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Two param constructor added to C++/java CANTalon so caller can optionally specify the periodMs at which the talon control frame is sent.

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The param is capped in the HAL C++ class to [1ms, 95ms] so that zero and negative periods are caped to 1ms, and so that caller can't pass an absurdly large value, which causes TALON is appear disabled.

Change-Id: I4207194be25a33bbd6ad281a75301ce6684659a5
This commit is contained in:
Omar Zrien
2014-12-14 17:09:52 -05:00
parent 77997e52fb
commit 6a7e7cf611
4 changed files with 34 additions and 1 deletions
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5
hal/lib/Athena/ctre/CanTalonSRX.cpp
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@@ -242,6 +242,11 @@ typedef struct _TALON_Param_Response_t {
CanTalonSRX::CanTalonSRX(int deviceNumber,int controlPeriodMs): CtreCanNode(deviceNumber), _can_h(0), _can_stat(0)
{
/* bound period to be within [1 ms,95 ms] */
if(controlPeriodMs < 1)
controlPeriodMs = 1;
else if(controlPeriodMs > 95)
controlPeriodMs = 95;
RegisterRx(STATUS_1 | (UINT8)deviceNumber );
RegisterRx(STATUS_2 | (UINT8)deviceNumber );
RegisterRx(STATUS_3 | (UINT8)deviceNumber );