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https://github.com/wpilibsuite/allwpilib
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Added support for basic PID in java Talon SRX.
Tested analog PID in Java and C++. Changed to default to controlEnabled. Loosely wrapped a bunch of CanTalonSRX functions in Java. Change-Id: I9da380e2368d9a72f08be4434ac63b5710a9f90f
This commit is contained in:
James Kuszmaul
@@ -11,11 +11,14 @@ package edu.wpi.first.wpilibj;
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import edu.wpi.first.wpilibj.hal.CanTalonSRX;
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import edu.wpi.first.wpilibj.hal.CanTalonJNI;
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import edu.wpi.first.wpilibj.hal.SWIGTYPE_p_double;
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import edu.wpi.first.wpilibj.hal.SWIGTYPE_p_int;
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import edu.wpi.first.wpilibj.hal.SWIGTYPE_p_uint32_t;
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import edu.wpi.first.wpilibj.hal.SWIGTYPE_p_CTR_Code;
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public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
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private MotorSafetyHelper m_safetyHelper;
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public enum ControlMode {
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PercentVbus(0), Follower(1), Voltage(2), Position(3), Speed(4), Current(5), Disabled(15);
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PercentVbus(0), Follower(5), Voltage(4), Position(1), Speed(2), Current(3), Disabled(15);
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public int value;
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@@ -34,35 +37,225 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
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}
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}
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public enum FeedbackDevice {
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QuadEncoder(0), AnalogPot(2), AnalogEncoder(3), EncRising(4), EncFalling(5);
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public int value;
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public static FeedbackDevice valueOf(int value) {
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for(FeedbackDevice mode : values()) {
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if(mode.value == value) {
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return mode;
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}
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}
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return null;
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}
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private FeedbackDevice(int value) {
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this.value = value;
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}
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}
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private CanTalonSRX m_impl;
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ControlMode m_controlMode;
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int m_deviceNumber;
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boolean m_controlEnabled;
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int m_profile;
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public CANTalon(int deviceNumber) {
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m_deviceNumber = deviceNumber;
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m_impl = new CanTalonSRX(deviceNumber);
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m_safetyHelper = new MotorSafetyHelper(this);
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m_controlEnabled = false;
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m_controlEnabled = true;
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m_profile = 0;
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setProfile(m_profile);
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changeControlMode(ControlMode.PercentVbus);
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}
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@Override
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public void pidWrite(double output) {
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set(output);
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if (getControlMode() == ControlMode.PercentVbus) {
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set(output);
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}
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else {
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throw new IllegalStateException("PID only supported in PercentVbus mode");
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}
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}
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public void delete() {
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m_impl.delete();
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}
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/**
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* Sets the appropriate output on the talon, depending on the mode.
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*
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* In PercentVbus, the output is between -1.0 and 1.0, with 0.0 as stopped.
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* In Follower mode, the output is the integer device ID of the talon to duplicate.
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* In Voltage mode, outputValue is in volts.
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* In Current mode, outputValue is in amperes.
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* In Speed mode, outputValue is in position change / 10ms.
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* In Position mode, outputValue is in encoder ticks or an analog value,
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* depending on the sensor.
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*
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* @param outputValue The setpoint value, as described above.
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*/
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public void set(double outputValue) {
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m_impl.Set(outputValue);
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System.out.println("Enabled: " + m_controlEnabled + " Mode: " + m_controlMode);
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m_controlMode = ControlMode.PercentVbus;
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if (m_controlEnabled) {
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switch (getControlMode()) {
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case PercentVbus:
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m_impl.Set(outputValue);
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break;
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case Follower:
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m_impl.SetDemand((int)outputValue);
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break;
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case Voltage:
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// Voltage is an 8.8 fixed point number.
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int volts = (int)(outputValue * 256);
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m_impl.SetDemand(volts);
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break;
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case Speed:
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m_impl.SetDemand((int)outputValue);
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break;
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case Position:
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m_impl.SetDemand((int)outputValue);
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break;
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default:
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break;
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}
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}
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System.out.println("Enabled: " + m_controlEnabled + " Mode: " + m_controlMode);
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}
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/**
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* Sets the output of the Talon.
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*
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* @param outputValue See set().
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* @param thisValueDoesNotDoAnything corresponds to syncGroup from Jaguar; not relevant here.
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*/
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@Override
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public void set(double outputValue, byte thisValueDoesNotDoAnything) {
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set(outputValue);
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}
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/**
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* Flips the sign (multiplies by negative one) the sensor values going into
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*the talon.
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*
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* This only affects position and velocity closed loop control. Allows for
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* situations where you may have a sensor flipped and going in the wrong
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* direction.
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*
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* @param flip True if sensor input should be flipped; False if not.
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*/
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public void reverseSensor(boolean flip) {
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m_impl.SetRevFeedbackSensor(flip ? 1 : 0);
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}
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/**
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* Flips the sign (multiplies by negative one) the throttle values going into
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* the motor on the talon in closed loop modes.
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*
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* @param flip True if motor output should be flipped; False if not.
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*/
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public void reverseOutput(boolean flip) {
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m_impl.SetRevMotDuringCloseLoopEn(flip ? 1 : 0);
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}
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/**
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* Gets the current status of the Talon (usually a sensor value).
