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Add SetCANJaguarSyncGroup to RobotDrive

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Manually specifying a sync group causes that value to be
passed in all of the speed controller Set() calls, and
CANJaguar::UpdateSyncGroup() to be called afterwards.

Change-Id: I365216463e3dd57b3fafb1bed898fb0da4b08793
This commit is contained in:
Thomas Clark
2015-01-12 01:27:53 -05:00
parent ae9a7d19f1
commit ba7f56833b
3 changed files with 65 additions and 62 deletions
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56
wpilibc/wpilibC++Devices/src/RobotDrive.cpp
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@@ -41,6 +41,7 @@ void RobotDrive::InitRobotDrive() {
m_maxOutput = 1.0;
m_safetyHelper = new MotorSafetyHelper(this);
m_safetyHelper->SetSafetyEnabled(true);
m_syncGroup = 0;
}
/**
@@ -507,14 +508,15 @@ void RobotDrive::MecanumDrive_Cartesian(float x, float y, float rotation, float
Normalize(wheelSpeeds);
uint8_t syncGroup = 0x80;
m_frontLeftMotor->Set(wheelSpeeds[kFrontLeftMotor] * m_invertedMotors[kFrontLeftMotor] * m_maxOutput, m_syncGroup);
m_frontRightMotor->Set(wheelSpeeds[kFrontRightMotor] * m_invertedMotors[kFrontRightMotor] * m_maxOutput, m_syncGroup);
m_rearLeftMotor->Set(wheelSpeeds[kRearLeftMotor] * m_invertedMotors[kRearLeftMotor] * m_maxOutput, m_syncGroup);
m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * m_invertedMotors[kRearRightMotor] * m_maxOutput, m_syncGroup);
m_frontLeftMotor->Set(wheelSpeeds[kFrontLeftMotor] * m_invertedMotors[kFrontLeftMotor] * m_maxOutput, syncGroup);
m_frontRightMotor->Set(wheelSpeeds[kFrontRightMotor] * m_invertedMotors[kFrontRightMotor] * m_maxOutput, syncGroup);
m_rearLeftMotor->Set(wheelSpeeds[kRearLeftMotor] * m_invertedMotors[kRearLeftMotor] * m_maxOutput, syncGroup);
m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * m_invertedMotors[kRearRightMotor] * m_maxOutput, syncGroup);
CANJaguar::UpdateSyncGroup(syncGroup);
if (m_syncGroup != 0)
{
CANJaguar::UpdateSyncGroup(m_syncGroup);
}
m_safetyHelper->Feed();
}
@@ -556,14 +558,15 @@ void RobotDrive::MecanumDrive_Polar(float magnitude, float direction, float rota
Normalize(wheelSpeeds);
uint8_t syncGroup = 0x80;
m_frontLeftMotor->Set(wheelSpeeds[kFrontLeftMotor] * m_invertedMotors[kFrontLeftMotor] * m_maxOutput, m_syncGroup);
m_frontRightMotor->Set(wheelSpeeds[kFrontRightMotor] * m_invertedMotors[kFrontRightMotor] * m_maxOutput, m_syncGroup);
m_rearLeftMotor->Set(wheelSpeeds[kRearLeftMotor] * m_invertedMotors[kRearLeftMotor] * m_maxOutput, m_syncGroup);
m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * m_invertedMotors[kRearRightMotor] * m_maxOutput, m_syncGroup);
m_frontLeftMotor->Set(wheelSpeeds[kFrontLeftMotor] * m_invertedMotors[kFrontLeftMotor] * m_maxOutput, syncGroup);
m_frontRightMotor->Set(wheelSpeeds[kFrontRightMotor] * m_invertedMotors[kFrontRightMotor] * m_maxOutput, syncGroup);
m_rearLeftMotor->Set(wheelSpeeds[kRearLeftMotor] * m_invertedMotors[kRearLeftMotor] * m_maxOutput, syncGroup);
m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * m_invertedMotors[kRearRightMotor] * m_maxOutput, syncGroup);
CANJaguar::UpdateSyncGroup(syncGroup);
if (m_syncGroup != 0)
{
CANJaguar::UpdateSyncGroup(m_syncGroup);
}
m_safetyHelper->Feed();
}
@@ -595,17 +598,18 @@ void RobotDrive::SetLeftRightMotorOutputs(float leftOutput, float rightOutput)
{
wpi_assert(m_rearLeftMotor != NULL && m_rearRightMotor != NULL);
uint8_t syncGroup = 0x80;
if (m_frontLeftMotor != NULL)
m_frontLeftMotor->Set(Limit(leftOutput) * m_invertedMotors[kFrontLeftMotor] * m_maxOutput, syncGroup);
m_rearLeftMotor->Set(Limit(leftOutput) * m_invertedMotors[kRearLeftMotor] * m_maxOutput, syncGroup);
m_frontLeftMotor->Set(Limit(leftOutput) * m_invertedMotors[kFrontLeftMotor] * m_maxOutput, m_syncGroup);
m_rearLeftMotor->Set(Limit(leftOutput) * m_invertedMotors[kRearLeftMotor] * m_maxOutput, m_syncGroup);
if (m_frontRightMotor != NULL)
m_frontRightMotor->Set(-Limit(rightOutput) * m_invertedMotors[kFrontRightMotor] * m_maxOutput, syncGroup);
m_rearRightMotor->Set(-Limit(rightOutput) * m_invertedMotors[kRearRightMotor] * m_maxOutput, syncGroup);
m_frontRightMotor->Set(-Limit(rightOutput) * m_invertedMotors[kFrontRightMotor] * m_maxOutput, m_syncGroup);
m_rearRightMotor->Set(-Limit(rightOutput) * m_invertedMotors[kRearRightMotor] * m_maxOutput, m_syncGroup);
CANJaguar::UpdateSyncGroup(syncGroup);
if (m_syncGroup != 0)
{
CANJaguar::UpdateSyncGroup(m_syncGroup);
}
m_safetyHelper->Feed();
}
@@ -698,7 +702,15 @@ void RobotDrive::SetMaxOutput(double maxOutput)
m_maxOutput = maxOutput;
}
/**
* Set the number of the sync group for the motor controllers. If the motor controllers are {@link CANJaguar}s,
* then they will all be added to this sync group, causing them to update their values at the same time.
*
* @param syncGroup the update group to add the motor controllers to
*/
void RobotDrive::SetCANJaguarSyncGroup(uint8_t syncGroup) {
m_syncGroup = syncGroup;
}
void RobotDrive::SetExpiration(float timeout)
{