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Merge "Fixes CAN devices in C++ library not showing in the livewindow"

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This commit is contained in:
Peter Johnson (294)
2016-01-04 12:08:49 -08:00
committed by Gerrit Code Review
parent 932ec8e302 1c6fe85a7b
commit 5976baec02
3 changed files with 2 additions and 15 deletions
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13
wpilibc/Athena/include/CANSpeedController.h
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@@ -24,19 +24,6 @@ class CANSpeedController : public SpeedController {
kMotionProfile = 6, // Not supported in Jaguar.
};
// Helper function for the ControlMode enum
std::string GetModeName(ControlMode mode) {
switch(mode) {
case kPercentVbus: return "PercentVbus";
case kCurrent: return "Current";
case kSpeed: return "Speed";
case kPosition: return "Position";
case kVoltage: return "Voltage";
case kFollower: return "Follower";
default: return "[unknown control mode]";
}
}
// Helper function for the ControlMode enum
virtual bool IsModePID(ControlMode mode) const = 0;

2
wpilibc/Athena/src/CANJaguar.cpp
View File

@@ -1981,7 +1981,7 @@ void CANJaguar::UpdateTable() {
if (m_table != nullptr) {
m_table->PutString("~TYPE~", "CANSpeedController");
m_table->PutString("Type", "CANJaguar");
m_table->PutString("Mode", GetModeName(m_controlMode));
m_table->PutNumber("Mode", m_controlMode);
if (IsModePID(m_controlMode)) {
m_table->PutNumber("p", GetP());
m_table->PutNumber("i", GetI());

2
wpilibc/Athena/src/CANTalon.cpp
View File

@@ -1852,7 +1852,7 @@ void CANTalon::UpdateTable() {
if (m_table != nullptr) {
m_table->PutString("~TYPE~", "CANSpeedController");
m_table->PutString("Type", "CANTalon");
m_table->PutString("Mode", GetModeName(m_controlMode));
m_table->PutNumber("Mode", m_controlMode);
m_table->PutNumber("p", GetP());
m_table->PutNumber("i", GetI());
m_table->PutNumber("d", GetD());