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*
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* In Current mode: returns output current.
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* In Speed mode: returns current speed.
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* In Position omde: returns current sensor position.
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* In Throttle and Follower modes: returns current applied throttle.
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*
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* @return The current sensor value of the Talon.
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*/
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public double get() {
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// TODO
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return 0.0f;
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long valuep = CanTalonJNI.new_intp();
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SWIGTYPE_p_int swigp = new SWIGTYPE_p_int(valuep, true);
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switch (m_controlMode) {
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case Voltage:
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return getOutputVoltage();
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case Current:
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return getOutputCurrent();
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case Speed:
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m_impl.GetSensorVelocity(swigp);
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return (double)CanTalonJNI.intp_value(valuep);
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case Position:
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m_impl.GetSensorPosition(swigp);
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return (double)CanTalonJNI.intp_value(valuep);
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case PercentVbus:
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default:
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m_impl.GetAppliedThrottle(swigp);
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return (double)CanTalonJNI.intp_value(valuep) / 1023.0;
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}
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}
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/**
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* Get the current encoder position, regardless of whether it is the current feedback device.
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*
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* @return The current position of the encoder.
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*/
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public int getEncPosition() {
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long valuep = CanTalonJNI.new_intp();
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SWIGTYPE_p_int swigp = new SWIGTYPE_p_int(valuep, true);
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m_impl.GetEncPosition(swigp);
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return CanTalonJNI.intp_value(valuep);
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}
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/**
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* Get the current encoder velocity, regardless of whether it is the current feedback device.
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*
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* @return The current speed of the encoder.
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*/
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public int getEncVelocity() {
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long valuep = CanTalonJNI.new_intp();
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SWIGTYPE_p_int swigp = new SWIGTYPE_p_int(valuep, true);
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m_impl.GetEncVel(swigp);
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return CanTalonJNI.intp_value(valuep);
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}
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/**
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* Get the current analog in position, regardless of whether it is the current
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* feedback device.
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*
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* @return The current value from the analog in (0 - 1023).
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*/
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public int getAnalogInPosition() {
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long valuep = CanTalonJNI.new_intp();
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SWIGTYPE_p_int swigp = new SWIGTYPE_p_int(valuep, true);
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m_impl.GetAnalogInWithOv(swigp);
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return CanTalonJNI.intp_value(valuep);
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}
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/**
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* Get the current encoder velocity, regardless of whether it is the current
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* feedback device.
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*
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* @return The current speed of the analog in device.
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*/
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public int getAnalogInVelocity() {
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long valuep = CanTalonJNI.new_intp();
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SWIGTYPE_p_int swigp = new SWIGTYPE_p_int(valuep, true);
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m_impl.GetAnalogInVel(swigp);
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return CanTalonJNI.intp_value(valuep);
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}
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/**
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* Get the current difference between the setpoint and the sensor value.
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*
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* @return The error, in whatever units are appropriate.
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*/
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public int getClosedLoopError() {
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long valuep = CanTalonJNI.new_intp();
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SWIGTYPE_p_int swigp = new SWIGTYPE_p_int(valuep, true);
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m_impl.GetCloseLoopErr(swigp);
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return CanTalonJNI.intp_value(valuep);
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}
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// Returns temperature of Talon, in degrees Celsius.
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@@ -72,9 +265,75 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
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return CanTalonJNI.doublep_value(tempp);
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}
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// Only supports kPercentVbus mode for now.
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// Returns the current going through the Talon, in Amperes.
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public double getOutputCurrent() {
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long curp = CanTalonJNI.new_doublep(); // Create a new swig pointer.
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m_impl.GetCurrent(new SWIGTYPE_p_double(curp, true));
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return CanTalonJNI.doublep_value(curp);
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}
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/**
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* @return The voltage being output by the Talon, in Volts.
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*/
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public double getOutputVoltage() {
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long throttlep = CanTalonJNI.new_intp();
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m_impl.GetAppliedThrottle(new SWIGTYPE_p_int(throttlep, true));
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double voltage = getBusVoltage() * (double)CanTalonJNI.intp_value(throttlep) / 1023.0;
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return voltage;
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}
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/**
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* @return The voltage at the battery terminals of the Talon, in Volts.
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*/
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public double getBusVoltage() {
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long voltagep = CanTalonJNI.new_doublep();
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SWIGTYPE_p_CTR_Code status = m_impl.GetBatteryV(new SWIGTYPE_p_double(voltagep, true));
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/* Note: This section needs the JNI bindings regenerated with
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pointer_functions for CTR_Code included in order to be able to catch notice
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and throw errors.
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if (CanTalonJNI.CTR_Codep_value(status) != 0) {
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// TODO throw an error.
