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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) { if(m_controlEnabled) {
CTR_Code status; CTR_Code status;
switch(GetControlMode()) { switch(GetControlMode()) {
case kThrottle: case CANSpeedController::kPercentVbus:
{ {
m_impl->Set(value); m_impl->Set(value);
status = CTR_OKAY; status = CTR_OKAY;
} }
break; break;
case kFollowerMode: case CANSpeedController::kFollower:
{ {
status = m_impl->SetDemand((int)value); status = m_impl->SetDemand((int)value);
} }
break; break;
case kVoltageMode: case CANSpeedController::kVoltage:
{ {
// Voltage is an 8.8 fixed point number. // Voltage is an 8.8 fixed point number.
int volts = int(value * 256); int volts = int(value * 256);
status = m_impl->SetDemand(volts); 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: default:
// TODO: Add support for other modes. Need to figure out what format // TODO: Add support for other modes. Need to figure out what format
// SetDemand needs. // SetDemand needs.