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[wpilib] Fix multiple motor safety issues (#4784)

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Java was missing the motor safety thread entirely
C++ accidentally used a manual reset event, causing the motor safety thread to spin.
C++ PWMMotorController would not feed the watch kitty.
Both languages would call feed() from the StopMotor call, causing some ping ponging.
This commit is contained in:
Thad House
2022-12-08 19:47:47 -08:00
committed by GitHub
parent 989c9fb29a
commit 69a66ec5ec
5 changed files with 50 additions and 4 deletions
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2
wpilibc/src/main/native/cpp/MotorSafety.cpp
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@@ -24,7 +24,7 @@ class Thread : public wpi::SafeThread {
};
void Thread::Main() {
wpi::Event event{true, false};
wpi::Event event{false, false};
HAL_ProvideNewDataEventHandle(event.GetHandle());
int safetyCounter = 0;

4
wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
View File

@@ -12,6 +12,7 @@ using namespace frc;
void PWMMotorController::Set(double speed) {
m_pwm.SetSpeed(m_isInverted ? -speed : speed);
Feed();
}
double PWMMotorController::Get() const {
@@ -31,7 +32,8 @@ void PWMMotorController::Disable() {
}
void PWMMotorController::StopMotor() {
Set(0);
// Don't use Set(0) as that will feed the watch kitty
m_pwm.SetSpeed(0);
}
std::string PWMMotorController::GetDescription() const {