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[artf3943] Add LiveWindow mode to CANTalon.

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Still needs testing.

Change-Id: If01ed86a7f75c644c4eeea5ad775d006a424e888
This commit is contained in:
James Kuszmaul
2015-06-17 14:38:16 -04:00
parent 1c9dffc301
commit b5ce281357
3 changed files with 132 additions and 5 deletions
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74
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
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@@ -16,8 +16,11 @@ import edu.wpi.first.wpilibj.hal.SWIGTYPE_p_double;
import edu.wpi.first.wpilibj.hal.SWIGTYPE_p_int;
import edu.wpi.first.wpilibj.hal.SWIGTYPE_p_uint32_t;
import edu.wpi.first.wpilibj.hal.SWIGTYPE_p_CTR_Code;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.tables.ITable;
import edu.wpi.first.wpilibj.tables.ITableListener;
public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
public class CANTalon implements MotorSafety, PIDOutput, SpeedController, LiveWindowSendable {
private MotorSafetyHelper m_safetyHelper;
public enum ControlMode {
PercentVbus(0), Follower(5), Voltage(4), Position(1), Speed(2), Current(3), Disabled(15);
@@ -451,14 +454,14 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
* Also fills the modeSelecet in the control frame to disabled.
* @param controlMode Control mode to ultimately enter once user calls set().
* @see #set
*/
*/
private void applyControlMode(ControlMode controlMode) {
m_controlMode = controlMode;
if (controlMode == ControlMode.Disabled)
m_controlEnabled = false;
// Disable until set() is called.
m_impl.SetModeSelect(ControlMode.Disabled.value);
UsageReporting.report(tResourceType.kResourceType_CANTalonSRX, m_deviceNumber + 1, controlMode.value);
}
public void changeControlMode(ControlMode controlMode) {
@@ -995,6 +998,69 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
@Override
public String getDescription() {
return "CANJaguar ID "+m_deviceNumber;
return "CANTalon ID "+m_deviceNumber;
}
/*
* Live Window code, only does anything if live window is activated.
*/
@Override
public String getSmartDashboardType() {
return "Speed Controller";
}
private ITable m_table = null;
private ITableListener m_table_listener = null;
/**
* {@inheritDoc}
*/
@Override
public void initTable(ITable subtable) {
m_table = subtable;
updateTable();
}
/**
* {@inheritDoc}
*/
@Override
public void updateTable() {
if (m_table != null) {
m_table.putNumber("Value", get());
}
}
/**
* {@inheritDoc}
*/
@Override
public ITable getTable() {
return m_table;
}
/**
* {@inheritDoc}
*/
@Override
public void startLiveWindowMode() {
set(0); // Stop for safety
m_table_listener = new ITableListener() {
@Override
public void valueChanged(ITable itable, String key, Object value, boolean bln) {
set(((Double) value).doubleValue());
}
};
m_table.addTableListener("Value", m_table_listener, true);
}
/**
* {@inheritDoc}
*/
@Override
public void stopLiveWindowMode() {
set(0); // Stop for safety
// TODO: Broken, should only remove the listener from "Value" only.
m_table.removeTableListener(m_table_listener);
}
}