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}*/
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return CanTalonJNI.doublep_value(voltagep);
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}
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public double getPosition() {
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long positionp = CanTalonJNI.new_intp();
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m_impl.GetSensorPosition(new SWIGTYPE_p_int(positionp, true));
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return CanTalonJNI.intp_value(positionp);
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}
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public double getSpeed() {
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long speedp = CanTalonJNI.new_intp();
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m_impl.GetSensorVelocity(new SWIGTYPE_p_int(speedp, true));
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return CanTalonJNI.intp_value(speedp);
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}
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public ControlMode getControlMode() {
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long tempp = CanTalonJNI.new_intp();
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m_impl.GetModeSelect(new SWIGTYPE_p_int(tempp, true));
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ControlMode mode = ControlMode.valueOf(CanTalonJNI.intp_value(tempp));
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if (mode == ControlMode.Disabled) {
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m_controlEnabled = false;
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}
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else {
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m_controlMode = mode;
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}
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return mode;
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}
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public void changeControlMode(ControlMode controlMode) {
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m_controlMode = controlMode;
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m_impl.SetModeSelect(controlMode.value);
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}
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public void setFeedbackDevice(FeedbackDevice device) {
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m_impl.SetFeedbackDeviceSelect(device.value);
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}
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public void enableControl() {
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m_impl.SetModeSelect(ControlMode.PercentVbus.value);
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changeControlMode(m_controlMode);
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m_controlEnabled = true;
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}
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@@ -83,7 +342,171 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
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m_controlEnabled = false;
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}
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/**
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public double getP() {
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if(!(m_controlMode.equals(ControlMode.Position) || m_controlMode.equals(ControlMode.Speed))) {
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throw new IllegalStateException("PID mode only applies in Position and Speed modes.");
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}
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// Update the information that we have.
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if (m_profile == 0)
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m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot0_P);
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else
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m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_P);
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long pp = CanTalonJNI.new_doublep();
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m_impl.GetPgain(m_profile, new SWIGTYPE_p_double(pp, true));
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return CanTalonJNI.doublep_value(pp);
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}
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public double getI() {
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if(!(m_controlMode.equals(ControlMode.Position) || m_controlMode.equals(ControlMode.Speed))) {
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throw new IllegalStateException("PID mode only applies in Position and Speed modes.");
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}
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// Update the information that we have.
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if (m_profile == 0)
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m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot0_I);
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else
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m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_I);
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long ip = CanTalonJNI.new_doublep();
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m_impl.GetIgain(m_profile, new SWIGTYPE_p_double(ip, true));
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return CanTalonJNI.doublep_value(ip);
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}
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public double getD() {
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if(!(m_controlMode.equals(ControlMode.Position) || m_controlMode.equals(ControlMode.Speed))) {
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throw new IllegalStateException("PID mode only applies in Position and Speed modes.");
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}
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// Update the information that we have.
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if (m_profile == 0)
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m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot0_D);
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else
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m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_D);
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long dp = CanTalonJNI.new_doublep();
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m_impl.GetDgain(m_profile, new SWIGTYPE_p_double(dp, true));
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return CanTalonJNI.doublep_value(dp);
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}
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public double getF() {
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if(!(m_controlMode.equals(ControlMode.Position) || m_controlMode.equals(ControlMode.Speed))) {
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throw new IllegalStateException("PID mode only applies in Position and Speed modes.");
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}
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// Update the information that we have.
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if (m_profile == 0)
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m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot0_F);
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else
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m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_F);
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long fp = CanTalonJNI.new_doublep();
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m_impl.GetFgain(m_profile, new SWIGTYPE_p_double(fp, true));
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return CanTalonJNI.doublep_value(fp);
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}
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public double getIZone() {
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if(!(m_controlMode.equals(ControlMode.Position) || m_controlMode.equals(ControlMode.Speed))) {
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throw new IllegalStateException("PID mode only applies in Position and Speed modes.");
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}
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// Update the information that we have.
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if (m_profile == 0)
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m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot0_IZone);
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else
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m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_IZone);
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long fp = CanTalonJNI.new_intp();
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m_impl.GetIzone(m_profile, new SWIGTYPE_p_int(fp, true));
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return CanTalonJNI.intp_value(fp);
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}
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public double getRampRate() {
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if(!(m_controlMode.equals(ControlMode.Position) || m_controlMode.equals(ControlMode.Speed))) {
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throw new IllegalStateException("PID mode only applies in Position and Speed modes.");
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}
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// Update the information that we have.
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if (m_profile == 0)
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m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot0_CloseLoopRampRate);
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else
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m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_CloseLoopRampRate);
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long fp = CanTalonJNI.new_intp();
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m_impl.GetCloseLoopRampRate(m_profile, new SWIGTYPE_p_int(fp, true));
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return CanTalonJNI.intp_value(fp);
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}
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public void setP(double p) {
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m_impl.SetPgain(m_profile, p);
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}
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public void setI(double i) {
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m_impl.SetIgain(m_profile, i);
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}
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public void setD(double d) {
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m_impl.SetDgain(m_profile, d);
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}
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public void setF(double f) {
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m_impl.SetFgain(m_profile, f);
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}
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public void setIZone(int izone) {
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m_impl.SetIzone(m_profile, izone);
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}
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public void setRampRate(int rampRate) {
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m_impl.SetCloseLoopRampRate(m_profile, rampRate);
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}
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/**
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* Sets control values for closed loop control.
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*
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* @param p Proportional constant.
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* @param i Integration constant.
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* @param d Differential constant.
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* @param f Feedforward constant.
