mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-25 01:41:43 +00:00
Prepends all HAL functions with HAL_ (#146)
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
5ad28d58ec
commit
b637b9ee4c
@@ -186,13 +186,13 @@ void CANTalon::Set(float value) {
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break;
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}
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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status = m_impl->SetModeSelect(m_sendMode);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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}
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}
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@@ -250,7 +250,7 @@ bool CANTalon::IsEnabled() const { return IsControlEnabled(); }
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void CANTalon::SetP(double p) {
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CTR_Code status = m_impl->SetPgain(m_profile, p);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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}
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@@ -263,7 +263,7 @@ void CANTalon::SetP(double p) {
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void CANTalon::SetI(double i) {
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CTR_Code status = m_impl->SetIgain(m_profile, i);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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}
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@@ -276,7 +276,7 @@ void CANTalon::SetI(double i) {
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void CANTalon::SetD(double d) {
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CTR_Code status = m_impl->SetDgain(m_profile, d);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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}
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@@ -289,7 +289,7 @@ void CANTalon::SetD(double d) {
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void CANTalon::SetF(double f) {
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CTR_Code status = m_impl->SetFgain(m_profile, f);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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}
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@@ -302,7 +302,7 @@ void CANTalon::SetF(double f) {
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void CANTalon::SetIzone(unsigned iz) {
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CTR_Code status = m_impl->SetIzone(m_profile, iz);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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}
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@@ -314,7 +314,7 @@ void CANTalon::SelectProfileSlot(int slotIdx) {
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m_profile = (slotIdx == 0) ? 0 : 1; /* only get two slots for now */
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CTR_Code status = m_impl->SetProfileSlotSelect(m_profile);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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}
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@@ -360,7 +360,7 @@ void CANTalon::SetFeedbackDevice(FeedbackDevice feedbackDevice) {
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/* pass feedback to actual CAN frame */
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CTR_Code status = m_impl->SetFeedbackDeviceSelect((int)feedbackDevice);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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}
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@@ -370,7 +370,7 @@ void CANTalon::SetFeedbackDevice(FeedbackDevice feedbackDevice) {
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void CANTalon::SetStatusFrameRateMs(StatusFrameRate stateFrame, int periodMs) {
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CTR_Code status = m_impl->SetStatusFrameRate((int)stateFrame, periodMs);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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}
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@@ -386,7 +386,7 @@ double CANTalon::GetP() const {
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// Update the info in m_impl.
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CTR_Code status = m_impl->RequestParam(param);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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// small yield for getting response
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std::this_thread::sleep_for(
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@@ -394,7 +394,7 @@ double CANTalon::GetP() const {
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double p;
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status = m_impl->GetPgain(m_profile, p);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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return p;
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}
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@@ -409,7 +409,7 @@ double CANTalon::GetI() const {
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// Update the info in m_impl.
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CTR_Code status = m_impl->RequestParam(param);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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// small yield for getting response
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std::this_thread::sleep_for(
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@@ -418,7 +418,7 @@ double CANTalon::GetI() const {
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double i;
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status = m_impl->GetIgain(m_profile, i);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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return i;
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}
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@@ -433,7 +433,7 @@ double CANTalon::GetD() const {
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// Update the info in m_impl.
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CTR_Code status = m_impl->RequestParam(param);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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// small yield for getting response
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std::this_thread::sleep_for(
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@@ -441,7 +441,7 @@ double CANTalon::GetD() const {
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double d;
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status = m_impl->GetDgain(m_profile, d);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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return d;
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}
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@@ -456,7 +456,7 @@ double CANTalon::GetF() const {
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// Update the info in m_impl.
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CTR_Code status = m_impl->RequestParam(param);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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// small yield for getting response
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@@ -465,7 +465,7 @@ double CANTalon::GetF() const {
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double f;
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status = m_impl->GetFgain(m_profile, f);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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return f;
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}
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@@ -480,7 +480,7 @@ int CANTalon::GetIzone() const {
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// Update the info in m_impl.
