From d04476bb2f4bc80a82e3e80d09d32dfb5259b3cf Mon Sep 17 00:00:00 2001
From: Omar Zrien <OZrien@crosstheroadelectronics.com>
Date: Thu, 27 Nov 2014 02:22:01 -0500
Subject: [PATCH] Wired close loop pos and vel to CANTalon::Set(). Did basic
 testing with close loop pos with talon slaving.

Change-Id: I880a29bff29a43d45b7af1be05e08b09063bf5d7
---
 wpilibc/wpilibC++Devices/src/CANTalon.cpp | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/wpilibc/wpilibC++Devices/src/CANTalon.cpp b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
index 23095ed8e2..fd3c404462 100644
--- a/wpilibc/wpilibC++Devices/src/CANTalon.cpp
+++ b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
@@ -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.