eProfileSlotSelect(66),
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eRampThrottle(67),
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eRevFeedbackSensor(68),
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eLimitSwitchEn(69),
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eLimitSwitchClosedFor(70),
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eLimitSwitchClosedRev(71),
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eSensorPosition(73),
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eSensorVelocity(74),
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eCurrent(75),
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eBrakeIsEnabled(76),
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eEncPosition(77),
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eEncVel(78),
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eEncIndexRiseEvents(79),
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eQuadApin(80),
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eQuadBpin(81),
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eQuadIdxpin(82),
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eAnalogInWithOv(83),
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eAnalogInVel(84),
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eTemp(85),
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eBatteryV(86),
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eResetCount(87),
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eResetFlags(88),
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eFirmVers(89),
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eSettingsChanged(90),
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eQuadFilterEn(91),
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ePidIaccum(93),
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eStatus1FrameRate(94), // TALON_Status_1_General_10ms_t
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eStatus2FrameRate(95), // TALON_Status_2_Feedback_20ms_t
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eStatus3FrameRate(96), // TALON_Status_3_Enc_100ms_t
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eStatus4FrameRate(97), // TALON_Status_4_AinTempVbat_100ms_t
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eStatus6FrameRate(98), // TALON_Status_6_Eol_t
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eStatus7FrameRate(99), // TALON_Status_7_Debug_200ms_t
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eClearPositionOnIdx(100),
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//reserved
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//reserved
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//reserved
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ePeakPosOutput(104),
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eNominalPosOutput(105),
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ePeakNegOutput(106),
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eNominalNegOutput(107),
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eQuadIdxPolarity(108),
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eStatus8FrameRate(109), // TALON_Status_8_PulseWid_100ms_t
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eAllowPosOverflow(110),
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eProfileParamSlot0_AllowableClosedLoopErr(111),
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eNumberPotTurns(112),
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eNumberEncoderCPR(113),
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ePwdPosition(114),
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eAinPosition(115),
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eProfileParamVcompRate(116),
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eProfileParamSlot1_AllowableClosedLoopErr(117),
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eStatus9FrameRate(118), // TALON_Status_9_MotProfBuffer_100ms_t
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eMotionProfileHasUnderrunErr(119),
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eReserved120(120),
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eLegacyControlMode(121);
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@SuppressWarnings("MemberName")
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public final int value;
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param_t(int value) {
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this.value = value;
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}
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}
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public static native long new_CanTalonSRX(int deviceNumber, int controlPeriodMs,
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int enablePeriodMs);
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public static native long new_CanTalonSRX(int deviceNumber, int controlPeriodMs);
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public static native long new_CanTalonSRX(int deviceNumber);
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public static native long new_CanTalonSRX();
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public static native void delete_CanTalonSRX(long handle);
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public static native void GetMotionProfileStatus(long handle, Object canTalon,
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Object motionProfileStatus);
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public static native void Set(long handle, double value);
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public static native void SetParam(long handle, int paramEnum, double value);
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public static native void RequestParam(long handle, int paramEnum);
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public static native double GetParamResponse(long handle, int paramEnum);
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public static native int GetParamResponseInt32(long handle, int paramEnum);
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public static native void SetPgain(long handle, int slotIdx, double gain);
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public static native void SetIgain(long handle, int slotIdx, double gain);
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public static native void SetDgain(long handle, int slotIdx, double gain);
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public static native void SetFgain(long handle, int slotIdx, double gain);
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public static native void SetIzone(long handle, int slotIdx, int zone);
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public static native void SetCloseLoopRampRate(long handle, int slotIdx, int closeLoopRampRate);
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public static native void SetVoltageCompensationRate(long handle, double voltagePerMs);
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public static native void SetSensorPosition(long handle, int pos);
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public static native void SetForwardSoftLimit(long handle, int forwardLimit);
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public static native void SetReverseSoftLimit(long handle, int reverseLimit);
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public static native void SetForwardSoftEnable(long handle, int enable);
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public static native void SetReverseSoftEnable(long handle, int enable);
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public static native double GetPgain(long handle, int slotIdx);
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public static native double GetIgain(long handle, int slotIdx);
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public static native double GetDgain(long handle, int slotIdx);
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public static native double GetFgain(long handle, int slotIdx);
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public static native int GetIzone(long handle, int slotIdx);
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public static native int GetCloseLoopRampRate(long handle, int slotIdx);
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public static native double GetVoltageCompensationRate(long handle);
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public static native int GetForwardSoftLimit(long handle);
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public static native int GetReverseSoftLimit(long handle);