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* @param izone Integration zone -- prevents accumulation of integration error
|
||||
* with large errors. Setting this to zero will ignore any izone stuff.
|
||||
* @param ramprate Closed loop ramp rate. Represents maximum change in
|
||||
* throttle every 10ms.
|
||||
* @param profile which profile to set the pid constants for. You can have two
|
||||
* profiles, with values of 0 or 1, allowing you to keep a second set of values
|
||||
* on hand in the talon. In order to switch profiles without recalling setPID,
|
||||
* you must call setProfile().
|
||||
*/
|
||||
public void setPID(double p, double i, double d, double f, int izone, int ramprate, int profile) {
|
||||
if (profile != 0 && profile != 1)
|
||||
throw new IllegalArgumentException("Talon PID profile must be 0 or 1.");
|
||||
m_profile = profile;
|
||||
setProfile(profile);
|
||||
setP(p);
|
||||
setI(i);
|
||||
setD(d);
|
||||
setF(f);
|
||||
setIZone(izone);
|
||||
setRampRate(ramprate);
|
||||
}
|
||||
public void setPID(double p, double i, double d) {
|
||||
setPID(p, i, d, 0, 0, 0, m_profile);
|
||||
}
|
||||
|
||||
/**
|
||||
* Select which closed loop profile to use, and uses whatever PIDF gains and
|
||||
* the such that are already there.
|
||||
*/
|
||||
public void setProfile(int profile) {
|
||||
if (profile != 0 && profile != 1)
|
||||
throw new IllegalArgumentException("Talon PID profile must be 0 or 1.");
|
||||
m_profile = profile;
|
||||
m_impl.SetProfileSlotSelect(m_profile);
|
||||
}
|
||||
|
||||
/**
|
||||
* Common interface for stopping a motor.
|
||||
*
|
||||
* @deprecated Use disableControl instead.
|
||||
@@ -103,6 +526,115 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
|
||||
return m_deviceNumber;
|
||||
}
|
||||
|
||||
// TODO: Documentation for all these accessors/setters for misc. stuff.
|
||||
public void setForwardSoftLimit(int forwardLimit) {
|
||||
m_impl.SetForwardSoftLimit(forwardLimit);
|
||||
}
|
||||
|
||||
public void enableForwardSoftLimit(boolean enable) {
|
||||
m_impl.SetForwardSoftEnable(enable ? 1 : 0);
|
||||
}
|
||||
|
||||
public void setReverseSoftLimit(int forwardLimit) {
|
||||
m_impl.SetReverseSoftLimit(forwardLimit);
|
||||
}
|
||||
|
||||
public void enableReverseSoftLimit(boolean enable) {
|
||||
m_impl.SetReverseSoftEnable(enable ? 1 : 0);
|
||||
}
|
||||
|
||||
public void clearStickyFaults() {
|
||||
m_impl.ClearStickyFaults();
|
||||
}
|
||||
|
||||
public void enableLimitSwitch(boolean forward, boolean reverse) {
|
||||
int mask = 4 + (forward ? 1 : 0) * 2 + (reverse ? 1 : 0);
|
||||
m_impl.SetOverrideLimitSwitchEn(mask);
|
||||
}
|
||||
|
||||
public void enableBrakeMode(boolean brake) {
|
||||
m_impl.SetOverrideBrakeType(brake ? 2 : 1);
|
||||
}
|
||||
|
||||
public int getFaultOverTemp() {
|
||||
long valuep = CanTalonJNI.new_intp();
|
||||
m_impl.GetFault_OverTemp(new SWIGTYPE_p_int(valuep, true));
|
||||
return CanTalonJNI.intp_value(valuep);
|
||||
}
|
||||
|
||||
public int getFaultUnderVoltage() {
|
||||
long valuep = CanTalonJNI.new_intp();
|
||||
m_impl.GetFault_UnderVoltage(new SWIGTYPE_p_int(valuep, true));
|
||||
return CanTalonJNI.intp_value(valuep);
|
||||
}
|
||||
|
||||
public int getFaultForLim() {
|
||||
long valuep = CanTalonJNI.new_intp();
|
||||
m_impl.GetFault_ForLim(new SWIGTYPE_p_int(valuep, true));
|
||||
return CanTalonJNI.intp_value(valuep);
|
||||
}
|
||||
|
||||
public int getFaultRevLim() {
|
||||
long valuep = CanTalonJNI.new_intp();
|
||||
m_impl.GetFault_RevLim(new SWIGTYPE_p_int(valuep, true));
|
||||
return CanTalonJNI.intp_value(valuep);
|
||||
}
|
||||
|
||||
public int getFaultHardwareFailure() {
|
||||
long valuep = CanTalonJNI.new_intp();
|
||||
m_impl.GetFault_HardwareFailure(new SWIGTYPE_p_int(valuep, true));
|
||||
return CanTalonJNI.intp_value(valuep);
|
||||
}
|
||||
|
||||
public int getFaultForSoftLim() {
|
||||
long valuep = CanTalonJNI.new_intp();
|
||||
m_impl.GetFault_ForSoftLim(new SWIGTYPE_p_int(valuep, true));
|
||||
return CanTalonJNI.intp_value(valuep);
|
||||
}
|
||||
|
||||
public int getFaultRevSoftLim() {
|
||||
long valuep = CanTalonJNI.new_intp();
|
||||
m_impl.GetFault_RevSoftLim(new SWIGTYPE_p_int(valuep, true));
|
||||
return CanTalonJNI.intp_value(valuep);
|
||||
}
|
||||
|
||||
public int getStickyFaultOverTemp() {
|
||||
long valuep = CanTalonJNI.new_intp();
|
||||
m_impl.GetStckyFault_OverTemp(new SWIGTYPE_p_int(valuep, true));
|
||||
return CanTalonJNI.intp_value(valuep);
|
||||
}
|
||||
|
||||
public int getStickyFaultUnderVoltage() {
|
||||
long valuep = CanTalonJNI.new_intp();
