Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-05 03:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

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;
}
}