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Added Omar's changes to the compressor interface

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Change-Id: Iff22b0eaa319065b06795b381c4d6072f8087da8
This commit is contained in:
thomasclark
2014-06-12 12:43:03 -04:00
parent 5d646536fb
commit 8d5c67e6aa
8 changed files with 270 additions and 405 deletions
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37
hal/lib/Athena/ctre/PCM.cpp
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@@ -93,19 +93,6 @@ CTR_Code PCM::SetClosedLoopControl(bool en) {
return CTR_OKAY;
}
/* Set Compressor state
*
* @Return - void
*
* @Param - en - Enable / Disable compressor
*/
CTR_Code PCM::SetCompressor(bool en) {
_PcmControl.compressorOn = en;
if (GetTimeSinceLastTx() >= 50)
return CTR_TxTimeout;
return CTR_OKAY;
}
/* Get solenoid state
*
* @Return - True/False - True if solenoid enabled, false otherwise
@@ -158,21 +145,10 @@ CTR_Code PCM::GetClosedLoopControl(bool &status) {
* @Return - Amperes - Compressor current
*/
CTR_Code PCM::GetCompressorCurrent(float &status) {
uint8_t bt = _PcmStatus.compressorCurrentTop6;
uint16_t bt = _PcmStatus.compressorCurrentTop6;
bt <<= 4;
bt |= _PcmStatus.compressorCurrentBtm4;
status = 20.1612903225806 * bt;
if (GetTimeSinceLastRx() >= 50)
return CTR_RxTimeout;
return CTR_OKAY;
}
/* Get suggested compressor state determined by Closed Loop logic
*
* @Return - True/False - True if closed loop suggests enabling compressor, false if otherwise
*/
CTR_Code PCM::GetClosedLoopSuggestedOutput(bool &status) {
status = _PcmStatus.closedLoopOutput;
status = 0.0201612903225806 * bt;
if (GetTimeSinceLastRx() >= 50)
return CTR_RxTimeout;
return CTR_OKAY;
@@ -409,9 +385,6 @@ extern "C" {
CTR_Code c_SetSolenoid(void * handle, unsigned char idx, INT8 param) {
return ((PCM*) handle)->SetSolenoid(idx, param);
}
CTR_Code c_SetCompressor(void * handle, INT8 param) {
return ((PCM*) handle)->SetCompressor(param);
}
CTR_Code c_SetClosedLoopControl(void * handle, INT8 param) {
return ((PCM*) handle)->SetClosedLoopControl(param);
}
@@ -446,12 +419,6 @@ extern "C" {
CTR_Code retval = ((PCM*) handle)->GetCompressorCurrent(*status);
return retval;
}
CTR_Code c_GetClosedLoopSuggestedOutput(void * handle, INT8 * status) {
bool bstatus;
CTR_Code retval = ((PCM*) handle)->GetClosedLoopSuggestedOutput(bstatus);
*status = bstatus;
return retval;
}
CTR_Code c_GetSolenoidVoltage(void * handle, float*status) {
return ((PCM*) handle)->GetSolenoidVoltage(*status);