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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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36
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
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@@ -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))) {