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Add new CTRE classes and update PDP tests

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Change-Id: I489091c5b8b0f1f9890e5104bf01e40ae53cf6ce
This commit is contained in:
Thomas Clark
2014-08-18 10:32:26 -04:00
parent c82a94b268
commit 687bc44ae5
4 changed files with 69 additions and 79 deletions
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6
hal/lib/Athena/ctre/PCM.cpp
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@@ -216,7 +216,7 @@ CTR_Code PCM::GetCompressorCurrent(float &status)
uint32_t temp =(rx->compressorCurrentTop6);
temp <<= 4;
temp |= rx->compressorCurrentBtm4;
status = 20.1612903225806 * temp;
status = temp * 0.03125; /* 5.5 fixed pt value in Amps */
return rx.err;
}
@@ -230,7 +230,7 @@ CTR_Code PCM::GetSolenoidVoltage(float &status)
uint32_t raw =(rx->solenoidVoltageTop8);
raw <<= 2;
raw |= rx->solenoidVoltageBtm2;
status = (double) raw * 24.7800586510264 / 1000;
status = (double) raw * 0.03125; /* 5.5 fixed pt value in Volts */
return rx.err;
}
@@ -297,7 +297,7 @@ CTR_Code PCM::GetSolenoidStickyFault(bool &status)
CTR_Code PCM::GetBatteryVoltage(float &status)
{
GET_PCM_STATUS();
status = (float)rx->battVoltage * ((59.0420332355816) / 1000.0);;
status = (float)rx->battVoltage * 0.05 + 4.0; /* 50mV per unit plus 4V. */
return rx.err;
}
/* Return status of module enable/disable