|
||||
m_impl.GetStckyFault_UnderVoltage(new SWIGTYPE_p_int(valuep, true));
|
||||
return CanTalonJNI.intp_value(valuep);
|
||||
}
|
||||
|
||||
public int getStickyFaultForLim() {
|
||||
long valuep = CanTalonJNI.new_intp();
|
||||
m_impl.GetStckyFault_ForLim(new SWIGTYPE_p_int(valuep, true));
|
||||
return CanTalonJNI.intp_value(valuep);
|
||||
}
|
||||
|
||||
public int getStickyFaultRevLim() {
|
||||
long valuep = CanTalonJNI.new_intp();
|
||||
m_impl.GetStckyFault_RevLim(new SWIGTYPE_p_int(valuep, true));
|
||||
return CanTalonJNI.intp_value(valuep);
|
||||
}
|
||||
|
||||
public int getStickyFaultForSoftLim() {
|
||||
long valuep = CanTalonJNI.new_intp();
|
||||
m_impl.GetStckyFault_ForSoftLim(new SWIGTYPE_p_int(valuep, true));
|
||||
return CanTalonJNI.intp_value(valuep);
|
||||
}
|
||||
|
||||
public int getStickyFaultRevSoftLim() {
|
||||
long valuep = CanTalonJNI.new_intp();
|
||||
m_impl.GetStckyFault_RevSoftLim(new SWIGTYPE_p_int(valuep, true));
|
||||
return CanTalonJNI.intp_value(valuep);
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public void setExpiration(double timeout) {
|
||||
m_safetyHelper.setExpiration(timeout);
|
||||
|
||||
@@ -35,12 +35,16 @@ public class CanTalonSRX extends CtreCanNode {
|
||||
super.delete();
|
||||
}
|
||||
|
||||
public CanTalonSRX(int deviceNumber, int controlPeriodMs) {
|
||||
this(CanTalonJNI.new_CanTalonSRX__SWIG_0(deviceNumber, controlPeriodMs), true);
|
||||
}
|
||||
|
||||
public CanTalonSRX(int deviceNumber) {
|
||||
this(CanTalonJNI.new_CanTalonSRX__SWIG_0(deviceNumber), true);
|
||||
this(CanTalonJNI.new_CanTalonSRX__SWIG_1(deviceNumber), true);
|
||||
}
|
||||
|
||||
public CanTalonSRX() {
|
||||
this(CanTalonJNI.new_CanTalonSRX__SWIG_1(), true);
|
||||
this(CanTalonJNI.new_CanTalonSRX__SWIG_2(), true);
|
||||
}
|
||||
|
||||
public void Set(double value) {
|
||||
@@ -59,96 +63,96 @@ public class CanTalonSRX extends CtreCanNode {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetParamResponse(swigCPtr, this, paramEnum.swigValue(), SWIGTYPE_p_double.getCPtr(value)), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code GetParamResponseInt32(CanTalonSRX.param_t paramEnum, SWIGTYPE_p_int32_t value) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetParamResponseInt32(swigCPtr, this, paramEnum.swigValue(), SWIGTYPE_p_int32_t.getCPtr(value)), true);
|
||||
public SWIGTYPE_p_CTR_Code GetParamResponseInt32(CanTalonSRX.param_t paramEnum, SWIGTYPE_p_int value) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetParamResponseInt32(swigCPtr, this, paramEnum.swigValue(), SWIGTYPE_p_int.getCPtr(value)), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code SetPgain(SWIGTYPE_p_uint32_t slotIdx, double gain) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetPgain(swigCPtr, this, SWIGTYPE_p_uint32_t.getCPtr(slotIdx), gain), true);
|
||||
public SWIGTYPE_p_CTR_Code SetPgain(long slotIdx, double gain) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetPgain(swigCPtr, this, slotIdx, gain), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code SetIgain(SWIGTYPE_p_uint32_t slotIdx, double gain) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetIgain(swigCPtr, this, SWIGTYPE_p_uint32_t.getCPtr(slotIdx), gain), true);
|
||||
public SWIGTYPE_p_CTR_Code SetIgain(long slotIdx, double gain) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetIgain(swigCPtr, this, slotIdx, gain), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code SetDgain(SWIGTYPE_p_uint32_t slotIdx, double gain) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetDgain(swigCPtr, this, SWIGTYPE_p_uint32_t.getCPtr(slotIdx), gain), true);
|
||||
public SWIGTYPE_p_CTR_Code SetDgain(long slotIdx, double gain) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetDgain(swigCPtr, this, slotIdx, gain), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code SetFgain(SWIGTYPE_p_uint32_t slotIdx, double gain) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetFgain(swigCPtr, this, SWIGTYPE_p_uint32_t.getCPtr(slotIdx), gain), true);
|
||||
public SWIGTYPE_p_CTR_Code SetFgain(long slotIdx, double gain) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetFgain(swigCPtr, this, slotIdx, gain), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code SetIzone(SWIGTYPE_p_uint32_t slotIdx, SWIGTYPE_p_int32_t zone) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetIzone(swigCPtr, this, SWIGTYPE_p_uint32_t.getCPtr(slotIdx), SWIGTYPE_p_int32_t.getCPtr(zone)), true);
|
||||
