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Merge "Various getters and setters added to C++. usleep added to the getters that require a little time for solicted response (getPIDF, getIzone, and getFirmwareVers. Tested against the TALON SRX unit test originally written for CanTalonSrx HAL class."

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This commit is contained in:
Brad Miller (WPI)
2014-12-05 12:52:51 -08:00
committed by Gerrit Code Review
parent 88a043bda4 7d026be264
commit b125e6b40a
4 changed files with 471 additions and 44 deletions
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2
hal/lib/Athena/ctre/CanTalonSRX.cpp
View File

@@ -986,7 +986,7 @@ CTR_Code CanTalonSRX::SetRevFeedbackSensor(int param)
{
CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
if (toFill.IsEmpty()) return CTR_UnexpectedArbId;
toFill->RevFeedbackSensor = param;
toFill->RevFeedbackSensor = param ? 1 : 0;
FlushTx(toFill);
return CTR_OKAY;
}

7
wpilibc/wpilibC++Devices/include/CANSpeedController.h
View File

@@ -28,7 +28,12 @@ public:
kCurrentFault = 1,
kTemperatureFault = 2,
kBusVoltageFault = 4,
kGateDriverFault = 8
kGateDriverFault = 8,
/* SRX extensions */
kFwdLimitSwitch = 0x10,
kRevLimitSwitch = 0x20,
kFwdSoftLimit = 0x40,
kRevSoftLimit = 0x80,
};
enum Limits {

18
wpilibc/wpilibC++Devices/include/CANTalon.h
View File

@@ -50,14 +50,18 @@ public:
virtual void SetP(double p) override;
virtual void SetI(double i) override;
virtual void SetD(double d) override;
void SetF(double f);
virtual void SetPID(double p, double i, double d) override;
void SetPID(double p, double i, double d, double f);
virtual double GetP() override;
virtual double GetI() override;
virtual double GetD() override;
double GetF();
virtual float GetBusVoltage() override;
virtual float GetOutputVoltage() override;
virtual float GetOutputCurrent() override;
virtual float GetTemperature() override;
void SetPosition(double pos);
virtual double GetPosition() override;
virtual double GetSpeed() override;
virtual int GetClosedLoopError();
@@ -65,9 +69,18 @@ public:
virtual int GetAnalogInVel();
virtual int GetEncPosition();
virtual int GetEncVel();
int GetPinStateQuadA();
int GetPinStateQuadB();
int GetPinStateQuadIdx();
int IsFwdLimitSwitchClosed();
int IsRevLimitSwitchClosed();
int GetNumberOfQuadIdxRises();
void SetNumberOfQuadIdxRises(int rises);
virtual bool GetForwardLimitOK() override;
virtual bool GetReverseLimitOK() override;
virtual uint16_t GetFaults() override;
uint16_t GetStickyFaults();
void ClearStickyFaults();
virtual void SetVoltageRampRate(double rampRate) override;
virtual uint32_t GetFirmwareVersion() override;
virtual void ConfigNeutralMode(NeutralMode mode) override;
@@ -83,7 +96,10 @@ public:
virtual void SetControlMode(ControlMode mode);
void SetFeedbackDevice(FeedbackDevice device);
virtual ControlMode GetControlMode();
void SetSensorDirection(bool reverseSensor);
void SetCloseLoopRampRate(double rampRate);
void SelectProfileSlot(int slotIdx);
double GetIzone();
private:
// Values for various modes as is sent in the CAN packets for the Talon.
enum TalonControlMode {

488
wpilibc/wpilibC++Devices/src/CANTalon.cpp
View File

@@ -7,13 +7,7 @@
#include "CANTalon.h"
#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.
*/
#include <unistd.h> // usleep
/**
* Constructor for the CANTalon device.
* @param deviceNumber The CAN ID of the Talon SRX
@@ -91,6 +85,7 @@ float CANTalon::Get()
* depending on the sensor.
*
* @param outputValue The setpoint value, as described above.
* @see SelectProfileSlot to choose between the two sets of gains.
*/
void CANTalon::Set(float value, uint8_t syncGroup)
{
@@ -150,6 +145,7 @@ void CANTalon::EnableControl() {
/**
* @param p Proportional constant to use in PID loop.
