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Synchronize CANTalon documentation between languages.

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Still lots of documentation needed.

Change-Id: I122d00fb0f4a9f57f3d479749ec02b2249856d2b
This commit is contained in:
Joe Ross
2014-12-31 19:18:52 -08:00
parent 359a155915
commit 79fbbbc0dd
2 changed files with 82 additions and 28 deletions
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74
wpilibc/wpilibC++Devices/src/CANTalon.cpp
View File

@@ -66,9 +66,16 @@ void CANTalon::PIDWrite(float output)
}
}
/**
* TODO documentation (see CANJaguar.cpp)
*/
/**
* Gets the current status of the Talon (usually a sensor value).
*
* In Current mode: returns output current.
* In Speed mode: returns current speed.
* In Position mode: returns current sensor position.
* In PercentVbus and Follower modes: returns current applied throttle.
*
* @return The current sensor value of the Talon.
*/
float CANTalon::Get()
{
int value;
@@ -94,11 +101,12 @@ float CANTalon::Get()
* Sets the appropriate output on the talon, depending on the mode.
*
* In PercentVbus, the output is between -1.0 and 1.0, with 0.0 as stopped.
* In Voltage mode, outputValue is in volts.
* In Current mode, outputValue is in amperes.
* In Speed mode, outputValue is in position change / 10ms.
* In Position mode, outputValue is in encoder ticks or an analog value,
* In Voltage mode, output value is in volts.
* In Current mode, output value is in amperes.
* In Speed mode, output value is in position change / 10ms.
* In Position mode, output value is in encoder ticks or an analog value,
* depending on the sensor.
* In Follower mode, the output value is the integer device ID of the talon to duplicate.
*
* @param outputValue The setpoint value, as described above.
* @see SelectProfileSlot to choose between the two sets of gains.
@@ -188,10 +196,12 @@ void CANTalon::SetP(double p)
}
}
/**
* TODO documentation (see CANJaguar.cpp)
* @see SelectProfileSlot to choose between the two sets of gains.
*/
/**
* Set the integration constant of the currently selected profile.
*
* @param i Integration constant for the currently selected PID profile.
* @see SelectProfileSlot to choose between the two sets of gains.
*/
void CANTalon::SetI(double i)
{
CTR_Code status = m_impl->SetIgain(m_profile, i);
@@ -201,7 +211,9 @@ void CANTalon::SetI(double i)
}
/**
* TODO documentation (see CANJaguar.cpp)
* Set the derivative constant of the currently selected profile.
*
* @param d Derivative constant for the currently selected PID profile.
* @see SelectProfileSlot to choose between the two sets of gains.
*/
void CANTalon::SetD(double d)
@@ -212,7 +224,9 @@ void CANTalon::SetD(double d)
}
}
/**
* Set the feedforward value of the currently selected profile.
*
* @param f Feedforward constant for the currently selected PID profile.
* @see SelectProfileSlot to choose between the two sets of gains.
*/
void CANTalon::SetF(double f)
@@ -248,7 +262,11 @@ void CANTalon::SelectProfileSlot(int slotIdx)
}
}
/**
* TODO documentation (see CANJaguar.cpp)
* Sets control values for closed loop control.
*
* @param p Proportional constant.
* @param i Integration constant.
* @param d Differential constant.
* This function does not modify F-gain. Considerable passing a zero for f using
* the four-parameter function.
*/
@@ -258,6 +276,14 @@ void CANTalon::SetPID(double p, double i, double d)
SetI(i);
SetD(d);
}
/**
* Sets control values for closed loop control.
*
* @param p Proportional constant.
* @param i Integration constant.
* @param d Differential constant.
* @param f Feedforward constant.
*/
void CANTalon::SetPID(double p, double i, double d, double f)
{
SetP(p);
@@ -287,7 +313,9 @@ void CANTalon::SetStatusFrameRateMs(StatusFrameRate stateFrame, int periodMs)
}
/**
* TODO documentation (see CANJaguar.cpp)
* Get the current proportional constant.
*
* @return double proportional constant for current profile.
* @see SelectProfileSlot to choose between the two sets of gains.
*/
double CANTalon::GetP()
@@ -402,7 +430,7 @@ double CANTalon::GetSetpoint() {
/**
* Returns the voltage coming in from the battery.
*
* @return The input voltage in vols.
* @return The input voltage in volts.
*/
float CANTalon::GetBusVoltage()
{
@@ -415,7 +443,7 @@ float CANTalon::GetBusVoltage()
}
/**
* TODO documentation (see CANJaguar.cpp)
* @return The voltage being output by the Talon, in Volts.
*/
float CANTalon::GetOutputVoltage()
{
@@ -430,7 +458,7 @@ float CANTalon::GetOutputVoltage()
/**
* TODO documentation (see CANJaguar.cpp)
* Returns the current going through the Talon, in Amperes.
*/
float CANTalon::GetOutputCurrent()
{
@@ -444,9 +472,9 @@ float CANTalon::GetOutputCurrent()
return current;
}
/**
* TODO documentation (see CANJaguar.cpp)
*/
/**
* Returns temperature of Talon, in degrees Celsius.
*/
float CANTalon::GetTemperature()
{
double temp;
@@ -965,7 +993,7 @@ int CANTalon::GetBrakeEnableDuringNeutral()
return brakeEn;
}
/**
* TODO documentation (see CANJaguar.cpp)
* @deprecated not implemented
*/
void CANTalon::ConfigEncoderCodesPerRev(uint16_t codesPerRev)
{
@@ -973,7 +1001,7 @@ void CANTalon::ConfigEncoderCodesPerRev(uint16_t codesPerRev)
}
/**
* TODO documentation (see CANJaguar.cpp)
* @deprecated not implemented
*/
void CANTalon::ConfigPotentiometerTurns(uint16_t turns)
{
@@ -981,7 +1009,7 @@ void CANTalon::ConfigPotentiometerTurns(uint16_t turns)
}
/**
* TODO documentation (see CANJaguar.cpp)
* @deprecated not implemented
*/
void CANTalon::ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition)
{