public SWIGTYPE_p_CTR_Code SetIzone(long slotIdx, int zone) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetIzone(swigCPtr, this, slotIdx, zone), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code SetCloseLoopRampRate(SWIGTYPE_p_uint32_t slotIdx, SWIGTYPE_p_int32_t closeLoopRampRate) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetCloseLoopRampRate(swigCPtr, this, SWIGTYPE_p_uint32_t.getCPtr(slotIdx), SWIGTYPE_p_int32_t.getCPtr(closeLoopRampRate)), true);
|
||||
public SWIGTYPE_p_CTR_Code SetCloseLoopRampRate(long slotIdx, int closeLoopRampRate) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetCloseLoopRampRate(swigCPtr, this, slotIdx, closeLoopRampRate), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code SetSensorPosition(SWIGTYPE_p_int32_t pos) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetSensorPosition(swigCPtr, this, SWIGTYPE_p_int32_t.getCPtr(pos)), true);
|
||||
public SWIGTYPE_p_CTR_Code SetSensorPosition(int pos) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetSensorPosition(swigCPtr, this, pos), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code SetForwardSoftLimit(SWIGTYPE_p_int32_t forwardLimit) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetForwardSoftLimit(swigCPtr, this, SWIGTYPE_p_int32_t.getCPtr(forwardLimit)), true);
|
||||
public SWIGTYPE_p_CTR_Code SetForwardSoftLimit(int forwardLimit) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetForwardSoftLimit(swigCPtr, this, forwardLimit), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code SetReverseSoftLimit(SWIGTYPE_p_int32_t reverseLimit) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetReverseSoftLimit(swigCPtr, this, SWIGTYPE_p_int32_t.getCPtr(reverseLimit)), true);
|
||||
public SWIGTYPE_p_CTR_Code SetReverseSoftLimit(int reverseLimit) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetReverseSoftLimit(swigCPtr, this, reverseLimit), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code SetForwardSoftEnable(SWIGTYPE_p_int32_t enable) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetForwardSoftEnable(swigCPtr, this, SWIGTYPE_p_int32_t.getCPtr(enable)), true);
|
||||
public SWIGTYPE_p_CTR_Code SetForwardSoftEnable(int enable) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetForwardSoftEnable(swigCPtr, this, enable), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code SetReverseSoftEnable(SWIGTYPE_p_int32_t enable) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetReverseSoftEnable(swigCPtr, this, SWIGTYPE_p_int32_t.getCPtr(enable)), true);
|
||||
public SWIGTYPE_p_CTR_Code SetReverseSoftEnable(int enable) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetReverseSoftEnable(swigCPtr, this, enable), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code GetPgain(SWIGTYPE_p_uint32_t slotIdx, SWIGTYPE_p_double gain) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetPgain(swigCPtr, this, SWIGTYPE_p_uint32_t.getCPtr(slotIdx), SWIGTYPE_p_double.getCPtr(gain)), true);
|
||||
public SWIGTYPE_p_CTR_Code GetPgain(long slotIdx, SWIGTYPE_p_double gain) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetPgain(swigCPtr, this, slotIdx, SWIGTYPE_p_double.getCPtr(gain)), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code GetIgain(SWIGTYPE_p_uint32_t slotIdx, SWIGTYPE_p_double gain) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetIgain(swigCPtr, this, SWIGTYPE_p_uint32_t.getCPtr(slotIdx), SWIGTYPE_p_double.getCPtr(gain)), true);
|
||||
public SWIGTYPE_p_CTR_Code GetIgain(long slotIdx, SWIGTYPE_p_double gain) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetIgain(swigCPtr, this, slotIdx, SWIGTYPE_p_double.getCPtr(gain)), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code GetDgain(SWIGTYPE_p_uint32_t slotIdx, SWIGTYPE_p_double gain) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetDgain(swigCPtr, this, SWIGTYPE_p_uint32_t.getCPtr(slotIdx), SWIGTYPE_p_double.getCPtr(gain)), true);
|
||||
public SWIGTYPE_p_CTR_Code GetDgain(long slotIdx, SWIGTYPE_p_double gain) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetDgain(swigCPtr, this, slotIdx, SWIGTYPE_p_double.getCPtr(gain)), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code GetFgain(SWIGTYPE_p_uint32_t slotIdx, SWIGTYPE_p_double gain) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetFgain(swigCPtr, this, SWIGTYPE_p_uint32_t.getCPtr(slotIdx), SWIGTYPE_p_double.getCPtr(gain)), true);
|
||||
public SWIGTYPE_p_CTR_Code GetFgain(long slotIdx, SWIGTYPE_p_double gain) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetFgain(swigCPtr, this, slotIdx, SWIGTYPE_p_double.getCPtr(gain)), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code GetIzone(SWIGTYPE_p_uint32_t slotIdx, SWIGTYPE_p_int32_t zone) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetIzone(swigCPtr, this, SWIGTYPE_p_uint32_t.getCPtr(slotIdx), SWIGTYPE_p_int32_t.getCPtr(zone)), true);