* @see SelectProfileSlot to choose between the two sets of gains.
*/
void CANTalon::SetP(double p)
{
@@ -161,6 +157,7 @@ void CANTalon::SetP(double p)
/**
* TODO documentation (see CANJaguar.cpp)
* @see SelectProfileSlot to choose between the two sets of gains.
*/
void CANTalon::SetI(double i)
{
@@ -172,6 +169,7 @@ void CANTalon::SetI(double i)
/**
* TODO documentation (see CANJaguar.cpp)
* @see SelectProfileSlot to choose between the two sets of gains.
*/
void CANTalon::SetD(double d)
{
@@ -180,9 +178,33 @@ void CANTalon::SetD(double d)
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
*
* @see SelectProfileSlot to choose between the two sets of gains.
*/
void CANTalon::SetF(double f)
{
CTR_Code status = m_impl->SetFgain(m_profile, f);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
* SRX has two available slots for PID.
* @param slotIdx one or zero depending on which slot caller wants.
*/
void CANTalon::SelectProfileSlot(int slotIdx)
{
m_profile = (slotIdx == 0) ? 0 : 1; /* only get two slots for now */
CTR_Code status = m_impl->SetProfileSlotSelect(m_profile);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
* TODO documentation (see CANJaguar.cpp)
* This function does not modify F-gain. Considerable passing a zero for f using
* the four-parameter function.
*/
void CANTalon::SetPID(double p, double i, double d)
{
@@ -190,30 +212,37 @@ void CANTalon::SetPID(double p, double i, double d)
SetI(i);
SetD(d);
}
void CANTalon::SetPID(double p, double i, double d, double f)
{
SetP(p);
SetI(i);
SetD(d);
SetF(f);
}
/**
* Select the feedback device to use in closed-loop
*/
void CANTalon::SetFeedbackDevice(FeedbackDevice device)
{
CTR_Code status = m_impl->SetFeedbackDeviceSelect((int)device);
CTR_Code status = m_impl->SetFeedbackDeviceSelect((int)device);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
}
/**
* TODO documentation (see CANJaguar.cpp)
* @see SelectProfileSlot to choose between the two sets of gains.
*/
double CANTalon::GetP()
{
CanTalonSRX::param_t param = m_profile ? CanTalonSRX::eProfileParamSlot1_P : CanTalonSRX::eProfileParamSlot0_P;
// Update the info in m_impl.
CTR_Code status = m_impl->RequestParam(CanTalonSRX::eProfileParamSlot0_P);
CTR_Code status = m_impl->RequestParam(param);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
usleep(1000); /* small yield for getting response */
double p;
status = m_impl->GetPgain(m_profile, p);
if(status != CTR_OKAY) {
@@ -224,14 +253,17 @@ double CANTalon::GetP()
/**
* TODO documentation (see CANJaguar.cpp)
* @see SelectProfileSlot to choose between the two sets of gains.
*/
double CANTalon::GetI()
{
CanTalonSRX::param_t param = m_profile ? CanTalonSRX::eProfileParamSlot1_I : CanTalonSRX::eProfileParamSlot0_I;
// Update the info in m_impl.
CTR_Code status = m_impl->RequestParam(CanTalonSRX::eProfileParamSlot0_I);
CTR_Code status = m_impl->RequestParam(param);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
usleep(1000); /* small yield for getting response */
double i;
status = m_impl->GetIgain(m_profile, i);
@@ -243,14 +275,17 @@ double CANTalon::GetI()
/**
* TODO documentation (see CANJaguar.cpp)
* @see SelectProfileSlot to choose between the two sets of gains.
*/
double CANTalon::GetD()
{
CanTalonSRX::param_t param = m_profile ? CanTalonSRX::eProfileParamSlot1_D : CanTalonSRX::eProfileParamSlot0_D;
// Update the info in m_impl.
CTR_Code status = m_impl->RequestParam(CanTalonSRX::eProfileParamSlot0_D);
CTR_Code status = m_impl->RequestParam(param);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
usleep(1000); /* small yield for getting response */
double d;
status = m_impl->GetDgain(m_profile, d);
@@ -259,6 +294,47 @@ double CANTalon::GetD()
}
return d;
}
/**
*
* @see SelectProfileSlot to choose between the two sets of gains.