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CTR_Code status = m_impl->RequestParam(param);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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std::this_thread::sleep_for(
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std::chrono::microseconds(kDelayForSolicitedSignalsUs));
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@@ -488,7 +488,7 @@ int CANTalon::GetIzone() const {
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int iz;
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status = m_impl->GetIzone(m_profile, iz);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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return iz;
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}
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@@ -507,7 +507,7 @@ float CANTalon::GetBusVoltage() const {
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double voltage;
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CTR_Code status = m_impl->GetBatteryV(voltage);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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return voltage;
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}
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@@ -520,7 +520,7 @@ float CANTalon::GetOutputVoltage() const {
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CTR_Code status = m_impl->GetAppliedThrottle(throttle11);
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float voltage = GetBusVoltage() * (float(throttle11) / 1023.0);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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return voltage;
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}
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@@ -533,7 +533,7 @@ float CANTalon::GetOutputCurrent() const {
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CTR_Code status = m_impl->GetCurrent(current);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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return current;
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@@ -547,7 +547,7 @@ float CANTalon::GetTemperature() const {
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CTR_Code status = m_impl->GetTemp(temp);
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if (temp != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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return temp;
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}
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@@ -563,7 +563,7 @@ void CANTalon::SetPosition(double pos) {
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int32_t nativePos = ScaleRotationsToNativeUnits(m_feedbackDevice, pos);
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CTR_Code status = m_impl->SetSensorPosition(nativePos);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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}
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@@ -581,7 +581,7 @@ double CANTalon::GetPosition() const {
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int32_t position;
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CTR_Code status = m_impl->GetSensorPosition(position);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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return ScaleNativeUnitsToRotations(m_feedbackDevice, position);
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}
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@@ -594,7 +594,7 @@ double CANTalon::GetPosition() const {
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void CANTalon::SetSensorDirection(bool reverseSensor) {
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CTR_Code status = m_impl->SetRevFeedbackSensor(reverseSensor ? 1 : 0);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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}
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@@ -612,7 +612,7 @@ void CANTalon::SetSensorDirection(bool reverseSensor) {
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void CANTalon::SetClosedLoopOutputDirection(bool reverseOutput) {
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CTR_Code status = m_impl->SetRevMotDuringCloseLoopEn(reverseOutput ? 1 : 0);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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}
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@@ -626,7 +626,7 @@ int CANTalon::GetClosedLoopError() const {
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/* retrieve the closed loop error in native units */
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CTR_Code status = m_impl->GetCloseLoopErr(error);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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return error;
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}
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@@ -670,7 +670,7 @@ double CANTalon::GetSpeed() const {
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int32_t speed;
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CTR_Code status = m_impl->GetSensorVelocity(speed);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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return ScaleNativeUnitsToRpm(m_feedbackDevice, speed);
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}
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@@ -687,7 +687,7 @@ int CANTalon::GetAnalogIn() const {
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int position;
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CTR_Code status = m_impl->GetAnalogInWithOv(position);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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return position;
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}
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@@ -695,7 +695,7 @@ int CANTalon::GetAnalogIn() const {
