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Fix CANJaguar brownout recovery in Java

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In Java, CANJaguar didn't set up periodic status messages again after
a brownout

Change-Id: Iaedd844a7627dd44eb5d769a106b220648f35023
This commit is contained in:
Thomas Clark
2014-10-22 10:54:58 -04:00
parent 53255a764f
commit be30d3ab1d
2 changed files with 36 additions and 25 deletions
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14
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
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@@ -795,6 +795,18 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
requestMessage(CANJNI.LM_API_CFG_FAULT_TIME);
}
}
if(!m_receivedStatusMessage0 ||
!m_receivedStatusMessage1 ||
!m_receivedStatusMessage2) {
// If the periodic status messages haven't been verified as received,
// request periodic status messages again and attempt to unpack any
// available ones.
setupPeriodicStatus();
getTemperature();
getPosition();
getFaults();
}
}
/**
@@ -2103,7 +2115,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
public String getDescription() {
return "CANJaguar ID "+m_deviceNumber;
}
public int getDeviceID() {
return (int)m_deviceNumber;
}