From df33a782213528a3a1a6e4fc5d8a21a8c408300a Mon Sep 17 00:00:00 2001
From: Omar Zrien <OZrien@crosstheroadelectronics.com>
Date: Mon, 8 Feb 2016 18:32:08 -0500
Subject: [PATCH] Added Config routine to allow enabling/disabling of limit
 switch and soft limits.  This improves upon the ConfigLimitMode routine,
 which does not allow certain combinations of enable/disabled limit features.
 Also keeps parity with LV and Java.

Change-Id: Id2f4c9f169effc6bc3ea48529e8f04f387609ddc
---
 wpilibc/Athena/include/CANTalon.h |  3 ++
 wpilibc/Athena/src/CANTalon.cpp   | 64 ++++++++++++++++++++++++++++++-
 2 files changed, 66 insertions(+), 1 deletion(-)

diff --git a/wpilibc/Athena/include/CANTalon.h b/wpilibc/Athena/include/CANTalon.h
index 2d866d197b..8ea9ae169c 100644
--- a/wpilibc/Athena/include/CANTalon.h
+++ b/wpilibc/Athena/include/CANTalon.h
@@ -286,6 +286,9 @@ class CANTalon : public MotorSafety,
   virtual void ConfigLimitMode(LimitMode mode) override;
   virtual void ConfigForwardLimit(double forwardLimitPosition) override;
   virtual void ConfigReverseLimit(double reverseLimitPosition) override;
+  void ConfigLimitSwitchOverrides(bool bForwardLimitSwitchEn, bool bReverseLimitSwitchEn);
+  void ConfigForwardSoftLimitEnable(bool bForwardSoftLimitEn);
+  void ConfigReverseSoftLimitEnable(bool bReverseSoftLimitEn);
   /**
    * Change the fwd limit switch setting to normally open or closed.
    * Talon will disable momentarilly if the Talon's current setting
diff --git a/wpilibc/Athena/src/CANTalon.cpp b/wpilibc/Athena/src/CANTalon.cpp
index 2198eda08d..e59982cff6 100644
--- a/wpilibc/Athena/src/CANTalon.cpp
+++ b/wpilibc/Athena/src/CANTalon.cpp
@@ -1212,7 +1212,43 @@ void CANTalon::DisableSoftPositionLimits() {
 }
 
 /**
- * TODO documentation (see CANJaguar.cpp)
+ * Overrides the forward and reverse limit switch enables.
+ * Unlike ConfigLimitMode, this function allows individual control of forward and
+ * reverse limit switch enables.
+ * Unlike ConfigLimitMode, this function does not affect the soft-limit features of Talon SRX.
+ * @see ConfigLimitMode()
+ */
+void CANTalon::ConfigLimitSwitchOverrides(bool bForwardLimitSwitchEn, bool bReverseLimitSwitchEn) {
+  CTR_Code status = CTR_OKAY;
+  int fwdRevEnable;
+  /* chose correct signal value based on caller's requests enables */
+  if(!bForwardLimitSwitchEn) {
+    /* caller wants Forward Limit Switch OFF */
+    if(!bReverseLimitSwitchEn) {
+      /* caller wants both OFF */
+      fwdRevEnable = CanTalonSRX::kLimitSwitchOverride_DisableFwd_DisableRev;
+    } else {
+      /* caller Forward OFF and Reverse ON */
+      fwdRevEnable = CanTalonSRX::kLimitSwitchOverride_DisableFwd_EnableRev;
+    }
+  } else {
+    /* caller wants Forward Limit Switch ON */
+    if(!bReverseLimitSwitchEn) {
+      /* caller wants Forward ON and Reverse OFF */
+      fwdRevEnable = CanTalonSRX::kLimitSwitchOverride_EnableFwd_DisableRev;
+    } else {
+      /* caller wants both ON */
+      fwdRevEnable = CanTalonSRX::kLimitSwitchOverride_EnableFwd_EnableRev;
+    }
+  }
+  /* update signal and error check code */
+  status = m_impl->SetOverrideLimitSwitchEn(fwdRevEnable);
+  if (status != CTR_OKAY) {
+    wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  }
+}
+
+/**
  * Configures the soft limit enable (wear leveled persistent memory).
  * Also sets the limit switch overrides.
  */
@@ -1289,6 +1325,32 @@ void CANTalon::ConfigForwardLimit(double forwardLimitPosition) {
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
 }
+
+/**
+ * Set the Forward Soft Limit Enable.
+ * This is the same setting that is in the Web-Based Configuration.
+ * @param bForwardSoftLimitEn true to enable Soft limit, false to disable.
+ */
+void CANTalon::ConfigForwardSoftLimitEnable(bool bForwardSoftLimitEn) {
+  CTR_Code status = CTR_OKAY;
+  status = m_impl->SetForwardSoftEnable(bForwardSoftLimitEn);
+  if (status != CTR_OKAY) {
+    wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  }
+}
+
+/**
+ * Set the Reverse Soft Limit Enable.
+ * This is the same setting that is in the Web-Based Configuration.
+ * @param bReverseSoftLimitEn true to enable Soft limit, false to disable.
+ */
+void CANTalon::ConfigReverseSoftLimitEnable(bool bReverseSoftLimitEn) {
+  CTR_Code status = CTR_OKAY;
+  status = m_impl->SetReverseSoftEnable(bReverseSoftLimitEn);
+  if (status != CTR_OKAY) {
+    wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  }
+}
 /**
  * Change the fwd limit switch setting to normally open or closed.
  * Talon will disable momentarilly if the Talon's current setting