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C++ CANTalon was missing SetIzone. Added SetIzone to match java, and made the set/get Izone integral.

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Change-Id: I264ac8faaab0ebd208062923f6da2094e7e28b0a
This commit is contained in:
Omar Zrien
2014-12-17 18:35:00 -05:00
committed by James Kuszmaul
parent a1375e58cd
commit 8b8d7e77cd
2 changed files with 17 additions and 3 deletions
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3
wpilibc/wpilibC++Devices/include/CANTalon.h
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@@ -52,6 +52,7 @@ public:
virtual void SetI(double i) override; virtual void SetI(double i) override;
virtual void SetD(double d) override; virtual void SetD(double d) override;
void SetF(double f); void SetF(double f);
void SetIzone(unsigned iz);
virtual void SetPID(double p, double i, double d) override; virtual void SetPID(double p, double i, double d) override;
void SetPID(double p, double i, double d, double f); void SetPID(double p, double i, double d, double f);
virtual double GetP() override; virtual double GetP() override;
@@ -100,7 +101,7 @@ public:
void SetSensorDirection(bool reverseSensor); void SetSensorDirection(bool reverseSensor);
void SetCloseLoopRampRate(double rampRate); void SetCloseLoopRampRate(double rampRate);
void SelectProfileSlot(int slotIdx); void SelectProfileSlot(int slotIdx);
double GetIzone(); int GetIzone();
int GetIaccum(); int GetIaccum();
void ClearIaccum(); void ClearIaccum();

17
wpilibc/wpilibC++Devices/src/CANTalon.cpp
View File

@@ -220,6 +220,19 @@ void CANTalon::SetF(double f)
wpi_setErrorWithContext(status, getHALErrorMessage(status)); 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. * SRX has two available slots for PID.
* @param slotIdx one or zero depending on which slot caller wants. * @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. * @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; CanTalonSRX::param_t param = m_profile ? CanTalonSRX::eProfileParamSlot1_IZone: CanTalonSRX::eProfileParamSlot0_IZone;
// Update the info in m_impl. // Update the info in m_impl.
@@ -364,7 +377,7 @@ double CANTalon::GetIzone()
if(status != CTR_OKAY) { if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status)); wpi_setErrorWithContext(status, getHALErrorMessage(status));
} }
return (double)iz; return iz;
} }
/** /**