*/
double CANTalon::GetF()
{
CanTalonSRX::param_t param = m_profile ? CanTalonSRX::eProfileParamSlot1_F : CanTalonSRX::eProfileParamSlot0_F;
// Update the info in m_impl.
CTR_Code status = m_impl->RequestParam(param);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
usleep(1000); /* small yield for getting response */
double f;
status = m_impl->GetFgain(m_profile, f);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
return f;
}
/**
* @see SelectProfileSlot to choose between the two sets of gains.
*/
double CANTalon::GetIzone()
{
CanTalonSRX::param_t param = m_profile ? CanTalonSRX::eProfileParamSlot1_IZone: CanTalonSRX::eProfileParamSlot0_IZone;
// Update the info in m_impl.
CTR_Code status = m_impl->RequestParam(param);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
usleep(1000);
int iz;
status = m_impl->GetIzone(m_profile, iz);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
return (double)iz;
}
/**
* Returns the voltage coming in from the battery.
@@ -318,16 +394,25 @@ float CANTalon::GetTemperature()
}
return temp;
}
/**
* Set the position value of the selected sensor. This is useful for zero-ing quadrature encoders.
* Continuous sensors (like analog encoderes) can also partially be set (the portion of the postion based on overflows).
*/
void CANTalon::SetPosition(double pos)
{
m_impl->SetSensorPosition(pos);
}
/**
* TODO documentation (see CANJaguar.cpp)
*
* @return The position of the sensor currently providing feedback.
* When using analog sensors, 0 units corresponds to 0V, 1023 units corresponds to 3.3V
* When using an analog encoder (wrapping around 1023 => 0 is possible) the units are still 3.3V per 1023 units.
* When using quadrature, each unit is a quadrature edge (4X) mode.
*/
double CANTalon::GetPosition()
{
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) {
@@ -335,6 +420,18 @@ double CANTalon::GetPosition()
}
return (double)postition;
}
/**
* If sensor and motor are out of phase, sensor can be inverted
* (position and velocity multiplied by -1).
* @see GetPosition and @see GetSpeed.
*/
void CANTalon::SetSensorDirection(bool reverseSensor)
{
CTR_Code status = m_impl->SetRevFeedbackSensor(reverseSensor ? 1 : 0);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
* Returns the current error in the controller.
@@ -354,6 +451,16 @@ int CANTalon::GetClosedLoopError() {
* TODO documentation (see CANJaguar.cpp)
*
* @returns The speed of the sensor currently providing feedback.
*
* The speed units will be in the sensor's native ticks per 100ms.
*
* For analog sensors, 3.3V corresponds to 1023 units.
* So a speed of 200 equates to ~0.645 dV per 100ms or 6.451 dV per second.
* If this is an analog encoder, that likely means 1.9548 rotations per sec.
* For quadrature encoders, each unit corresponds a quadrature edge (4X).
* So a 250 count encoder will produce 1000 edge events per rotation.
* An example speed of 200 would then equate to 20% of a rotation per 100ms,
* or 10 rotations per second.
*/
double CANTalon::GetSpeed()
{
@@ -430,14 +537,109 @@ int CANTalon::GetEncVel()
}
return vel;
}
/**
* @return IO level of QUADA pin.
*/
int CANTalon::GetPinStateQuadA()
{
int retval;
CTR_Code status = m_impl->GetQuadApin(retval);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
return retval;
}
/**
* @return IO level of QUADB pin.
*/
int CANTalon::GetPinStateQuadB()
{
int retval;
CTR_Code status = m_impl->GetQuadBpin(retval);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
return retval;
}
/**
* @return IO level of QUAD Index pin.
*/
int CANTalon::GetPinStateQuadIdx()
{
int retval;
CTR_Code status = m_impl->GetQuadIdxpin(retval);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
return retval;
}
/**
* @return '1' iff forward limit switch is closed, 0 iff switch is open.
* This function works regardless if limit switch feature is enabled.