|
||||
public SWIGTYPE_p_CTR_Code GetIzone(long slotIdx, SWIGTYPE_p_int zone) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetIzone(swigCPtr, this, slotIdx, SWIGTYPE_p_int.getCPtr(zone)), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code GetCloseLoopRampRate(SWIGTYPE_p_uint32_t slotIdx, SWIGTYPE_p_int32_t closeLoopRampRate) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetCloseLoopRampRate(swigCPtr, this, SWIGTYPE_p_uint32_t.getCPtr(slotIdx), SWIGTYPE_p_int32_t.getCPtr(closeLoopRampRate)), true);
|
||||
public SWIGTYPE_p_CTR_Code GetCloseLoopRampRate(long slotIdx, SWIGTYPE_p_int closeLoopRampRate) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetCloseLoopRampRate(swigCPtr, this, slotIdx, SWIGTYPE_p_int.getCPtr(closeLoopRampRate)), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code GetForwardSoftLimit(SWIGTYPE_p_int32_t forwardLimit) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetForwardSoftLimit(swigCPtr, this, SWIGTYPE_p_int32_t.getCPtr(forwardLimit)), true);
|
||||
public SWIGTYPE_p_CTR_Code GetForwardSoftLimit(SWIGTYPE_p_int forwardLimit) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetForwardSoftLimit(swigCPtr, this, SWIGTYPE_p_int.getCPtr(forwardLimit)), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code GetReverseSoftLimit(SWIGTYPE_p_int32_t reverseLimit) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetReverseSoftLimit(swigCPtr, this, SWIGTYPE_p_int32_t.getCPtr(reverseLimit)), true);
|
||||
public SWIGTYPE_p_CTR_Code GetReverseSoftLimit(SWIGTYPE_p_int reverseLimit) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetReverseSoftLimit(swigCPtr, this, SWIGTYPE_p_int.getCPtr(reverseLimit)), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code GetForwardSoftEnable(SWIGTYPE_p_int32_t enable) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetForwardSoftEnable(swigCPtr, this, SWIGTYPE_p_int32_t.getCPtr(enable)), true);
|
||||
public SWIGTYPE_p_CTR_Code GetForwardSoftEnable(SWIGTYPE_p_int enable) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetForwardSoftEnable(swigCPtr, this, SWIGTYPE_p_int.getCPtr(enable)), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code GetReverseSoftEnable(SWIGTYPE_p_int32_t enable) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetReverseSoftEnable(swigCPtr, this, SWIGTYPE_p_int32_t.getCPtr(enable)), true);
|
||||
public SWIGTYPE_p_CTR_Code GetReverseSoftEnable(SWIGTYPE_p_int enable) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_GetReverseSoftEnable(swigCPtr, this, SWIGTYPE_p_int.getCPtr(enable)), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code SetStatusFrameRate(SWIGTYPE_p_uint32_t frameEnum, SWIGTYPE_p_uint8_t periodMs) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetStatusFrameRate(swigCPtr, this, SWIGTYPE_p_uint32_t.getCPtr(frameEnum), SWIGTYPE_p_uint8_t.getCPtr(periodMs)), true);
|
||||
public SWIGTYPE_p_CTR_Code SetStatusFrameRate(long frameEnum, long periodMs) {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetStatusFrameRate(swigCPtr, this, frameEnum, periodMs), true);
|
||||
}
|
||||
|
||||
public SWIGTYPE_p_CTR_Code ClearStickyFaults() {
|
||||
@@ -339,6 +343,7 @@ public class CanTalonSRX extends CtreCanNode {
|
||||
return new SWIGTYPE_p_CTR_Code(CanTalonJNI.CanTalonSRX_SetRevFeedbackSensor(swigCPtr, this, param), true);
|
||||
}
|
||||
|
||||
public final static int kDefaultControlPeriodMs = CanTalonJNI.CanTalonSRX_kDefaultControlPeriodMs_get();
|
||||
public final static int kMode_DutyCycle = CanTalonJNI.CanTalonSRX_kMode_DutyCycle_get();
|
||||
public final static int kMode_PositionCloseLoop = CanTalonJNI.CanTalonSRX_kMode_PositionCloseLoop_get();
|
||||
public final static int kMode_VelocityCloseLoop = CanTalonJNI.CanTalonSRX_kMode_VelocityCloseLoop_get();
|
||||
|
||||
@@ -19,6 +19,26 @@ public class CanTalonJNI {
|
||||
public final static native void delete_intp(long jarg1);
|
||||
public final static native void intp_assign(long jarg1, int jarg2);
|
||||
public final static native int intp_value(long jarg1);
|
||||
public final static native long new_uint32_tp();
|
||||
public final static native long copy_uint32_tp(long jarg1);
|
||||
public final static native void delete_uint32_tp(long jarg1);
|
||||
public final static native void uint32_tp_assign(long jarg1, long jarg2);
|
||||
public final static native long uint32_tp_value(long jarg1);
|
||||
public final static native long new_int32_tp();
