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Fixed issue in setting CANTalon values.

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Used to be that if you called Set less than ~20 ms after changing the
mode, potentially unwanted behavior could ensue.

Change-Id: I27cb3603286d8fddd894649787d88c0446b00615
This commit is contained in:
James Kuszmaul
2014-12-06 16:06:15 -05:00
parent 9056edf932
commit 709a88ad68
3 changed files with 23 additions and 56 deletions
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20
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
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@@ -103,10 +103,8 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
* @param outputValue The setpoint value, as described above.
*/
public void set(double outputValue) {
//System.out.println("Enabled: " + m_controlEnabled + " Mode: " + m_controlMode);
m_controlMode = ControlMode.PercentVbus;
if (m_controlEnabled) {
switch (getControlMode()) {
switch (m_controlMode) {
case PercentVbus:
m_impl.Set(outputValue);
break;
@@ -127,8 +125,8 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
default:
break;
}
m_impl.SetModeSelect(m_controlMode.value);
}
//System.out.println("Enabled: " + m_controlEnabled + " Mode: " + m_controlMode);
}
/**
@@ -316,21 +314,13 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
}
public ControlMode getControlMode() {
long tempp = CanTalonJNI.new_intp();
m_impl.GetModeSelect(new SWIGTYPE_p_int(tempp, true));
ControlMode mode = ControlMode.valueOf(CanTalonJNI.intp_value(tempp));
if (mode == ControlMode.Disabled) {
m_controlEnabled = false;
}
else {
m_controlMode = mode;
}
return mode;
return m_controlMode;
}
public void changeControlMode(ControlMode controlMode) {
m_controlMode = controlMode;
m_impl.SetModeSelect(controlMode.value);
// Disable until set() is called.
m_impl.SetModeSelect(ControlMode.Disabled.value);
}
public void setFeedbackDevice(FeedbackDevice device) {