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Last feature addition for CANTalon java/C++ user-facing API.
- CANJaguar also touched up to report it can't do the new control mode (just like with follower). - New third optional param for talon c'tor to speed up enable control frame. - The pulse width routines have been moved to where the script generator puts them. No actual changes there but should help Peter integrate the latest code generator. Last feature additions for TalonSRX HAL for FRC2015-FRC-2016 season. -HAL driver uses control_5 frame if firmware supports it. This allows teams to see/confirm control settings taking effect before enabling the robot. For example selecting the sensor type and going to web-dash to check sensor values now works without having to enable the robot. -Motion profile HAL routines added. Tested on Single-Speed Double reduction (with slave Talon too). -Start moving ctre frame defs into a new common header (better then shoving a bunch of struct defs at top of module). -New child class in CANTalonSRX for buffering motion profile points. Not sure it would be best to leave it as is or make another module. It's trivial now so I thought that was acceptable, (in future it will likely possess compression strategies => no longer trivial). Change-Id: I803680c1a6669ca3f5157d7875942def6f75b540
This commit is contained in:
Omar Zrien
committed by
Peter Johnson
Peter Johnson
parent
ec69c6a866
commit
cd5765559a
@@ -156,6 +156,9 @@ void CANTalon::Set(float value, uint8_t syncGroup) {
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double milliamperes = (m_isInverted ? -value : value) * 1000.0; /* mA*/
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status = m_impl->SetDemand(milliamperes);
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} break;
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case CANSpeedController::kMotionProfile: {
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status = m_impl->SetDemand((int)value);
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} break;
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default:
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wpi_setWPIErrorWithContext(
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IncompatibleMode,
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@@ -1430,6 +1433,9 @@ void CANTalon::ApplyControlMode(CANSpeedController::ControlMode mode) {
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case kFollower:
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m_sendMode = kFollowerMode;
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break;
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case kMotionProfile:
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m_sendMode = kMotionProfileMode;
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break;
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}
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// Keep the talon disabled until Set() is called.
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CTR_Code status = m_impl->SetModeSelect((int)kDisabled);
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@@ -1668,6 +1674,136 @@ void CANTalon::EnableZeroSensorPositionOnIndex(bool enable, bool risingEdge)
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ConfigSetParameter(CanTalonSRX::eQuadIdxPolarity,risingEdge ? 1 : 0);
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}
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}
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/**
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* Calling application can opt to speed up the handshaking between the robot API and the Talon to increase the
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* download rate of the Talon's Motion Profile. Ideally the period should be no more than half the period
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* of a trajectory point.
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*/
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void CANTalon::ChangeMotionControlFramePeriod(int periodMs)
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{
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m_impl->ChangeMotionControlFramePeriod(periodMs);
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}
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/**
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* Clear the buffered motion profile in both Talon RAM (bottom), and in the API (top).
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* Be sure to check GetMotionProfileStatus() to know when the buffer is actually cleared.
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*/
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void CANTalon::ClearMotionProfileTrajectories()
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{
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m_impl->ClearMotionProfileTrajectories();
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}
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/**
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* Retrieve just the buffer count for the api-level (top) buffer.
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* This routine performs no CAN or data structure lookups, so its fast and ideal
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* if caller needs to quickly poll the progress of trajectory points being emptied
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* into Talon's RAM. Otherwise just use GetMotionProfileStatus.
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* @return number of trajectory points in the top buffer.
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*/
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int CANTalon::GetMotionProfileTopLevelBufferCount()
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{
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return m_impl->GetMotionProfileTopLevelBufferCount();
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}
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/**
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* Push another trajectory point into the top level buffer (which is emptied into
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* the Talon's bottom buffer as room allows).
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* @param trajPt the trajectory point to insert into buffer.
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* @return true if trajectory point push ok. CTR_BufferFull if buffer is full
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* due to kMotionProfileTopBufferCapacity.
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*/
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bool CANTalon::PushMotionProfileTrajectory(const TrajectoryPoint & trajPt)
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{
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/* convert positiona and velocity to native units */
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int32_t targPos = ScaleRotationsToNativeUnits(m_feedbackDevice, trajPt.position);
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int32_t targVel = ScaleVelocityToNativeUnits(m_feedbackDevice, trajPt.velocity);
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/* bounds check signals that require it */
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uint32_t profileSlotSelect = (trajPt.profileSlotSelect) ? 1 : 0;
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uint8_t timeDurMs = (trajPt.timeDurMs >= 255) ? 255 : trajPt.timeDurMs; /* cap time to 255ms */
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/* send it to the top level buffer */
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CTR_Code status = m_impl->PushMotionProfileTrajectory(targPos, targVel, profileSlotSelect, timeDurMs, trajPt.velocityOnly, trajPt.isLastPoint, trajPt.zeroPos);
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return (status == CTR_OKAY) ? true : false;
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}
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/**
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* @return true if api-level (top) buffer is full.