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void CANTalon::SetAnalogPosition(int newPosition) {
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CTR_Code status = m_impl->SetParam(CanTalonSRX::eAinPosition, newPosition);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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}
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@@ -717,7 +717,7 @@ int CANTalon::GetAnalogInVel() const {
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int vel;
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CTR_Code status = m_impl->GetAnalogInVel(vel);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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return vel;
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}
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@@ -732,14 +732,14 @@ int CANTalon::GetEncPosition() const {
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int position;
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CTR_Code status = m_impl->GetEncPosition(position);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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return position;
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}
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void CANTalon::SetEncPosition(int newPosition) {
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CTR_Code status = m_impl->SetParam(CanTalonSRX::eEncPosition, newPosition);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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}
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@@ -753,7 +753,7 @@ int CANTalon::GetEncVel() const {
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int vel;
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CTR_Code status = m_impl->GetEncVel(vel);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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return vel;
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}
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@@ -761,34 +761,34 @@ int CANTalon::GetPulseWidthPosition() const {
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int param;
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CTR_Code status = m_impl->GetPulseWidthPosition(param);
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if (status != CTR_OKAY)
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return param;
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}
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void CANTalon::SetPulseWidthPosition(int newPosition) {
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CTR_Code status = m_impl->SetParam(CanTalonSRX::ePwdPosition, newPosition);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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}
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int CANTalon::GetPulseWidthVelocity() const {
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int param;
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CTR_Code status = m_impl->GetPulseWidthVelocity(param);
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if (status != CTR_OKAY)
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return param;
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}
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int CANTalon::GetPulseWidthRiseToFallUs() const {
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int param;
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CTR_Code status = m_impl->GetPulseWidthRiseToFallUs(param);
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if (status != CTR_OKAY)
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return param;
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}
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int CANTalon::GetPulseWidthRiseToRiseUs() const {
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int param;
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CTR_Code status = m_impl->GetPulseWidthRiseToRiseUs(param);
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if (status != CTR_OKAY)
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return param;
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}
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@@ -840,7 +840,7 @@ int CANTalon::GetPinStateQuadA() const {
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int retval;
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CTR_Code status = m_impl->GetQuadApin(retval);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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return retval;
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}
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@@ -852,7 +852,7 @@ int CANTalon::GetPinStateQuadB() const {
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int retval;
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CTR_Code status = m_impl->GetQuadBpin(retval);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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return retval;
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}
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@@ -864,7 +864,7 @@ int CANTalon::GetPinStateQuadIdx() const {
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int retval;
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CTR_Code status = m_impl->GetQuadIdxpin(retval);
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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return retval;
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}
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@@ -878,7 +878,7 @@ int CANTalon::IsFwdLimitSwitchClosed() const {
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CTR_Code status = m_impl->GetLimitSwitchClosedFor(
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retval); /* rename this func, '1' => open, '0' => closed */
