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Merge "Change Periodic Status rate to 20ms. Jaguar firmware v109 fixes issue with periodic status sending."

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This commit is contained in:
Brad Miller (WPI)
2014-12-05 11:49:52 -08:00
committed by Gerrit Code Review
parent c57d01af94 2bb0a32c15
commit 88a043bda4
2 changed files with 2 additions and 2 deletions
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2
wpilibc/wpilibC++Devices/src/CANJaguar.cpp
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@@ -566,7 +566,7 @@ void CANJaguar::setupPeriodicStatus() {
LM_PSTAT_END
};
dataSize = packint16_t(data, kSendMessagePeriod / 10);
dataSize = packint16_t(data, kSendMessagePeriod);
sendMessage(LM_API_PSTAT_PER_EN_S0, data, dataSize);
sendMessage(LM_API_PSTAT_PER_EN_S1, data, dataSize);
sendMessage(LM_API_PSTAT_PER_EN_S2, data, dataSize);

2
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
View File

@@ -1928,7 +1928,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
(byte)0,
};
dataSize = packINT16(data, (short)(kSendMessagePeriod / 10));
dataSize = packINT16(data, (short)(kSendMessagePeriod));
sendMessage(CANJNI.LM_API_PSTAT_PER_EN_S0, data, dataSize);
sendMessage(CANJNI.LM_API_PSTAT_PER_EN_S1, data, dataSize);
sendMessage(CANJNI.LM_API_PSTAT_PER_EN_S2, data, dataSize);