Fix CANJaguar brownout recovery in Java

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

Change-Id: Iaedd844a7627dd44eb5d769a106b220648f35023

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANDefaultTest.java

@@ -32,9 +32,9 @@ import edu.wpi.first.wpilibj.Timer;
  */
 public class CANDefaultTest extends AbstractCANTest{
 	private static final Logger logger = Logger.getLogger(CANDefaultTest.class.getName());
-	
+
 	private static final double kSpikeTime = .5;
-	
+
 	@Override
 	protected Logger getClassLogger() {
 		return logger;
@@ -50,63 +50,63 @@ public class CANDefaultTest extends AbstractCANTest{
 		/* The motor might still have momentum from the previous test. */
 		Timer.delay(kStartupTime);
 	}
-	
+
 	@Test
 	public void testDefaultGet(){
 		assertEquals("CAN Jaguar did not initilize stopped", 0.0, getME().getMotor().get(), .01f);
 	}
-	
+
 	@Test
 	public void testDefaultBusVoltage(){
 		assertEquals("CAN Jaguar did not start at 14 volts", 14.0f, getME().getMotor().getBusVoltage(), 2.0f);
 	}
-	
+
 	@Test
 	public void testDefaultOutputVoltage(){
 		assertEquals("CAN Jaguar did not start with an output voltage of 0", 0.0f, getME().getMotor().getOutputVoltage(), 0.3f);
 
 	}
-	
+
 	@Test
 	public void testDefaultOutputCurrent(){
 		assertEquals("CAN Jaguar did not start with an output current of 0", 0.0f, getME().getMotor().getOutputCurrent(), 0.3f);
 	}
-	
+
 	@Test
 	public void testDefaultTemperature(){
 		double room_temp = 18.0f;
 		assertThat("CAN Jaguar did not start with an initial temperature greater than " + room_temp, getME().getMotor().getTemperature(), is(greaterThan(room_temp)));
 	}
-	
+
 	@Test
 	public void testDefaultForwardLimit(){
 		getME().getMotor().configLimitMode(CANJaguar.LimitMode.SwitchInputsOnly);
 		assertTrue("CAN Jaguar did not start with the Forward Limit Switch Off", getME().getMotor().getForwardLimitOK());
 	}
-	
+
 	@Test
 	public void testDefaultReverseLimit(){
 		getME().getMotor().configLimitMode(CANJaguar.LimitMode.SwitchInputsOnly);
 		assertTrue("CAN Jaguar did not start with the Reverse Limit Switch Off", getME().getMotor().getReverseLimitOK());
 	}
-	
+
 	@Test
 	public void testDefaultNoFaults(){
 		assertEquals("CAN Jaguar initialized with Faults", 0, getME().getMotor().getFaults());
 	}
-	
-	
-	
+
+
+
 	@Test
 	public void testFakeLimitSwitchForwards() {
 		//Given
 		getME().getMotor().configLimitMode(CANJaguar.LimitMode.SwitchInputsOnly);
 		getME().getMotor().enableControl();
 		assertTrue("[TEST SETUP] CANJaguar did not start with the Forward Limit Switch low", getME().getMotor().getForwardLimitOK());
-		
+
 		//When
 		getME().getForwardLimit().set(true);
-		
+
 		//Then
 		PollingWait wait = new PollingWait().timeoutAfter((long)kLimitSettlingTime, TimeUnit.SECONDS).pollEvery(1, TimeUnit.MILLISECONDS);
 		wait.until(new RunnableAssert("Setting the CANJAguar forward limit switch high") {
@@ -118,7 +118,7 @@ public class CANDefaultTest extends AbstractCANTest{
 		});
 	}
 
-	
+
 	@Test
 	public void testFakeLimitSwitchReverse() {
 		//Given
@@ -127,7 +127,7 @@ public class CANDefaultTest extends AbstractCANTest{
 		assertTrue("[TEST SETUP] CANJaguar did not start with the Reverse Limit Switch low", getME().getMotor().getReverseLimitOK());
 		//When
 		getME().getReverseLimit().set(true);
-		
+
 		//Then
 		PollingWait wait = new PollingWait().timeoutAfter((long)kLimitSettlingTime, TimeUnit.SECONDS).pollEvery(1, TimeUnit.MILLISECONDS);
 		wait.until(new RunnableAssert("Setting the CANJAguar reverse limit switch high") {
@@ -139,30 +139,29 @@ public class CANDefaultTest extends AbstractCANTest{
 		});
 	}
 	
-	@Ignore("Brown out not working needs further testing")
 	@Test
 	public void testPositionModeVerifiesOnBrownOut() {
 		final double setpoint = 10.0;
-		
+
 		//Given
 		getME().getMotor().setPositionMode(CANJaguar.kQuadEncoder, 360, 10.0, 0.1, 0.0);
 		getME().getMotor().enableControl();
 		setCANJaguar(kMotorTime, 0.0);
-		
+
 		getME().powerOn();
-		
+
 		//When
 		/* Turn the spike off and on again */
-		
+
 		getME().powerOff();
 		Timer.delay(kSpikeTime);
 		getME().powerOn();
 		Timer.delay(kSpikeTime);
-		
+
 		PollingWait wait = new PollingWait().timeoutAfter(15, TimeUnit.SECONDS).pollEvery(1, TimeUnit.MILLISECONDS);
 		/* The jaguar should automatically get set to quad encoder position mode,
 			so it should be able to reach a setpoint in a couple seconds. */
-		
+
 		wait.until(new RunnableAssert("Waiting for CANJaguar to reach set-point") {
 			@Override
 			public void run() throws Exception {