Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-22 01:11:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Added Omar's new CanTalonSRX code.

Browse Source 
I also updated the C++ and Java code some. For C++, this meant making it
compile and adding in the framework for the closed-loop control of the
motor. For Java, I updated the JNI bindings with SWIG and created an
GetTemperature accessor function to demonstrate how to use the accessors
because swig does funny stuff with pass-by-reference functions.

Change-Id: If51bf61d0a9bc65a8d497f8d91a5be8d6ff4fdcc
This commit is contained in:
James Kuszmaul
2014-11-26 15:15:52 -05:00
parent 6ec2d262c8
commit 7b371f6d7c
25 changed files with 3636 additions and 270 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CANTalonTest.java
View File

@@ -19,6 +19,8 @@ import edu.wpi.first.wpilibj.fixtures.SampleFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.hal.CanTalonSRX;
import edu.wpi.first.wpilibj.hal.CanTalonJNI;
import edu.wpi.first.wpilibj.hal.SWIGTYPE_p_double;
/**
* Basic test (borrowed straight from SampleTest) for running the CAN TalonSRX.
@@ -61,6 +63,9 @@ public class CANTalonTest extends AbstractComsSetup {
talon.SetModeSelect(0);
// Set Talon to 50% forwards throttle.
talon.Set(0.5);
long currentp = CanTalonJNI.new_doublep();//new SWIGTYPE_p_double(, true);
talon.GetTemp(new SWIGTYPE_p_double(currentp, true));
System.out.println(CanTalonJNI.doublep_value(currentp));
Timer.delay(1.5);
// Turn Talon off.
talon.Set(0.0);
@@ -70,6 +75,7 @@ public class CANTalonTest extends AbstractComsSetup {
CANTalon tal = new CANTalon(0);
tal.enableControl();
tal.set(0.5);
System.out.println(tal.getTemp());
Timer.delay(1.0);
tal.disable();
}