*/
int CANTalon::IsFwdLimitSwitchClosed()
{
int retval;
CTR_Code status = m_impl->GetLimitSwitchClosedFor(retval); /* rename this func, '1' => open, '0' => closed */
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
return retval ? 0 : 1;
}
/**
* @return '1' iff reverse limit switch is closed, 0 iff switch is open.
* This function works regardless if limit switch feature is enabled.
*/
int CANTalon::IsRevLimitSwitchClosed()
{
int retval;
CTR_Code status = m_impl->GetLimitSwitchClosedRev(retval); /* rename this func, '1' => open, '0' => closed */
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
return retval ? 0 : 1;
}
/*
* Simple accessor for tracked rise eventso index pin.
* @return number of rising edges on idx pin.
*/
int CANTalon::GetNumberOfQuadIdxRises()
{
int rises;
CTR_Code status = m_impl->GetEncIndexRiseEvents(rises); /* rename this func, '1' => open, '0' => closed */
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
return rises;
}
/*
* @param rises integral value to set into index-rises register. Great way to zero the index count.
*/
void CANTalon::SetNumberOfQuadIdxRises(int rises)
{
CTR_Code status = m_impl->SetParam(CanTalonSRX::eEncIndexRiseEvents, rises); /* rename this func, '1' => open, '0' => closed */
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
* TODO documentation (see CANJaguar.cpp)
*/
bool CANTalon::GetForwardLimitOK()
{
// TODO
return false;
int limSwit=0;
int softLim=0;
CTR_Code status;
status = m_impl->GetFault_ForSoftLim(softLim);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
status = m_impl->GetFault_ForLim(limSwit);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/* If either fault is asserted, signal caller we are disabled (with false?) */
return (softLim | limSwit) ? false : true;
}
/**
@@ -445,8 +647,19 @@ bool CANTalon::GetForwardLimitOK()
*/
bool CANTalon::GetReverseLimitOK()
{
// TODO
return false;
int limSwit=0;
int softLim=0;
CTR_Code status;
status = m_impl->GetFault_RevSoftLim(softLim);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
status = m_impl->GetFault_RevLim(limSwit);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/* If either fault is asserted, signal caller we are disabled (with false?) */
return (softLim | limSwit) ? false : true;
}
/**
@@ -454,16 +667,141 @@ bool CANTalon::GetReverseLimitOK()
*/
uint16_t CANTalon::GetFaults()
{
// TODO
return 0;
uint16_t retval = 0;
int val;
CTR_Code status;
/* temperature */
val = 0;
status = m_impl->GetFault_OverTemp(val);
if(status != CTR_OKAY)
wpi_setErrorWithContext(status, getHALErrorMessage(status));
retval |= (val) ? CANSpeedController::kTemperatureFault : 0;
/* voltage */
val = 0;
status = m_impl->GetFault_UnderVoltage(val);
if(status != CTR_OKAY)
wpi_setErrorWithContext(status, getHALErrorMessage(status));
retval |= (val) ? CANSpeedController::kBusVoltageFault : 0;
/* fwd-limit-switch */
val = 0;
status = m_impl->GetFault_ForLim(val);
if(status != CTR_OKAY)
wpi_setErrorWithContext(status, getHALErrorMessage(status));
retval |= (val) ? CANSpeedController::kFwdLimitSwitch : 0;
/* rev-limit-switch */
val = 0;
status = m_impl->GetFault_RevLim(val);
if(status != CTR_OKAY)
