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CANTalon throttle works.

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Fleshed out CANTalon interface; it currently works just to write a
throttle. The firmware doesn't fully support everything yet, so we are
still significantly limited.

Change-Id: I2868c4c168a8cb42cda754589777beef31ffd354
This commit is contained in:
James Kuszmaul
2014-11-14 15:18:40 -05:00
parent 9050ea7e3d
commit 9be6ee4712
6 changed files with 150 additions and 35 deletions
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13
wpilibc/wpilibC++Devices/src/CANJaguar.cpp
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@@ -343,6 +343,7 @@ void CANJaguar::Set(float outputValue, uint8_t syncGroup)
}
break;
default:
wpi_setWPIErrorWithContext(IncompatibleMode, "The Jaguar only supports Current, Voltage, Position, Speed, and Percent (throttle) modes.");
return;
}
if (syncGroup != 0)
@@ -1158,6 +1159,9 @@ void CANJaguar::SetP(double p)
dataSize = packFXP16_16(dataBuffer, p);
sendMessage(LM_API_ICTRL_PC, dataBuffer, dataSize);
break;
default:
wpi_setWPIErrorWithContext(IncompatibleMode, "PID constants only apply in Speed, Position, and Current mode");
break;
}
m_p = p;
@@ -1192,6 +1196,9 @@ void CANJaguar::SetI(double i)
dataSize = packFXP16_16(dataBuffer, i);
sendMessage(LM_API_ICTRL_IC, dataBuffer, dataSize);
break;
default:
wpi_setWPIErrorWithContext(IncompatibleMode, "PID constants only apply in Speed, Position, and Current mode");
break;
}
m_i = i;
@@ -1226,6 +1233,9 @@ void CANJaguar::SetD(double d)
dataSize = packFXP16_16(dataBuffer, d);
sendMessage(LM_API_ICTRL_DC, dataBuffer, dataSize);
break;
default:
wpi_setWPIErrorWithContext(IncompatibleMode, "PID constants only apply in Speed, Position, and Current mode");
return;
}
m_d = d;
@@ -1313,6 +1323,9 @@ void CANJaguar::EnableControl(double encoderInitialPosition)
case kVoltage:
sendMessage(LM_API_VCOMP_T_EN, dataBuffer, dataSize);
break;
default:
wpi_setWPIErrorWithContext(IncompatibleMode, "The Jaguar only supports Current, Voltage, Position, Speed, and Percent (throttle) modes.");
break;
}
m_controlEnabled = true;