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Second pass through all the HAL functions and cpp/java API. Filled in some parity holes between java and cpp.

Browse Source 
Java...
added setStatusFrameRateMs() to modify the frame rate for status frames
added missing func that already exists in c++
	isFwdLimitSwitchClosed()
	isRevLimitSwitchClosed()
	getNumberOfQuadIdxRises()
	getPinStateQuadA()
	getPinStateQuadB()
	getPinStateQuadIdx()
added getAnalogInRaw() that doesn't count overflows (for potentiometers).
added setStatusFrameRateMs() to modify the frame rate for status frames
added getBrakeEnableDuringNeutral()

C++...
added GetAnalogInRaw() that doesn't count overflows (for potentiometers).
added SetStatusFrameRateMs() to modify the frame rate for status frames
added GetBrakeEnableDuringNeutral()
added kLimitMode_SrxDisableSwitchInputs to CANSpeedController::LimitMode

Patch set 2: Joe Ross, fixed two javadoc errors

Change-Id: I0bf871e138953de60eeacb547dc359f2125b1327
This commit is contained in:
Omar Zrien
2014-12-15 02:21:54 -05:00
committed by James Kuszmaul
parent 2434515d41
commit a5d9ba412c
5 changed files with 164 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
hal/lib/Athena/ctre/CanTalonSRX.cpp
View File

@@ -571,6 +571,11 @@ CTR_Code CanTalonSRX::GetReverseSoftEnable(int & enable)
CTR_Code CanTalonSRX::SetStatusFrameRate(unsigned frameEnum, unsigned periodMs)
{
int32_t status = 0;
/* bounds check the period */
if(periodMs < 1)
periodMs = 1;
else if (periodMs > 255)
periodMs = 255;
uint8_t period = (uint8_t)periodMs;
/* tweak just the status messsage rate the caller cares about */
switch(frameEnum){

5
wpilibc/wpilibC++Devices/include/CANSpeedController.h
View File

@@ -54,7 +54,10 @@ public:
/** Only use switches for limits */
kLimitMode_SwitchInputsOnly = 0,
/** Use both switches and soft limits */
kLimitMode_SoftPositionLimits = 1
kLimitMode_SoftPositionLimits = 1,
/* SRX extensions */
/** Disable switches and disable soft limits */
kLimitMode_SrxDisableSwitchInputs = 2,
};
virtual float Get() = 0;

9
wpilibc/wpilibC++Devices/include/CANTalon.h
View File

@@ -26,6 +26,12 @@ public:
AnalogEncoder=3,
EncRising=4,
EncFalling=5
};
enum StatusFrameRate {
StatusFrameRateGeneral=0,
StatusFrameRateFeedback=1,
StatusFrameRateQuadEncoder=2,
StatusFrameRateAnalogTempVbat=3,
};
explicit CANTalon(int deviceNumber);
explicit CANTalon(int deviceNumber,int controlPeriodMs);
@@ -68,6 +74,7 @@ public:
virtual double GetSpeed() override;
virtual int GetClosedLoopError();
virtual int GetAnalogIn();
virtual int GetAnalogInRaw();
virtual int GetAnalogInVel();
virtual int GetEncPosition();
virtual int GetEncVel();
@@ -97,6 +104,7 @@ public:
virtual void ConfigFaultTime(float faultTime) override;
virtual void SetControlMode(ControlMode mode);
void SetFeedbackDevice(FeedbackDevice device);
void SetStatusFrameRateMs(StatusFrameRate stateFrame, int periodMs);
virtual ControlMode GetControlMode();
void SetSensorDirection(bool reverseSensor);
void SetCloseLoopRampRate(double rampRate);
@@ -104,6 +112,7 @@ public:
int GetIzone();
int GetIaccum();
void ClearIaccum();
int GetBrakeEnableDuringNeutral();
bool IsControlEnabled();
double GetSetpoint();

