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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.

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Also keeps parity with LV and Java.

Change-Id: Id2f4c9f169effc6bc3ea48529e8f04f387609ddc
This commit is contained in:
Omar Zrien
2016-02-08 18:32:08 -05:00
committed by Brad Miller (WPI)
parent a33076ab9a
commit df33a78221
2 changed files with 66 additions and 1 deletions
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3
wpilibc/Athena/include/CANTalon.h
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@@ -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