|
||||
public final static native long copy_int32_tp(long jarg1);
|
||||
public final static native void delete_int32_tp(long jarg1);
|
||||
public final static native void int32_tp_assign(long jarg1, long jarg2);
|
||||
public final static native long int32_tp_value(long jarg1);
|
||||
public final static native long new_uint8_tp();
|
||||
public final static native long copy_uint8_tp(long jarg1);
|
||||
public final static native void delete_uint8_tp(long jarg1);
|
||||
public final static native void uint8_tp_assign(long jarg1, long jarg2);
|
||||
public final static native long uint8_tp_value(long jarg1);
|
||||
public final static native long new_CTR_Codep();
|
||||
public final static native long copy_CTR_Codep(long jarg1);
|
||||
public final static native void delete_CTR_Codep(long jarg1);
|
||||
public final static native void CTR_Codep_assign(long jarg1, long jarg2);
|
||||
public final static native long CTR_Codep_value(long jarg1);
|
||||
public final static native long new_floatp();
|
||||
public final static native long copy_floatp(float jarg1);
|
||||
public final static native void delete_floatp(long jarg1);
|
||||
@@ -27,8 +47,10 @@ public class CanTalonJNI {
|
||||
public final static native long new_CtreCanNode(long jarg1);
|
||||
public final static native void delete_CtreCanNode(long jarg1);
|
||||
public final static native long CtreCanNode_GetDeviceNumber(long jarg1, CtreCanNode jarg1_);
|
||||
public final static native long new_CanTalonSRX__SWIG_0(int jarg1);
|
||||
public final static native long new_CanTalonSRX__SWIG_1();
|
||||
public final static native int CanTalonSRX_kDefaultControlPeriodMs_get();
|
||||
public final static native long new_CanTalonSRX__SWIG_0(int jarg1, int jarg2);
|
||||
public final static native long new_CanTalonSRX__SWIG_1(int jarg1);
|
||||
public final static native long new_CanTalonSRX__SWIG_2();
|
||||
public final static native void delete_CanTalonSRX(long jarg1);
|
||||
public final static native void CanTalonSRX_Set(long jarg1, CanTalonSRX jarg1_, double jarg2);
|
||||
public final static native int CanTalonSRX_kMode_DutyCycle_get();
|
||||
@@ -129,13 +151,13 @@ public class CanTalonJNI {
|
||||
public final static native long CanTalonSRX_SetIgain(long jarg1, CanTalonSRX jarg1_, long jarg2, double jarg3);
|
||||
public final static native long CanTalonSRX_SetDgain(long jarg1, CanTalonSRX jarg1_, long jarg2, double jarg3);
|
||||
public final static native long CanTalonSRX_SetFgain(long jarg1, CanTalonSRX jarg1_, long jarg2, double jarg3);
|
||||
public final static native long CanTalonSRX_SetIzone(long jarg1, CanTalonSRX jarg1_, long jarg2, long jarg3);
|
||||
public final static native long CanTalonSRX_SetCloseLoopRampRate(long jarg1, CanTalonSRX jarg1_, long jarg2, long jarg3);
|
||||
public final static native long CanTalonSRX_SetSensorPosition(long jarg1, CanTalonSRX jarg1_, long jarg2);
|
||||
public final static native long CanTalonSRX_SetForwardSoftLimit(long jarg1, CanTalonSRX jarg1_, long jarg2);
|
||||
public final static native long CanTalonSRX_SetReverseSoftLimit(long jarg1, CanTalonSRX jarg1_, long jarg2);
|
||||
public final static native long CanTalonSRX_SetForwardSoftEnable(long jarg1, CanTalonSRX jarg1_, long jarg2);
|
||||
public final static native long CanTalonSRX_SetReverseSoftEnable(long jarg1, CanTalonSRX jarg1_, long jarg2);
|
||||
public final static native long CanTalonSRX_SetIzone(long jarg1, CanTalonSRX jarg1_, long jarg2, int jarg3);
|
||||
public final static native long CanTalonSRX_SetCloseLoopRampRate(long jarg1, CanTalonSRX jarg1_, long jarg2, int jarg3);
|
||||
public final static native long CanTalonSRX_SetSensorPosition(long jarg1, CanTalonSRX jarg1_, int jarg2);
|
||||
public final static native long CanTalonSRX_SetForwardSoftLimit(long jarg1, CanTalonSRX jarg1_, int jarg2);
|
||||
public final static native long CanTalonSRX_SetReverseSoftLimit(long jarg1, CanTalonSRX jarg1_, int jarg2);
|
||||
public final static native long CanTalonSRX_SetForwardSoftEnable(long jarg1, CanTalonSRX jarg1_, int jarg2);
|
||||
public final static native long CanTalonSRX_SetReverseSoftEnable(long jarg1, CanTalonSRX jarg1_, int jarg2);
|
||||
public final static native long CanTalonSRX_GetPgain(long jarg1, CanTalonSRX jarg1_, long jarg2, long jarg3);
|
||||
public final static native long CanTalonSRX_GetIgain(long jarg1, CanTalonSRX jarg1_, long jarg2, long jarg3);
|
||||
public final static native long CanTalonSRX_GetDgain(long jarg1, CanTalonSRX jarg1_, long jarg2, long jarg3);
|
||||
|
||||
Reference in New Issue
Block a user