From c81d510ebeee8dc7b4c0dcdd6023f2453f922171 Mon Sep 17 00:00:00 2001 From: thomasclark Date: Thu, 24 Jul 2014 13:23:09 -0400 Subject: [PATCH] CANJaguar::ChangeControlMode marks the controlmode as unverified This previous caused a bug where the Jaguar would sometimes behave as if it were in the wrong mode, even when everything was verfied. Change-Id: Id5b96e0f7e64066eaaa0e5be4ba53fca76ba0703 --- wpilibc/wpilibC++/lib/CANJaguar.cpp | 1 + .../src/main/java/edu/wpi/first/wpilibj/CANJaguar.java | 1 + 2 files changed, 2 insertions(+) diff --git a/wpilibc/wpilibC++/lib/CANJaguar.cpp b/wpilibc/wpilibC++/lib/CANJaguar.cpp index 737e942129..fee23da553 100644 --- a/wpilibc/wpilibC++/lib/CANJaguar.cpp +++ b/wpilibc/wpilibC++/lib/CANJaguar.cpp @@ -1617,6 +1617,7 @@ void CANJaguar::ChangeControlMode(ControlMode controlMode) // Update the local mode m_controlMode = controlMode; + m_controlModeVerified = false; HALReport(HALUsageReporting::kResourceType_CANJaguar, m_deviceNumber, m_controlMode); } diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java index 722b362822..d8c92e2535 100644 --- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java +++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java @@ -1350,6 +1350,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW // Update the local mode m_controlMode = controlMode; + m_controlModeVerified = false; } /**