36
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
View File

@@ -202,8 +202,8 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
*
* In Current mode: returns output current.
* In Speed mode: returns current speed.
* In Position omde: returns current sensor position.
* In Throttle and Follower modes: returns current applied throttle.
* In Position mode: returns current sensor position.
* In PercentVbus and Follower modes: returns current applied throttle.
*
* @return The current sensor value of the Talon.
*/
@@ -358,14 +358,18 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
m_impl.GetBrakeIsEnabled(swigp);
return (CanTalonJNI.intp_value(valuep)==0) ? false : true;
}
// Returns temperature of Talon, in degrees Celsius.
/**
* Returns temperature of Talon, in degrees Celsius.
*/
public double getTemp() {
long tempp = CanTalonJNI.new_doublep(); // Create a new swig pointer.
m_impl.GetTemp(new SWIGTYPE_p_double(tempp, true));
return CanTalonJNI.doublep_value(tempp);
}
// Returns the current going through the Talon, in Amperes.
/**
* Returns the current going through the Talon, in Amperes.
*/
public double getOutputCurrent() {
long curp = CanTalonJNI.new_doublep(); // Create a new swig pointer.
m_impl.GetCurrent(new SWIGTYPE_p_double(curp, true));
@@ -398,6 +402,14 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
return CanTalonJNI.doublep_value(voltagep);
}
/**
* TODO documentation (see CANJaguar.java)
*
* @return The position of the sensor currently providing feedback.
* When using analog sensors, 0 units corresponds to 0V, 1023 units corresponds to 3.3V
* When using an analog encoder (wrapping around 1023 to 0 is possible) the units are still 3.3V per 1023 units.
* When using quadrature, each unit is a quadrature edge (4X) mode.
*/
public double getPosition() {
long positionp = CanTalonJNI.new_intp();
m_impl.GetSensorPosition(new SWIGTYPE_p_int(positionp, true));
@@ -408,6 +420,21 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
m_impl.SetSensorPosition((int)pos);
}
/**
* TODO documentation (see CANJaguar.java)
*
* @return The speed of the sensor currently providing feedback.
*
* The speed units will be in the sensor's native ticks per 100ms.
*
* For analog sensors, 3.3V corresponds to 1023 units.
* So a speed of 200 equates to ~0.645 dV per 100ms or 6.451 dV per second.
* If this is an analog encoder, that likely means 1.9548 rotations per sec.
* For quadrature encoders, each unit corresponds a quadrature edge (4X).
* So a 250 count encoder will produce 1000 edge events per rotation.
* An example speed of 200 would then equate to 20% of a rotation per 100ms,
* or 10 rotations per second.
*/
public double getSpeed() {
long speedp = CanTalonJNI.new_intp();
m_impl.GetSensorVelocity(new SWIGTYPE_p_int(speedp, true));
@@ -462,7 +489,6 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
* Get the current proportional constant.
*
* @return double proportional constant for current profile.
* @throws IllegalStateException if not in Position of Speed mode.
*/
public double getP() {
//if(!(m_controlMode.equals(ControlMode.Position) || m_controlMode.equals(ControlMode.Speed))) {