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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

101
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
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@@ -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);
}