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*/
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bool CANTalon::IsMotionProfileTopLevelBufferFull()
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{
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return m_impl->IsMotionProfileTopLevelBufferFull();
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}
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/**
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* This must be called periodically to funnel the trajectory points from the API's top level buffer to
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* the Talon's bottom level buffer. Recommendation is to call this twice as fast as the executation rate of the motion profile.
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* So if MP is running with 20ms trajectory points, try calling this routine every 10ms. All motion profile functions are thread-safe
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* through the use of a mutex, so there is no harm in having the caller utilize threading.
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*/
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void CANTalon::ProcessMotionProfileBuffer()
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{
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m_impl->ProcessMotionProfileBuffer();
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}
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/**
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* Retrieve all status information.
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* Since this all comes from one CAN frame, its ideal to have one routine to retrieve the frame once and decode everything.
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* @param [out] motionProfileStatus contains all progress information on the currently running MP.
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*/
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void CANTalon::GetMotionProfileStatus(MotionProfileStatus & motionProfileStatus)
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{
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uint32_t flags;
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uint32_t profileSlotSelect;
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int32_t targPos, targVel;
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uint32_t topBufferRem, topBufferCnt, btmBufferCnt;
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uint32_t outputEnable;
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/* retrieve all motion profile signals from status frame */
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CTR_Code status = m_impl->GetMotionProfileStatus(flags, profileSlotSelect, targPos, targVel, topBufferRem, topBufferCnt, btmBufferCnt, outputEnable);
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/* completely update the caller's structure */
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motionProfileStatus.topBufferRem = topBufferRem;
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motionProfileStatus.topBufferCnt = topBufferCnt;
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motionProfileStatus.btmBufferCnt = btmBufferCnt;
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motionProfileStatus.hasUnderrun = (flags & CanTalonSRX::kMotionProfileFlag_HasUnderrun) ? true :false;
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motionProfileStatus.isUnderrun = (flags & CanTalonSRX::kMotionProfileFlag_IsUnderrun) ? true :false;
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motionProfileStatus.activePointValid = (flags & CanTalonSRX::kMotionProfileFlag_ActTraj_IsValid) ? true :false;
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motionProfileStatus.activePoint.isLastPoint = (flags & CanTalonSRX::kMotionProfileFlag_ActTraj_IsLast) ? true :false;
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motionProfileStatus.activePoint.velocityOnly = (flags & CanTalonSRX::kMotionProfileFlag_ActTraj_VelOnly) ? true :false;
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motionProfileStatus.activePoint.position = ScaleNativeUnitsToRotations(m_feedbackDevice, targPos);
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motionProfileStatus.activePoint.velocity = ScaleNativeUnitsToRpm(m_feedbackDevice, targVel);
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motionProfileStatus.activePoint.profileSlotSelect = profileSlotSelect;
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switch(outputEnable){
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case CanTalonSRX::kMotionProf_Disabled:
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motionProfileStatus.outputEnable = SetValueMotionProfileDisable;
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break;
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case CanTalonSRX::kMotionProf_Enable:
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motionProfileStatus.outputEnable = SetValueMotionProfileEnable;
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break;
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case CanTalonSRX::kMotionProf_Hold:
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motionProfileStatus.outputEnable = SetValueMotionProfileHold;
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break;
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default:
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motionProfileStatus.outputEnable = SetValueMotionProfileDisable;
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break;
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}
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motionProfileStatus.activePoint.zeroPos = false; /* this signal is only used sending pts to Talon */
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motionProfileStatus.activePoint.timeDurMs = 0; /* this signal is only used sending pts to Talon */
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if (status != CTR_OKAY) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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}
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/**
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* Clear the hasUnderrun flag in Talon's Motion Profile Executer when MPE is ready for another point,
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* but the low level buffer is empty.
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*
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* Once the Motion Profile Executer sets the hasUnderrun flag, it stays set until
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* Robot Application clears it with this routine, which ensures Robot Application
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* gets a chance to instrument or react. Caller could also check the isUnderrun flag
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* which automatically clears when fault condition is removed.
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*/
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void CANTalon::ClearMotionProfileHasUnderrun()
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{
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ConfigSetParameter(CanTalonSRX::eMotionProfileHasUnderrunErr, 0);
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}
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/**
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* Common interface for inverting direction of a speed controller.
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* Only works in PercentVbus, speed, and Voltage modes.
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