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Wired close loop pos and vel to CANTalon::Set().

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Did basic testing with close loop pos with talon slaving.

Change-Id: I880a29bff29a43d45b7af1be05e08b09063bf5d7
This commit is contained in:
Omar Zrien
2014-11-27 02:22:01 -05:00
committed by James Kuszmaul
parent cdbe80315f
commit d04476bb2f
1 changed files with 10 additions and 3 deletions
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13
wpilibc/wpilibC++Devices/src/CANTalon.cpp
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@@ -87,23 +87,30 @@ void CANTalon::Set(float value, uint8_t syncGroup)
if(m_controlEnabled) {
CTR_Code status;
switch(GetControlMode()) {
case kThrottle:
case CANSpeedController::kPercentVbus:
{
m_impl->Set(value);
status = CTR_OKAY;
}
break;
case kFollowerMode:
case CANSpeedController::kFollower:
{
status = m_impl->SetDemand((int)value);
}
break;
case kVoltageMode:
case CANSpeedController::kVoltage:
{
// Voltage is an 8.8 fixed point number.
int volts = int(value * 256);
status = m_impl->SetDemand(volts);
}
break;
case CANSpeedController::kSpeed:
status = m_impl->SetDemand(value);
break;
case CANSpeedController::kPosition:
status = m_impl->SetDemand(value);
break;
default:
// TODO: Add support for other modes. Need to figure out what format
// SetDemand needs.