From 8b8d7e77cd4deaee2de3bdbf90e7c92d1f58cf0f Mon Sep 17 00:00:00 2001
From: Omar Zrien <OZrien@crosstheroadelectronics.com>
Date: Wed, 17 Dec 2014 18:35:00 -0500
Subject: [PATCH] C++ CANTalon was missing SetIzone.  Added SetIzone to match
 java, and made the set/get Izone integral.

Change-Id: I264ac8faaab0ebd208062923f6da2094e7e28b0a
---
 wpilibc/wpilibC++Devices/include/CANTalon.h |  3 ++-
 wpilibc/wpilibC++Devices/src/CANTalon.cpp   | 17 +++++++++++++++--
 2 files changed, 17 insertions(+), 3 deletions(-)

diff --git a/wpilibc/wpilibC++Devices/include/CANTalon.h b/wpilibc/wpilibC++Devices/include/CANTalon.h
index bafeb661e5..838556dd6c 100644
--- a/wpilibc/wpilibC++Devices/include/CANTalon.h
+++ b/wpilibc/wpilibC++Devices/include/CANTalon.h
@@ -52,6 +52,7 @@ public:
 	virtual void SetI(double i) override;
 	virtual void SetD(double d) override;
 	void SetF(double f);
+	void SetIzone(unsigned iz);
 	virtual void SetPID(double p, double i, double d) override;
 	void SetPID(double p, double i, double d, double f);
 	virtual double GetP() override;
@@ -100,7 +101,7 @@ public:
 	void SetSensorDirection(bool reverseSensor);
 	void SetCloseLoopRampRate(double rampRate);
 	void SelectProfileSlot(int slotIdx);
-	double GetIzone();
+	int GetIzone();
 	int GetIaccum();
 	void ClearIaccum();
 
diff --git a/wpilibc/wpilibC++Devices/src/CANTalon.cpp b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
index a377e48fe4..01a0185a40 100644
--- a/wpilibc/wpilibC++Devices/src/CANTalon.cpp
+++ b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
@@ -220,6 +220,19 @@ void CANTalon::SetF(double f)
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
 	}
 }
+/**
+ * Set the Izone to a nonzero value to auto clear the integral accumulator
+ *		when the absolute value of CloseLoopError exceeds Izone.
+ *
+ * @see SelectProfileSlot to choose between the two sets of gains.
+ */
+void CANTalon::SetIzone(unsigned iz)
+{
+  CTR_Code status = m_impl->SetIzone(m_profile, iz);
+	if(status != CTR_OKAY) {
+		wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	}
+}
 /**
  * SRX has two available slots for PID.
  * @param slotIdx one or zero depending on which slot caller wants.
@@ -349,7 +362,7 @@ double CANTalon::GetF()
 /**
  * @see SelectProfileSlot to choose between the two sets of gains.
  */
-double CANTalon::GetIzone()
+int CANTalon::GetIzone()
 {
   CanTalonSRX::param_t param = m_profile ? CanTalonSRX::eProfileParamSlot1_IZone: CanTalonSRX::eProfileParamSlot0_IZone;
  // Update the info in m_impl.
@@ -364,7 +377,7 @@ double CANTalon::GetIzone()
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
 	}
-	return (double)iz;
+	return iz;
 }
 
 /**