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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return retval ? 0 : 1;
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}
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@@ -892,7 +892,7 @@ int CANTalon::IsRevLimitSwitchClosed() const {
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CTR_Code status = m_impl->GetLimitSwitchClosedRev(
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retval); /* rename this func, '1' => open, '0' => closed */
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||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
return retval ? 0 : 1;
|
||||
}
|
||||
@@ -906,7 +906,7 @@ int CANTalon::GetNumberOfQuadIdxRises() const {
|
||||
CTR_Code status = m_impl->GetEncIndexRiseEvents(
|
||||
rises); /* rename this func, '1' => open, '0' => closed */
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
return rises;
|
||||
}
|
||||
@@ -920,7 +920,7 @@ void CANTalon::SetNumberOfQuadIdxRises(int rises) {
|
||||
CanTalonSRX::eEncIndexRiseEvents,
|
||||
rises); /* rename this func, '1' => open, '0' => closed */
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -933,11 +933,11 @@ bool CANTalon::GetForwardLimitOK() const {
|
||||
CTR_Code status = CTR_OKAY;
|
||||
status = m_impl->GetFault_ForSoftLim(softLim);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
status = m_impl->GetFault_ForLim(limSwit);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
/* If either fault is asserted, signal caller we are disabled (with false?) */
|
||||
return (softLim | limSwit) ? false : true;
|
||||
@@ -952,11 +952,11 @@ bool CANTalon::GetReverseLimitOK() const {
|
||||
CTR_Code status = CTR_OKAY;
|
||||
status = m_impl->GetFault_RevSoftLim(softLim);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
status = m_impl->GetFault_RevLim(limSwit);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
/* If either fault is asserted, signal caller we are disabled (with false?) */
|
||||
return (softLim | limSwit) ? false : true;
|
||||
@@ -974,42 +974,42 @@ uint16_t CANTalon::GetFaults() const {
|
||||
val = 0;
|
||||
status = m_impl->GetFault_OverTemp(val);
|
||||
if (status != CTR_OKAY)
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
retval |= (val) ? CANSpeedController::kTemperatureFault : 0;
|
||||
|
||||
/* voltage */
|
||||
val = 0;
|
||||
status = m_impl->GetFault_UnderVoltage(val);
|
||||
if (status != CTR_OKAY)
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(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));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(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));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(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));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(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));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
retval |= (val) ? CANSpeedController::kRevSoftLimit : 0;
|
||||
|
||||
return retval;
|
||||
@@ -1024,42 +1024,42 @@ uint16_t CANTalon::GetStickyFaults() const {
|
||||
val = 0;
|
||||
status = m_impl->GetStckyFault_OverTemp(val);
|
||||
if (status != CTR_OKAY)
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
retval |= (val) ? CANSpeedController::kTemperatureFault : 0;
|
||||
|
||||
/* voltage */
|
||||
val = 0;
|
||||
status = m_impl->GetStckyFault_UnderVoltage(val);
|
||||
if (status != CTR_OKAY)
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(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));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(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));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(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));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(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));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
retval |= (val) ? CANSpeedController::kRevSoftLimit : 0;
|
||||
|
||||
return retval;
|
||||
@@ -1067,7 +1067,7 @@ uint16_t CANTalon::GetStickyFaults() const {
|
||||
|
||||
void CANTalon::ClearStickyFaults() {
|
||||
CTR_Code status = m_impl->ClearStickyFaults();
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -1088,7 +1088,7 @@ void CANTalon::SetVoltageRampRate(double rampRate) {
|
||||
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));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1098,7 +1098,7 @@ void CANTalon::SetVoltageCompensationRampRate(double rampRate) {
|
||||
CTR_Code status = CTR_OKAY;
|
||||
status = m_impl->SetVoltageCompensationRate(rampRate / 1000);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1114,7 +1114,7 @@ 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));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1125,20 +1125,20 @@ uint32_t CANTalon::GetFirmwareVersion() const {
|
||||
int firmwareVersion;
|
||||
CTR_Code status = m_impl->RequestParam(CanTalonSRX::eFirmVers);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
std::this_thread::sleep_for(
|
||||
std::chrono::microseconds(kDelayForSolicitedSignalsUs));
|
||||
status =
|
||||
m_impl->GetParamResponseInt32(CanTalonSRX::eFirmVers, firmwareVersion);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
|
||||
/* only sent once on boot */
|
||||
// CTR_Code status = m_impl->GetFirmVers(firmwareVersion);
|
||||
// if (status != CTR_OKAY) {
|
||||
// wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
// wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
//}
|
||||
|
||||
return firmwareVersion;
|
||||
@@ -1150,7 +1150,7 @@ uint32_t CANTalon::GetFirmwareVersion() const {
|
||||
int CANTalon::GetIaccum() const {
|
||||
CTR_Code status = m_impl->RequestParam(CanTalonSRX::ePidIaccum);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
// small yield for getting response
|
||||
std::this_thread::sleep_for(
|
||||
@@ -1158,7 +1158,7 @@ int CANTalon::GetIaccum() const {
|
||||
int iaccum;
|
||||
status = m_impl->GetParamResponseInt32(CanTalonSRX::ePidIaccum, iaccum);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
