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Merge "Fixed CANJaguar::GetOutputVoltage for negative voltages"

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This commit is contained in:
Jonathan Leitschuh (WPI)
2014-07-29 12:48:56 -07:00
committed by Gerrit Code Review
parent 92bd697417 ed0df5432f
commit 65607b5bc1
2 changed files with 4 additions and 4 deletions
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4
wpilibc/wpilibC++/lib/CANJaguar.cpp
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@@ -539,7 +539,7 @@ void CANJaguar::setupPeriodicStatus() {
// temperature.
static const uint8_t kMessage0Data[] = {
LM_PSTAT_VOLTBUS_B0, LM_PSTAT_VOLTBUS_B1,
LM_PSTAT_VOUT_B0, LM_PSTAT_VOUT_B1,
LM_PSTAT_VOLTOUT_B0, LM_PSTAT_VOLTOUT_B1,
LM_PSTAT_CURRENT_B0, LM_PSTAT_CURRENT_B1,
LM_PSTAT_TEMP_B0, LM_PSTAT_TEMP_B1
};
@@ -579,7 +579,7 @@ void CANJaguar::updatePeriodicStatus() {
// has arrived and unpack the values into the cached member variables
if(getMessage(LM_API_PSTAT_DATA_S0, CAN_MSGID_FULL_M, data, &dataSize)) {
m_busVoltage = unpackFXP8_8(data);
m_outputVoltage = unpackFXP8_8(data + 2);
m_outputVoltage = unpackPercentage(data + 2) * m_busVoltage;
m_outputCurrent = unpackFXP8_8(data + 4);
m_temperature = unpackFXP8_8(data + 6);

4
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
View File

@@ -1885,7 +1885,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
// temperature.
final byte[] kMessage0Data = new byte[] {
CANJNI.LM_PSTAT_VOLTBUS_B0, CANJNI.LM_PSTAT_VOLTBUS_B1,
CANJNI.LM_PSTAT_VOUT_B0, CANJNI.LM_PSTAT_VOUT_B1,
CANJNI.LM_PSTAT_VOLTOUT_B0, CANJNI.LM_PSTAT_VOLTOUT_B1,
CANJNI.LM_PSTAT_CURRENT_B0, CANJNI.LM_PSTAT_CURRENT_B1,
CANJNI.LM_PSTAT_TEMP_B0, CANJNI.LM_PSTAT_TEMP_B1
};
@@ -1932,7 +1932,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
getMessage(CANJNI.LM_API_PSTAT_DATA_S0, CANJNI.CAN_MSGID_FULL_M, data);
m_busVoltage = unpackFXP8_8(new byte[] { data[0], data[1] });
m_outputVoltage = unpackFXP8_8(new byte[] { data[2], data[3] });
m_outputVoltage = unpackPercentage(new byte[] { data[2], data[3] }) * m_busVoltage;
m_outputCurrent = unpackFXP8_8(new byte[] { data[4], data[5] });
m_temperature = unpackFXP8_8(new byte[] { data[6], data[7] });