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public static native int GetForwardSoftEnable(long handle);
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public static native int GetReverseSoftEnable(long handle);
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public static native int GetPulseWidthRiseToFallUs(long handle);
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public static native int IsPulseWidthSensorPresent(long handle);
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public static native void SetModeSelect2(long handle, int modeSelect, int demand);
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public static native void SetStatusFrameRate(long handle, int frameEnum, int periodMs);
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public static native void ClearStickyFaults(long handle);
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public static native void ChangeMotionControlFramePeriod(long handle, int periodMs);
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public static native void ClearMotionProfileTrajectories(long handle);
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public static native int GetMotionProfileTopLevelBufferCount(long handle);
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public static native boolean IsMotionProfileTopLevelBufferFull(long handle);
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public static native void PushMotionProfileTrajectory(long handle, int targPos, int targVel,
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int profileSlotSelect, int timeDurMs,
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int velOnly, int isLastPoint, int zeroPos);
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public static native void ProcessMotionProfileBuffer(long handle);
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public static native int GetFault_OverTemp(long handle);
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public static native int GetFault_UnderVoltage(long handle);
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public static native int GetFault_ForLim(long handle);
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public static native int GetFault_RevLim(long handle);
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public static native int GetFault_HardwareFailure(long handle);
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public static native int GetFault_ForSoftLim(long handle);
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public static native int GetFault_RevSoftLim(long handle);
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public static native int GetStckyFault_OverTemp(long handle);
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public static native int GetStckyFault_UnderVoltage(long handle);
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public static native int GetStckyFault_ForLim(long handle);
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public static native int GetStckyFault_RevLim(long handle);
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public static native int GetStckyFault_ForSoftLim(long handle);
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public static native int GetStckyFault_RevSoftLim(long handle);
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public static native int GetAppliedThrottle(long handle);
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public static native int GetCloseLoopErr(long handle);
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public static native int GetFeedbackDeviceSelect(long handle);
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public static native int GetModeSelect(long handle);
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public static native int GetLimitSwitchEn(long handle);
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public static native int GetLimitSwitchClosedFor(long handle);
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public static native int GetLimitSwitchClosedRev(long handle);
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public static native int GetSensorPosition(long handle);
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public static native int GetSensorVelocity(long handle);
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public static native double GetCurrent(long handle);
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public static native int GetBrakeIsEnabled(long handle);
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public static native int GetEncPosition(long handle);
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public static native int GetEncVel(long handle);
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public static native int GetEncIndexRiseEvents(long handle);
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public static native int GetQuadApin(long handle);
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public static native int GetQuadBpin(long handle);
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public static native int GetQuadIdxpin(long handle);
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public static native int GetAnalogInWithOv(long handle);
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public static native int GetAnalogInVel(long handle);
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public static native double GetTemp(long handle);
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public static native double GetBatteryV(long handle);
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public static native int GetResetCount(long handle);
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public static native int GetResetFlags(long handle);
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public static native int GetFirmVers(long handle);
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public static native int GetPulseWidthPosition(long handle);
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public static native int GetPulseWidthVelocity(long handle);
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public static native int GetPulseWidthRiseToRiseUs(long handle);
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public static native int GetActTraj_IsValid(long handle);
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public static native int GetActTraj_ProfileSlotSelect(long handle);
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public static native int GetActTraj_VelOnly(long handle);
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public static native int GetActTraj_IsLast(long handle);
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public static native int GetOutputType(long handle);
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public static native int GetHasUnderrun(long handle);
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public static native int GetIsUnderrun(long handle);
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public static native int GetNextID(long handle);
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public static native int GetBufferIsFull(long handle);
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public static native int GetCount(long handle);
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public static native int GetActTraj_Velocity(long handle);
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public static native int GetActTraj_Position(long handle);
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public static native void SetDemand(long handle, int param);
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public static native void SetOverrideLimitSwitchEn(long handle, int param);
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public static native void SetFeedbackDeviceSelect(long handle, int param);
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public static native void SetRevMotDuringCloseLoopEn(long handle, int param);
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public static native void SetOverrideBrakeType(long handle, int param);
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public static native void SetModeSelect(long handle, int param);
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public static native void SetProfileSlotSelect(long handle, int param);
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public static native void SetRampThrottle(long handle, int param);
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public static native void SetRevFeedbackSensor(long handle, int param);
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}
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