55
wpilibc/wpilibC++Devices/src/CANTalon.cpp
View File

@@ -273,6 +273,16 @@ void CANTalon::SetFeedbackDevice(FeedbackDevice device)
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
* Select the feedback device to use in closed-loop
*/
void CANTalon::SetStatusFrameRateMs(StatusFrameRate stateFrame, int periodMs)
{
CTR_Code status = m_impl->SetStatusFrameRate((int)stateFrame,periodMs);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
* TODO documentation (see CANJaguar.cpp)
@@ -529,7 +539,9 @@ double CANTalon::GetSpeed()
* Get the position of whatever is in the analog pin of the Talon, regardless of
* whether it is actually being used for feedback.
*
* @returns The value (0 - 1023) on the analog pin of the Talon.
* @returns The 24bit analog value. The bottom ten bits is the ADC (0 - 1023) on
* the analog pin of the Talon. The upper 14 bits
* tracks the overflows and underflows (continuous sensor).
*/
int CANTalon::GetAnalogIn()
{
@@ -540,7 +552,16 @@ int CANTalon::GetAnalogIn()
}
return position;
}
/**
* Get the position of whatever is in the analog pin of the Talon, regardless of
* whether it is actually being used for feedback.
*
* @returns The ADC (0 - 1023) on analog pin of the Talon.
*/
int CANTalon::GetAnalogInRaw()
{
return GetAnalogIn() & 0x3FF;
}
/**
* Get the position of whatever is in the analog pin of the Talon, regardless of
* whether it is actually being used for feedback.
@@ -929,7 +950,18 @@ void CANTalon::ConfigNeutralMode(NeutralMode mode)
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
* @return nonzero if brake is enabled during neutral. Zero if coast is enabled during neutral.
*/
int CANTalon::GetBrakeEnableDuringNeutral()
{
int brakeEn = 0;
CTR_Code status = m_impl->GetBrakeIsEnabled(brakeEn);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
return brakeEn;
}
/**
* TODO documentation (see CANJaguar.cpp)
*/
@@ -1005,6 +1037,23 @@ void CANTalon::ConfigLimitMode(LimitMode mode)
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
break;
case kLimitMode_SrxDisableSwitchInputs: /** disable both limit switches and soft limits */
/* turn on both limits. SRX has individual enables and polarity for each limit switch.*/
status = m_impl->SetForwardSoftEnable(false);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
status = m_impl->SetReverseSoftEnable(false);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/* override enable the limit switches, this circumvents the webdash */
status = m_impl->SetOverrideLimitSwitchEn(CanTalonSRX::kLimitSwitchOverride_DisableFwd_DisableRev);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
break;
}
}