wpi_setErrorWithContext(status, getHALErrorMessage(status));
retval |= (val) ? CANSpeedController::kRevLimitSwitch : 0;
/* fwd-soft-limit */
val = 0;
status = m_impl->GetFault_ForSoftLim(val);
if(status != CTR_OKAY)
wpi_setErrorWithContext(status, getHALErrorMessage(status));
retval |= (val) ? CANSpeedController::kFwdSoftLimit : 0;
/* rev-soft-limit */
val = 0;
status = m_impl->GetFault_RevSoftLim(val);
if(status != CTR_OKAY)
wpi_setErrorWithContext(status, getHALErrorMessage(status));
retval |= (val) ? CANSpeedController::kRevSoftLimit : 0;
return retval;
}
uint16_t CANTalon::GetStickyFaults()
{
uint16_t retval = 0;
int val;
CTR_Code status;
/* temperature */
val = 0;
status = m_impl->GetStckyFault_OverTemp(val);
if(status != CTR_OKAY)
wpi_setErrorWithContext(status, getHALErrorMessage(status));
retval |= (val) ? CANSpeedController::kTemperatureFault : 0;
/* voltage */
val = 0;
status = m_impl->GetStckyFault_UnderVoltage(val);
if(status != CTR_OKAY)
wpi_setErrorWithContext(status, getHALErrorMessage(status));
retval |= (val) ? CANSpeedController::kBusVoltageFault : 0;
/* fwd-limit-switch */
val = 0;
status = m_impl->GetStckyFault_ForLim(val);
if(status != CTR_OKAY)
wpi_setErrorWithContext(status, getHALErrorMessage(status));
retval |= (val) ? CANSpeedController::kFwdLimitSwitch : 0;
/* rev-limit-switch */
val = 0;
status = m_impl->GetStckyFault_RevLim(val);
if(status != CTR_OKAY)
wpi_setErrorWithContext(status, getHALErrorMessage(status));
retval |= (val) ? CANSpeedController::kRevLimitSwitch : 0;
/* fwd-soft-limit */
val = 0;
status = m_impl->GetStckyFault_ForSoftLim(val);
if(status != CTR_OKAY)
wpi_setErrorWithContext(status, getHALErrorMessage(status));
retval |= (val) ? CANSpeedController::kFwdSoftLimit : 0;
/* rev-soft-limit */
val = 0;
status = m_impl->GetStckyFault_RevSoftLim(val);
if(status != CTR_OKAY)
wpi_setErrorWithContext(status, getHALErrorMessage(status));
retval |= (val) ? CANSpeedController::kRevSoftLimit : 0;
return retval;
}
void CANTalon::ClearStickyFaults()
{
CTR_Code status = m_impl->ClearStickyFaults();
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
* TODO documentation (see CANJaguar.cpp)
* Set the maximum voltage change rate. This ramp rate is in affect regardless of which control mode
* the TALON is in.
*
* When in PercentVbus or Voltage output mode, the rate at which the voltage changes can
* be limited to reduce current spikes. Set this to 0.0 to disable rate limiting.
*
* @param rampRate The maximum rate of voltage change in Percent Voltage mode in V/s.
*/
void CANTalon::SetVoltageRampRate(double rampRate)
{
// TODO
/* Caller is expressing ramp as Voltage per sec, assuming 12V is full.
Talon's throttle ramp is in dThrot/d10ms. 1023 is full fwd, -1023 is full rev. */
double rampRatedThrotPer10ms = (rampRate*1023.0/12.0) / 100;
CTR_Code status = m_impl->SetRampThrottle((int)rampRatedThrotPer10ms);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
* Sets a voltage change rate that applies only when a close loop contorl mode is enabled.
* This allows close loop specific ramp behavior.
*
* @param rampRate The maximum rate of voltage change in Percent Voltage mode in V/s.
