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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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140
wpilibc/wpilibC++Devices/src/CANTalon.cpp
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@@ -8,6 +8,12 @@
#include "WPIErrors.h"
#include "ctre/CanTalonSRX.h"
/**
* The CANTalon object is currently incomplete. As of Nov 14 2014, we only know
* for sure that sending a throttle and checking basic values (eg current,
* temperature) work.
*/
/**
* Constructor for the CANTalon device.
* @param deviceNumber The CAN ID of the Talon SRX
@@ -16,6 +22,8 @@ CANTalon::CANTalon(uint8_t deviceNumber)
: m_deviceNumber(deviceNumber)
, m_impl(new CanTalonSRX(deviceNumber))
, m_safetyHelper(new MotorSafetyHelper(this))
, m_controlEnabled(false)
, m_controlMode(kPercentVbus)
{
}
@@ -48,16 +56,43 @@ void CANTalon::PIDWrite(float output)
*/
float CANTalon::Get()
{
// TODO
return 0.0f;
return 0.0f;
}
/**
* TODO documentation (see CANJaguar.cpp)
* Sets the output set-point value.
*/
void CANTalon::Set(float value, uint8_t syncGroup)
{
// TODO
if(m_controlEnabled) {
CTR_Code status;
switch(GetControlMode()) {
case kPercentVbus:
{
m_impl->Set(value);
status = CTR_OKAY;
}
break;
case kFollower:
{
status = m_impl->SetDemand24((int)value);
}
break;
case kVoltage:
{
// Voltage is an 8.8 fixed point number.
int volts = int(value * 256);
status = m_impl->SetDemand24(volts);
}
default:
// TODO: Add support for other modes. Need to figure out what format
// SetDemand24 needs.
break;
}
if (status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
}
/**
@@ -65,7 +100,18 @@ void CANTalon::Set(float value, uint8_t syncGroup)
*/
void CANTalon::Disable()
{
// TODO
// Until Modes other than throttle work, just disable by setting throttle to 0.0.
m_impl->Set(0.0); // TODO when firmware is updated, remove this.
//m_impl->SetModeSelect(kDisabled); // TODO when firmware is updated, uncomment this.
m_controlEnabled = false;
}
/**
* TODO documentation (see CANJaguar.cpp)
*/
void CANTalon::EnableControl() {
SetControlMode(m_controlMode);
m_controlEnabled = true;
}
/**
@@ -130,12 +176,18 @@ double CANTalon::GetD()
}
/**
* TODO documentation (see CANJaguar.cpp)
* Returns the voltage coming in from the battery.
*
* @return The input voltage in vols.
*/
float CANTalon::GetBusVoltage()
{
// TODO
return 0.0f;
double voltage;
CTR_Code status = m_impl->GetBatteryV(voltage);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
return voltage;
}
/**
@@ -143,17 +195,29 @@ float CANTalon::GetBusVoltage()
*/
float CANTalon::GetOutputVoltage()
{
// TODO
return 0.0f;
int throttle11;
CTR_Code status = m_impl->GetAppliedThrottle11(throttle11);
float voltage = GetBusVoltage() * float(throttle11) / 1023.0;
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
return voltage;
}
/**
* TODO documentation (see CANJaguar.cpp)
*/
float CANTalon::GetOutputCurrent()
{
// TODO
return 0.0f;
double current;
CTR_Code status = m_impl->GetCurrent(current);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
return current;
}
/**
@@ -161,26 +225,47 @@ float CANTalon::GetOutputCurrent()
*/
float CANTalon::GetTemperature()
{
// TODO
return 0.0f;
double temp;
CTR_Code status = m_impl->GetTemp(temp);
if(temp != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
return temp;
}
/**
* TODO documentation (see CANJaguar.cpp)
*
* @return The position of the sensor currently providing feedback.
*/
double CANTalon::GetPosition()
{
// TODO
return 0.0;
int postition;
// TODO convert from int to appropriate units (or at least document it).
CTR_Code status = m_impl->GetSensorPosition(postition);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
return (double)postition;
}
/**
* TODO documentation (see CANJaguar.cpp)
*
* @returns The speed of the sensor currently providing feedback.
*/
double CANTalon::GetSpeed()
{
// TODO
return 0.0;
int speed;
// TODO convert from int to appropriate units (or at least document it).
CTR_Code status = m_impl->GetSensorVelocity(speed);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
return (double)speed;
}
/**
@@ -299,6 +384,7 @@ void CANTalon::ConfigReverseLimit(double reverseLimitPosition)
/**
* TODO documentation (see CANJaguar.cpp)
* Does this exist on the Talon?
*/
void CANTalon::ConfigMaxOutputVoltage(double voltage)
{
@@ -307,6 +393,7 @@ void CANTalon::ConfigMaxOutputVoltage(double voltage)
/**
* TODO documentation (see CANJaguar.cpp)
* Does this exist on the Talon?
*/
void CANTalon::ConfigFaultTime(float faultTime)
{
@@ -318,7 +405,11 @@ void CANTalon::ConfigFaultTime(float faultTime)
*/
void CANTalon::SetControlMode(CANSpeedController::ControlMode mode)
{
// TODO
m_controlMode = mode;
CTR_Code status = m_impl->SetModeSelect((int)mode);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
@@ -326,8 +417,7 @@ void CANTalon::SetControlMode(CANSpeedController::ControlMode mode)
*/
CANSpeedController::ControlMode CANTalon::GetControlMode()
{
// TODO
return CANSpeedController::ControlMode::kPercentVbus;
return m_controlMode;
}
void CANTalon::SetExpiration(float timeout)
@@ -361,10 +451,12 @@ void CANTalon::GetDescription(char *desc)
}
/**
* Common interface for stopping the motor
* Part of the MotorSafety interface
* Common interface for stopping the motor
* Part of the MotorSafety interface
*
* @deprecated Call Disable instead.
*/
void CANTalon::StopMotor()
{
// TODO
Disable();
}