101
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
View File

@@ -55,6 +55,23 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
this.value = value;
}
}
/** enumerated types for frame rate ms */
public enum StatusFrameRate {
General(0), Feedback(1), QuadEncoder(2), AnalogTempVbat(3);
public int value;
public static StatusFrameRate valueOf(int value) {
for(StatusFrameRate mode : values()) {
if(mode.value == value) {
return mode;
}
}
return null;
}
private StatusFrameRate(int value) {
this.value = value;
}
}
private CanTalonSRX m_impl;
ControlMode m_controlMode;
@@ -243,11 +260,52 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
return CanTalonJNI.intp_value(valuep);
}
/**
* Get the number of of rising edges seen on the index pin.
*
* @return number of rising edges on idx pin.
*/
public int getNumberOfQuadIdxRises() {
long valuep = CanTalonJNI.new_intp();
SWIGTYPE_p_int swigp = new SWIGTYPE_p_int(valuep, true);
m_impl.GetEncIndexRiseEvents(swigp);
return CanTalonJNI.intp_value(valuep);
}
/**
* @return IO level of QUADA pin.
*/
public int getPinStateQuadA(){
long valuep = CanTalonJNI.new_intp();
SWIGTYPE_p_int swigp = new SWIGTYPE_p_int(valuep, true);
m_impl.GetQuadApin(swigp);
return CanTalonJNI.intp_value(valuep);
}
/**
* @return IO level of QUADB pin.
*/
public int getPinStateQuadB() {
long valuep = CanTalonJNI.new_intp();
SWIGTYPE_p_int swigp = new SWIGTYPE_p_int(valuep, true);
m_impl.GetQuadBpin(swigp);
return CanTalonJNI.intp_value(valuep);
}
/**
* @return IO level of QUAD Index pin.
*/
public int getPinStateQuadIdx(){
long valuep = CanTalonJNI.new_intp();
SWIGTYPE_p_int swigp = new SWIGTYPE_p_int(valuep, true);
m_impl.GetQuadIdxpin(swigp);
return CanTalonJNI.intp_value(valuep);
}
/**
* Get the current analog in position, regardless of whether it is the current
* feedback device.
*
* @return The current value from the analog in (0 - 1023).
* @return The 24bit analog position. The bottom ten bits is the ADC (0 - 1023) on
* the analog pin of the Talon. The upper 14 bits
* tracks the overflows and underflows (continuous sensor).
*/
public int getAnalogInPosition() {
long valuep = CanTalonJNI.new_intp();
@@ -255,7 +313,14 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
m_impl.GetAnalogInWithOv(swigp);
return CanTalonJNI.intp_value(valuep);
}
/**
* Get the current analog in position, regardless of whether it is the current
* feedback device.
* @return The ADC (0 - 1023) on analog pin of the Talon.
*/
public int getAnalogInRaw() {
return getAnalogInPosition() & 0x3FF;
}
/**
* Get the current encoder velocity, regardless of whether it is the current
* feedback device.
@@ -280,7 +345,27 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
m_impl.GetCloseLoopErr(swigp);
return CanTalonJNI.intp_value(valuep);
}
// Returns true if limit switch is closed. false if open.
public boolean isFwdLimitSwitchClosed() {
long valuep = CanTalonJNI.new_intp();
SWIGTYPE_p_int swigp = new SWIGTYPE_p_int(valuep, true);
m_impl.GetLimitSwitchClosedFor(swigp);
return (CanTalonJNI.intp_value(valuep)==0) ? true : false;
}
// Returns true if limit switch is closed. false if open.
public boolean isRevLimitSwitchClosed() {
long valuep = CanTalonJNI.new_intp();
SWIGTYPE_p_int swigp = new SWIGTYPE_p_int(valuep, true);
m_impl.GetLimitSwitchClosedRev(swigp);
return (CanTalonJNI.intp_value(valuep)==0) ? true : false;
}
// Returns true if break is enabled during neutral. false if coast.
public boolean getBrakeEnableDuringNeutral() {
long valuep = CanTalonJNI.new_intp();
SWIGTYPE_p_int swigp = new SWIGTYPE_p_int(valuep, true);
m_impl.GetBrakeIsEnabled(swigp);
return (CanTalonJNI.intp_value(valuep)==0) ? false : true;
}
// Returns temperature of Talon, in degrees Celsius.
public double getTemp() {
long tempp = CanTalonJNI.new_doublep(); // Create a new swig pointer.
@@ -352,7 +437,9 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
public void setFeedbackDevice(FeedbackDevice device) {
m_impl.SetFeedbackDeviceSelect(device.value);
}
public void setStatusFrameRateMs(StatusFrameRate stateFrame, int periodMs){
m_impl.SetStatusFrameRate(stateFrame.value,periodMs);
}
public void enableControl() {
changeControlMode(m_controlMode);
m_controlEnabled = true;
@@ -522,7 +609,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
m_impl.GetParamResponseInt32(CanTalonSRX.param_t.ePidIaccum, new SWIGTYPE_p_int(fp, true));
return CanTalonJNI.intp_value(fp);
}
/**
* Clear the accumulator for I gain.
*/
@@ -690,7 +777,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
public void setForwardSoftLimit(int forwardLimit) {
m_impl.SetForwardSoftLimit(forwardLimit);
}
public void enableForwardSoftLimit(boolean enable) {
m_impl.SetForwardSoftEnable(enable ? 1 : 0);
}
@@ -698,7 +785,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
public void setReverseSoftLimit(int reverseLimit) {
m_impl.SetReverseSoftLimit(reverseLimit);
}
public void enableReverseSoftLimit(boolean enable) {
m_impl.SetReverseSoftEnable(enable ? 1 : 0);
}