From aae20ddbff8b7638988657d6d5d8fef6178ef6b1 Mon Sep 17 00:00:00 2001 From: Omar Zrien Date: Sun, 21 Dec 2014 16:47:03 -0500 Subject: [PATCH] Artifact artf3945 : CANTalon : Motor Safety Object never feed Change-Id: I6894399d0eb7c36ff698639862fa6ad045a70db8 --- wpilibc/wpilibC++Devices/src/CANTalon.cpp | 2 ++ .../src/main/java/edu/wpi/first/wpilibj/CANTalon.java | 2 ++ 2 files changed, 4 insertions(+) diff --git a/wpilibc/wpilibC++Devices/src/CANTalon.cpp b/wpilibc/wpilibC++Devices/src/CANTalon.cpp index 8ff1123e0d..7b91f3d96d 100644 --- a/wpilibc/wpilibC++Devices/src/CANTalon.cpp +++ b/wpilibc/wpilibC++Devices/src/CANTalon.cpp @@ -105,6 +105,8 @@ float CANTalon::Get() */ void CANTalon::Set(float value, uint8_t syncGroup) { + /* feed safety helper since caller just updated our output */ + m_safetyHelper->Feed(); if(m_controlEnabled) { m_setPoint = value; CTR_Code status; diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java index f837746b8e..511ee8f643 100644 --- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java +++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java @@ -133,6 +133,8 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController { * @param outputValue The setpoint value, as described above. */ public void set(double outputValue) { + /* feed safety helper since caller just updated our output */ + m_safetyHelper.feed(); if (m_controlEnabled) { m_setPoint = outputValue; switch (m_controlMode) {