Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-29 02:21:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

Add an additional member variable for "stopped" which indicates the CAN motor controller has been explicitly stopped, but not disabled by the user (main use case is MotorSafety tripping). When Set() is called the next time the controller will be re-enabled automatically.

Browse Source 
Change-Id: Ib1c0e5d0ddd55343d83039acbc46c0f9c4e451a1
This commit is contained in:
Kevin O'Connor
2016-02-08 18:13:57 -05:00
parent f17d27aacf
commit d567bd0bca
6 changed files with 39 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
wpilibc/Athena/src/CANJaguar.cpp
View File

@@ -246,8 +246,11 @@ void CANJaguar::Set(float outputValue, uint8_t syncGroup) {
uint8_t dataBuffer[8];
uint8_t dataSize;
if (m_safetyHelper && !m_safetyHelper->IsAlive() && m_controlEnabled) {
if (m_safetyHelper) m_safetyHelper->Feed();
if (m_stopped) {
EnableControl();
m_stopped = false;
}
if (m_controlEnabled) {
@@ -290,8 +293,6 @@ void CANJaguar::Set(float outputValue, uint8_t syncGroup) {
}
sendMessage(messageID, dataBuffer, dataSize, kSendMessagePeriod);
if (m_safetyHelper) m_safetyHelper->Feed();
}
m_value = outputValue;
@@ -1934,12 +1935,14 @@ void CANJaguar::GetDescription(std::ostringstream& desc) const {
uint8_t CANJaguar::GetDeviceID() const { return m_deviceNumber; }
/**
* Common interface for stopping the motor
* Common interface for stopping the motor until the next Set() command
* Part of the MotorSafety interface
*
* @deprecated Call DisableControl instead.
*/
void CANJaguar::StopMotor() { DisableControl(); }
void CANJaguar::StopMotor() {
m_stopped = true;
}
/**
* Common interface for inverting direction of a speed controller.