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Updated CANJaguar.h/.cpp/.java for the RoboRIO

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Change-Id: I5134a78dc9dc945be1402c78d4fc4b9ef368b0b8
This commit is contained in:
thomasclark
2014-05-16 14:11:30 -04:00
parent ed6ac3bffd
commit da2e1769c0
3 changed files with 181 additions and 59 deletions
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111
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
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@@ -5,12 +5,16 @@
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
package com.first.team190.robot;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import java.nio.IntBuffer;
import edu.wpi.first.wpilibj.MotorSafety;
import edu.wpi.first.wpilibj.MotorSafetyHelper;
import edu.wpi.first.wpilibj.PIDOutput;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.can.CANExceptionFactory;
import edu.wpi.first.wpilibj.can.CANJaguarVersionException;
import edu.wpi.first.wpilibj.can.CANJNI;
@@ -170,60 +174,20 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
private MotorSafetyHelper m_safetyHelper;
private static final byte[] kNoData = new byte[0];
private final static int swap16(int x) {
return ((((x) >>> 8) & 0x00FF) | (((x) << 8) & 0xFF00));
}
private final static long swap32(long x) {
return ((((x) >> 24) & 0x000000FF) | (((x) >> 8) & 0x0000FF00) | (((x) << 8) & 0x00FF0000) | (((x) << 24) & 0xFF000000));
}
private final static int swap16(int x, byte[] buffer) {
buffer[0] = (byte) x;
buffer[1] = (byte) ((x >>> 8) & 0x00FF);
buffer[0] = (byte) ((x >>> 8) & 0x00FF);
buffer[1] = (byte) x;
return ((((x) >>> 8) & 0x00FF) | (((x) << 8) & 0xFF00));
}
private final static long swap32(long x, byte[] buffer) {
buffer[0] = (byte) x;
buffer[1] = (byte) ((x >>> 8) & 0x00FF);
buffer[2] = (byte) ((x >>> 16) & 0x00FF);
buffer[3] = (byte) ((x >>> 24) & 0x00FF);
buffer[0] = (byte) ((x >>> 24) & 0x00FF);
buffer[1] = (byte) ((x >>> 16) & 0x00FF);
buffer[2] = (byte) ((x >>> 8) & 0x00FF);
buffer[3] = (byte) x;
return ((((x) >> 24) & 0x000000FF) | (((x) >> 8) & 0x0000FF00) | (((x) << 8) & 0x00FF0000) | (((x) << 24) & 0xFF000000));
}
private final static int swap16(byte[] buffer) {
return ((((buffer[1]) >>> 8) & 0x00FF) | (((buffer[0]) << 8) & 0xFF00));
}
private final static long swap32(byte[] buffer) {
return ((((buffer[3]) >> 24) & 0x000000FF) | (((buffer[2]) >> 8) & 0x0000FF00) | (((buffer[1]) << 8) & 0x00FF0000) | (((buffer[0]) << 24) & 0xFF000000));
}
/**
* Pack 16-bit data in little-endian byte order
* @param data The data to be packed
* @param buffer The buffer to pack into
* @param offset The offset into data to pack the variable
*/
private static final void pack16(short data, byte[] buffer, int offset) {
buffer[offset] = (byte) (data & 0xFF);
buffer[offset + 1] = (byte) ((data >>> 8) & 0xFF);
}
/**
* Pack 32-bit data in little-endian byte order
* @param data The data to be packed
* @param buffer The buffer to pack into
* @param offset The offset into data to pack the variable
*/
private static final void pack32(int data, byte[] buffer, int offset) {
buffer[offset] = (byte) (data & 0xFF);
buffer[offset + 1] = (byte) ((data >>> 8) & 0xFF);
buffer[offset + 2] = (byte) ((data >>> 16) & 0xFF);
buffer[offset + 3] = (byte) ((data >>> 24) & 0xFF);
}
/**
* Unpack 16-bit data from a buffer in little-endian byte order
* @param buffer The buffer to unpack from
@@ -459,6 +423,59 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
return 0.0;
}
public void setNoAck(float value, byte syncGroup) throws CANTimeoutException {
int messageID;
byte[] dataBuffer = new byte[8];
byte dataSize = 0;
if (!m_safetyHelper.isAlive()) {
enableControl();
}
switch (m_controlMode.value) {
case ControlMode.kPercentVbus_val:
messageID = CANJNI.LM_API_VOLT_T_SET_NO_ACK;
if (value > 1.0) value = 1.0f;
if (value < -1.0) value = -1.0f;
packPercentage(dataBuffer, value);
dataSize = 2;
break;
case ControlMode.kSpeed_val: {
messageID = CANJNI.LM_API_SPD_T_SET;
dataSize = packFXP16_16(dataBuffer, value);
}
break;
case ControlMode.kPosition_val: {
messageID = CANJNI.LM_API_POS_T_SET;
dataSize = packFXP16_16(dataBuffer, value);
}
break;
case ControlMode.kCurrent_val: {
messageID = CANJNI.LM_API_ICTRL_T_SET;
dataSize = packFXP8_8(dataBuffer, value);
}
break;
case ControlMode.kVoltage_val: {
messageID = CANJNI.LM_API_VCOMP_T_SET_NO_ACK;
dataSize = packFXP8_8(dataBuffer, value);
}
break;
default:
return;
}
if (syncGroup != 0) {
dataBuffer[dataSize] = syncGroup;
dataSize++;
}
synchronized(m_transactionMutex) {
sendMessage(messageID | m_deviceNumber, dataBuffer, dataSize);
}
m_safetyHelper.feed();
}
/**
* Get the recently set outputValue setpoint.