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changed variable type of closeLoopRampRate in setpid to double from int. It's represents V per sec since it calls setCloseLoopRampRate() underneath.

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The other remaining closeloopramprate changes are also merged into this commit, so they may be redundant on gerrit.

Change-Id: Ic3108bb3669e487009b8f52412da3c2f44c42f6f
This commit is contained in:
Omar Zrien
2014-12-16 22:57:07 -05:00
committed by James Kuszmaul
parent a1375e58cd
commit c093a553ee
1 changed files with 17 additions and 9 deletions
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26
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
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@@ -457,7 +457,15 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
m_impl.GetIzone(m_profile, new SWIGTYPE_p_int(fp, true));
return CanTalonJNI.intp_value(fp);
}
/**
* Get the closed loop ramp rate for the current profile.
*
* Limits the rate at which the throttle will change.
* Only affects position and speed closed loop modes.
*
* @return rampRate Maximum change in voltage, in volts / sec.
* @see #setProfile For selecting a certain profile.
*/
public double getCloseLoopRampRate() {
// if(!(m_controlMode.equals(ControlMode.Position) || m_controlMode.equals(ControlMode.Speed))) {
// throw new IllegalStateException("PID mode only applies in Position and Speed modes.");
@@ -474,7 +482,8 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
long fp = CanTalonJNI.new_intp();
m_impl.GetCloseLoopRampRate(m_profile, new SWIGTYPE_p_int(fp, true));
return CanTalonJNI.intp_value(fp);
double throttlePerMs = CanTalonJNI.intp_value(fp);
return throttlePerMs / 1023.0 * 12.0 * 1000.0;
}
/**
* @return The version of the firmware running on the Talon
@@ -576,8 +585,8 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
* @see #setProfile For selecting a certain profile.
*/
public void setCloseLoopRampRate(double rampRate) {
// CanTalonSRX takes units of Throttle (0 - 1023) / 10ms.
int rate = (int) (rampRate * 1023.0 / 12.0 * 100.0);
// CanTalonSRX takes units of Throttle (0 - 1023) / 1ms.
int rate = (int) (rampRate * 1023.0 / 12.0 / 1000.0);
m_impl.SetCloseLoopRampRate(m_profile, rate);
}
@@ -591,7 +600,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
*/
public void setVoltageRampRate(double rampRate) {
// CanTalonSRX takes units of Throttle (0 - 1023) / 10ms.
int rate = (int) (rampRate * 1023.0 / 12.0 * 100.0);
int rate = (int) (rampRate * 1023.0 / 12.0 /100.0);
m_impl.SetRampThrottle(rate);
}
@@ -604,14 +613,13 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
* @param f Feedforward constant.
* @param izone Integration zone -- prevents accumulation of integration error
* with large errors. Setting this to zero will ignore any izone stuff.
* @param ramprate Closed loop ramp rate. Represents maximum change in
* throttle every 10ms.
* @param closeLoopRampRate Closed loop ramp rate. Maximum change in voltage, in volts / sec.
* @param profile which profile to set the pid constants for. You can have two
* profiles, with values of 0 or 1, allowing you to keep a second set of values
* on hand in the talon. In order to switch profiles without recalling setPID,
* you must call setProfile().
*/
public void setPID(double p, double i, double d, double f, int izone, int ramprate, int profile)
public void setPID(double p, double i, double d, double f, int izone, double closeLoopRampRate, int profile)
{
if (profile != 0 && profile != 1)
throw new IllegalArgumentException("Talon PID profile must be 0 or 1.");
@@ -622,7 +630,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
setD(d);
setF(f);
setIZone(izone);
setCloseLoopRampRate(ramprate);
setCloseLoopRampRate(closeLoopRampRate);
}
public void setPID(double p, double i, double d) {