*/
void CANTalon::SetCloseLoopRampRate(double rampRate)
{
CTR_Code status = m_impl->SetCloseLoopRampRate(m_profile,rampRate * 1023.0 / 12.0 / 1000.0);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
@@ -472,12 +810,19 @@ void CANTalon::SetVoltageRampRate(double rampRate)
uint32_t CANTalon::GetFirmwareVersion()
{
int firmwareVersion;
CTR_Code status = m_impl->GetFirmVers(firmwareVersion);
m_impl->RequestParam(CanTalonSRX::eFirmVers);
usleep(1000);
CTR_Code status = m_impl->GetParamResponseInt32(CanTalonSRX::eFirmVers,firmwareVersion);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/* only sent once on boot */
//CTR_Code status = m_impl->GetFirmVers(firmwareVersion);
//if(status != CTR_OKAY) {
// wpi_setErrorWithContext(status, getHALErrorMessage(status));
//}
return firmwareVersion;
}
@@ -486,7 +831,22 @@ uint32_t CANTalon::GetFirmwareVersion()
*/
void CANTalon::ConfigNeutralMode(NeutralMode mode)
{
// TODO
CTR_Code status;
switch(mode){
default:
case kNeutralMode_Jumper: /* use default setting in flash based on webdash/BrakeCal button selection */
status = m_impl->SetOverrideBrakeType(CanTalonSRX::kBrakeOverride_UseDefaultsFromFlash);
break;
case kNeutralMode_Brake:
status = m_impl->SetOverrideBrakeType(CanTalonSRX::kBrakeOverride_OverrideBrake);
break;
case kNeutralMode_Coast:
status = m_impl->SetOverrideBrakeType(CanTalonSRX::kBrakeOverride_OverrideCoast);
break;
}
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
@@ -494,7 +854,7 @@ void CANTalon::ConfigNeutralMode(NeutralMode mode)
*/
void CANTalon::ConfigEncoderCodesPerRev(uint16_t codesPerRev)
{
// TODO
/* TALON SRX does not scale units, they are raw from the sensor. Unit scaling can be done in API or by caller */
}
/**
@@ -502,7 +862,7 @@ void CANTalon::ConfigEncoderCodesPerRev(uint16_t codesPerRev)
*/
void CANTalon::ConfigPotentiometerTurns(uint16_t turns)
{
// TODO
/* TALON SRX does not scale units, they are raw from the sensor. Unit scaling can be done in API or by caller */
}
/**
@@ -510,7 +870,9 @@ void CANTalon::ConfigPotentiometerTurns(uint16_t turns)
*/
void CANTalon::ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition)
{
// TODO
ConfigLimitMode(kLimitMode_SoftPositionLimits);
ConfigForwardLimit(forwardLimitPosition);
ConfigReverseLimit(reverseLimitPosition);
}
/**
@@ -518,15 +880,51 @@ void CANTalon::ConfigSoftPositionLimits(double forwardLimitPosition, double reve
*/
void CANTalon::DisableSoftPositionLimits()
{
// TODO
ConfigLimitMode(kLimitMode_SwitchInputsOnly);
}
/**
* TODO documentation (see CANJaguar.cpp)
* Configures the soft limit enable (wear leveled persistent memory).
* Also sets the limit switch overrides.
*/
void CANTalon::ConfigLimitMode(LimitMode mode)
{
// TODO
CTR_Code status;
switch(mode){
case kLimitMode_SwitchInputsOnly: /** Only use switches for limits */
/* turn OFF 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_EnableFwd_EnableRev);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
break;
case kLimitMode_SoftPositionLimits: /** Use both switches and soft limits */
/* turn on both limits. SRX has individual enables and polarity for each limit switch.*/
status = m_impl->SetForwardSoftEnable(true);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
status = m_impl->SetReverseSoftEnable(true);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/* override enable the limit switches, this circumvents the webdash */
status = m_impl->SetOverrideLimitSwitchEn(CanTalonSRX::kLimitSwitchOverride_EnableFwd_EnableRev);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
break;
}
}
/**
@@ -534,7 +932,11 @@ void CANTalon::ConfigLimitMode(LimitMode mode)
*/
void CANTalon::ConfigForwardLimit(double forwardLimitPosition)
{
// TODO
CTR_Code status;
status = m_impl->SetForwardSoftLimit(forwardLimitPosition);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
@@ -542,25 +944,29 @@ void CANTalon::ConfigForwardLimit(double forwardLimitPosition)
*/
void CANTalon::ConfigReverseLimit(double reverseLimitPosition)
{
// TODO
CTR_Code status;
status = m_impl->SetReverseSoftLimit(reverseLimitPosition);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
* TODO documentation (see CANJaguar.cpp)
* Does this exist on the Talon?
*/
void CANTalon::ConfigMaxOutputVoltage(double voltage)
{
// TODO
/* SRX does not support max output */
wpi_setWPIErrorWithContext(IncompatibleMode, "MaxOutputVoltage not supported.");
}
/**
* TODO documentation (see CANJaguar.cpp)
* Does this exist on the Talon?
*/
void CANTalon::ConfigFaultTime(float faultTime)
{
// TODO
/* SRX does not have fault time. SRX motor drive is only disabled for soft limits and limit-switch faults. */
wpi_setWPIErrorWithContext(IncompatibleMode, "Fault Time not supported.");
}
/**