From 880eae14247bcc83f5f1d4174e96aeac6b7fa89f Mon Sep 17 00:00:00 2001
From: Brian Silverman <bsilver16384+wpilib@gmail.com>
Date: Sat, 10 Jan 2015 22:07:27 -0800
Subject: [PATCH] don't use uninitialized variables

Change-Id: I9869c3bf64f00ddff641e5dc06b16179c3b3ce2f
---
 wpilibc/wpilibC++Devices/src/CANJaguar.cpp | 12 ++++++++++++
 wpilibc/wpilibC++Devices/src/CANTalon.cpp  | 18 +++++++++---------
 2 files changed, 21 insertions(+), 9 deletions(-)

diff --git a/wpilibc/wpilibC++Devices/src/CANJaguar.cpp b/wpilibc/wpilibC++Devices/src/CANJaguar.cpp
index ba49138cb7..4017fd7d5b 100644
--- a/wpilibc/wpilibC++Devices/src/CANJaguar.cpp
+++ b/wpilibc/wpilibC++Devices/src/CANJaguar.cpp
@@ -760,6 +760,10 @@ void CANJaguar::verify()
 			message = LM_API_POS_PC;
 		else if(m_controlMode == kCurrent)
 			message = LM_API_ICTRL_PC;
+		else {
+			wpi_setWPIErrorWithContext(IncompatibleMode, "PID constants only apply in Speed, Position, and Current mode");
+			return;
+		}
 
 		if(getMessage(message, CAN_MSGID_FULL_M, dataBuffer, &dataSize))
 		{
@@ -788,6 +792,10 @@ void CANJaguar::verify()
 			message = LM_API_POS_IC;
 		else if(m_controlMode == kCurrent)
 			message = LM_API_ICTRL_IC;
+		else {
+			wpi_setWPIErrorWithContext(IncompatibleMode, "PID constants only apply in Speed, Position, and Current mode");
+			return;
+		}
 
 		if(getMessage(message, CAN_MSGID_FULL_M, dataBuffer, &dataSize))
 		{
@@ -816,6 +824,10 @@ void CANJaguar::verify()
 			message = LM_API_POS_DC;
 		else if(m_controlMode == kCurrent)
 			message = LM_API_ICTRL_DC;
+    else {
+		  wpi_setWPIErrorWithContext(IncompatibleMode, "PID constants only apply in Speed, Position, and Current mode");
+      return;
+    }
 
 		if(getMessage(message, CAN_MSGID_FULL_M, dataBuffer, &dataSize))
 		{
diff --git a/wpilibc/wpilibC++Devices/src/CANTalon.cpp b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
index f79a218b9c..8cfcf11ce0 100644
--- a/wpilibc/wpilibC++Devices/src/CANTalon.cpp
+++ b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
@@ -117,7 +117,7 @@ void CANTalon::Set(float value, uint8_t syncGroup)
   m_safetyHelper->Feed();
   if(m_controlEnabled) {
     m_setPoint = value;
-    CTR_Code status;
+    CTR_Code status = CTR_OKAY;
     switch(m_controlMode) {
       case CANSpeedController::kPercentVbus:
         {
@@ -730,7 +730,7 @@ bool CANTalon::GetForwardLimitOK()
 {
 	int limSwit=0;
 	int softLim=0;
-	CTR_Code status;
+	CTR_Code status = CTR_OKAY;
 	status = m_impl->GetFault_ForSoftLim(softLim);
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -750,7 +750,7 @@ bool CANTalon::GetReverseLimitOK()
 {
 	int limSwit=0;
 	int softLim=0;
-	CTR_Code status;
+	CTR_Code status = CTR_OKAY;
 	status = m_impl->GetFault_RevSoftLim(softLim);
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -770,7 +770,7 @@ uint16_t CANTalon::GetFaults()
 {
 	uint16_t retval = 0;
 	int val;
-	CTR_Code status;
+	CTR_Code status = CTR_OKAY;
 
 	/* temperature */
 	val = 0;
@@ -820,7 +820,7 @@ uint16_t CANTalon::GetStickyFaults()
 {
 	uint16_t retval = 0;
 	int val;
-	CTR_Code status;
+	CTR_Code status = CTR_OKAY;
 
 	/* temperature */
 	val = 0;
@@ -962,7 +962,7 @@ void CANTalon::ClearIaccum()
  */
 void CANTalon::ConfigNeutralMode(NeutralMode mode)
 {
-	CTR_Code status;
+	CTR_Code status = CTR_OKAY;
 	switch(mode){
 		default:
 		case kNeutralMode_Jumper: /* use default setting in flash based on webdash/BrakeCal button selection */
@@ -1032,7 +1032,7 @@ void CANTalon::DisableSoftPositionLimits()
  */
 void CANTalon::ConfigLimitMode(LimitMode mode)
 {
-	CTR_Code status;
+	CTR_Code status = CTR_OKAY;
 	switch(mode){
 		case kLimitMode_SwitchInputsOnly: 	/** Only use switches for limits */
 			/* turn OFF both limits. SRX has individual enables and polarity for each limit switch.*/
@@ -1091,7 +1091,7 @@ void CANTalon::ConfigLimitMode(LimitMode mode)
  */
 void CANTalon::ConfigForwardLimit(double forwardLimitPosition)
 {
-	CTR_Code status;
+	CTR_Code status = CTR_OKAY;
 	status = m_impl->SetForwardSoftLimit(forwardLimitPosition);
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -1136,7 +1136,7 @@ void CANTalon::ConfigRevLimitSwitchNormallyOpen(bool normallyOpen)
  */
 void CANTalon::ConfigReverseLimit(double reverseLimitPosition)
 {
-	CTR_Code status;
+	CTR_Code status = CTR_OKAY;
 	status = m_impl->SetReverseSoftLimit(reverseLimitPosition);
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));