return iaccum;
|
||||
}
|
||||
@@ -1169,7 +1169,7 @@ int CANTalon::GetIaccum() const {
|
||||
void CANTalon::ClearIaccum() {
|
||||
CTR_Code status = m_impl->SetParam(CanTalonSRX::ePidIaccum, 0);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1195,7 +1195,7 @@ void CANTalon::ConfigNeutralMode(NeutralMode mode) {
|
||||
break;
|
||||
}
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1207,7 +1207,7 @@ int CANTalon::GetBrakeEnableDuringNeutral() const {
|
||||
int brakeEn = 0;
|
||||
CTR_Code status = m_impl->GetBrakeIsEnabled(brakeEn);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
return brakeEn;
|
||||
}
|
||||
@@ -1299,7 +1299,7 @@ void CANTalon::ConfigLimitSwitchOverrides(bool bForwardLimitSwitchEn,
|
||||
/* update signal and error check code */
|
||||
status = m_impl->SetOverrideLimitSwitchEn(fwdRevEnable);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1315,17 +1315,17 @@ void CANTalon::ConfigLimitMode(LimitMode mode) {
|
||||
* limit switch.*/
|
||||
status = m_impl->SetForwardSoftEnable(false);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
status = m_impl->SetReverseSoftEnable(false);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(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));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
break;
|
||||
case kLimitMode_SoftPositionLimits: /** Use both switches and soft limits */
|
||||
@@ -1333,17 +1333,17 @@ void CANTalon::ConfigLimitMode(LimitMode mode) {
|
||||
* limit switch.*/
|
||||
status = m_impl->SetForwardSoftEnable(true);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
status = m_impl->SetReverseSoftEnable(true);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(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));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
break;
|
||||
|
||||
@@ -1353,17 +1353,17 @@ void CANTalon::ConfigLimitMode(LimitMode mode) {
|
||||
* limit switch.*/
|
||||
status = m_impl->SetForwardSoftEnable(false);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
status = m_impl->SetReverseSoftEnable(false);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(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));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
break;
|
||||
}
|
||||
@@ -1378,7 +1378,7 @@ void CANTalon::ConfigForwardLimit(double forwardLimitPosition) {
|
||||
ScaleRotationsToNativeUnits(m_feedbackDevice, forwardLimitPosition);
|
||||
status = m_impl->SetForwardSoftLimit(nativeLimitPos);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1393,7 +1393,7 @@ void CANTalon::ConfigForwardSoftLimitEnable(bool bForwardSoftLimitEn) {
|
||||
CTR_Code status = CTR_OKAY;
|
||||
status = m_impl->SetForwardSoftEnable(bForwardSoftLimitEn);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1408,7 +1408,7 @@ void CANTalon::ConfigReverseSoftLimitEnable(bool bReverseSoftLimitEn) {
|
||||
CTR_Code status = CTR_OKAY;
|
||||
status = m_impl->SetReverseSoftEnable(bReverseSoftLimitEn);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1427,7 +1427,7 @@ void CANTalon::ConfigFwdLimitSwitchNormallyOpen(bool normallyOpen) {
|
||||
m_impl->SetParam(CanTalonSRX::eOnBoot_LimitSwitch_Forward_NormallyClosed,
|
||||
normallyOpen ? 0 : 1);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1446,7 +1446,7 @@ void CANTalon::ConfigRevLimitSwitchNormallyOpen(bool normallyOpen) {
|
||||
m_impl->SetParam(CanTalonSRX::eOnBoot_LimitSwitch_Reverse_NormallyClosed,
|
||||
normallyOpen ? 0 : 1);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1459,7 +1459,7 @@ void CANTalon::ConfigReverseLimit(double reverseLimitPosition) {
|
||||
ScaleRotationsToNativeUnits(m_feedbackDevice, reverseLimitPosition);
|
||||
status = m_impl->SetReverseSoftLimit(nativeLimitPos);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1515,7 +1515,7 @@ void CANTalon::ConfigSetParameter(uint32_t paramEnum, double value) {
|
||||
/* config peak throttle when in closed-loop mode in the positive direction. */
|
||||
status = m_impl->SetParam((CanTalonSRX::param_t)paramEnum, value);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1528,7 +1528,7 @@ bool CANTalon::GetParameter(uint32_t paramEnum, double& dvalue) const {
|
||||
/* send the request frame */
|
||||
CTR_Code status = m_impl->RequestParam((CanTalonSRX::param_t)paramEnum);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
retval = false;
|
||||
}
|
||||
/* small yield for getting response */
|
||||
@@ -1537,7 +1537,7 @@ bool CANTalon::GetParameter(uint32_t paramEnum, double& dvalue) const {
|
||||
/* get the last received update */
|
||||
status = m_impl->GetParamResponse((CanTalonSRX::param_t)paramEnum, dvalue);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
retval = false;
|
||||
}
|
||||
return retval;
|
||||
@@ -1560,8 +1560,8 @@ void CANTalon::ConfigFaultTime(float faultTime) {
|
||||
*/
|
||||
void CANTalon::ApplyControlMode(CANSpeedController::ControlMode mode) {
|
||||
m_controlMode = mode;
|
||||
HALReport(HALUsageReporting::kResourceType_CANTalonSRX, m_deviceNumber + 1,
|
||||
mode);
|
||||
HAL_Report(HALUsageReporting::kResourceType_CANTalonSRX, m_deviceNumber + 1,
|
||||
mode);
|
||||
switch (mode) {
|
||||
case kPercentVbus:
|
||||
m_sendMode = kThrottle;
|
||||
@@ -1588,7 +1588,7 @@ void CANTalon::ApplyControlMode(CANSpeedController::ControlMode mode) {
|
||||
// Keep the talon disabled until Set() is called.
|
||||
CTR_Code status = m_impl->SetModeSelect((int)kDisabled);
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1723,7 +1723,7 @@ double CANTalon::GetNativeUnitsPerRotationScalar(
|
||||
}
|
||||
/* handle any detected errors */
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
/* if scaling information is not possible, signal caller
|
||||
* by returning zero
|
||||
@@ -1979,7 +1979,7 @@ void CANTalon::GetMotionProfileStatus(
|
||||
0; /* this signal is only used sending pts to Talon */
|
||||
|
||||
if (status != CTR_OKAY) {
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user