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Noticed that if changeControlMode() is called every teleop loop, it causes motor to stutter as it enters and immediately leaves kDisabled.

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A simple improvement was to only perform the disable-before-next-set strategy if the caller's request mode is not equal to the current mode.

To keep things simple, SetControlMode was renamed to private method ApplyControlMode so we can still invoke it from c'tor.
Then, the new impl'n of SetControlMode() just calls ApplyControlMode() when caller's request mode is different.  That takes care of direct-calls from team source, and indirect calls through enableControl().

Applied to both c++ and java.
Tested in java so far...

Change-Id: I934c06c5339d933918470659acd635e12eb4d113
This commit is contained in:
Omar Zrien
2014-12-16 21:37:20 -05:00
committed by James Kuszmaul
parent a5d9ba412c
commit e1480ec798
3 changed files with 41 additions and 8 deletions
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7
wpilibc/wpilibC++Devices/include/CANTalon.h
View File

@@ -139,4 +139,11 @@ private:
double m_setPoint;
static const unsigned int kDelayForSolicitedSignalsUs = 4000;
/**
* Fixup the sendMode so Set() serializes the correct demand value.
* Also fills the modeSelecet in the control frame to disabled.
* @param mode Control mode to ultimately enter once user calls Set().
* @see Set()
*/
void ApplyControlMode(CANSpeedController::ControlMode mode);
};

22
wpilibc/wpilibC++Devices/src/CANTalon.cpp
View File

@@ -21,7 +21,7 @@ CANTalon::CANTalon(int deviceNumber)
, m_controlMode(kPercentVbus)
, m_setPoint(0)
{
SetControlMode(m_controlMode);
ApplyControlMode(m_controlMode);
m_impl->SetProfileSlotSelect(m_profile);
}
/**
@@ -39,7 +39,7 @@ CANTalon::CANTalon(int deviceNumber,int controlPeriodMs)
, m_controlMode(kPercentVbus)
, m_setPoint(0)
{
SetControlMode(m_controlMode);
ApplyControlMode(m_controlMode);
m_impl->SetProfileSlotSelect(m_profile);
}
CANTalon::~CANTalon() {
@@ -1100,9 +1100,12 @@ void CANTalon::ConfigFaultTime(float faultTime)
}
/**
* TODO documentation (see CANJaguar.cpp)
* Fixup the sendMode so Set() serializes the correct demand value.
* Also fills the modeSelecet in the control frame to disabled.
* @param mode Control mode to ultimately enter once user calls Set().
* @see Set()
*/
void CANTalon::SetControlMode(CANSpeedController::ControlMode mode)
void CANTalon::ApplyControlMode(CANSpeedController::ControlMode mode)
{
m_controlMode = mode;
switch (mode) {
@@ -1131,6 +1134,17 @@ void CANTalon::SetControlMode(CANSpeedController::ControlMode mode)
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
* TODO documentation (see CANJaguar.cpp)
*/
void CANTalon::SetControlMode(CANSpeedController::ControlMode mode)
{
if(m_controlMode == mode){
/* we already are in this mode, don't perform disable workaround */
}else{
ApplyControlMode(mode);
}
}
/**
* TODO documentation (see CANJaguar.cpp)

20
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
View File

@@ -91,7 +91,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
m_profile = 0;
m_setPoint = 0;
setProfile(m_profile);
changeControlMode(ControlMode.PercentVbus);
applyControlMode(ControlMode.PercentVbus);
}
public CANTalon(int deviceNumber,int controlPeriodMs) {
m_deviceNumber = deviceNumber;
@@ -101,7 +101,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
m_profile = 0;
m_setPoint = 0;
setProfile(m_profile);
changeControlMode(ControlMode.PercentVbus);
applyControlMode(ControlMode.PercentVbus);
}
public CANTalon(int deviceNumber,int controlPeriodMs) {
m_deviceNumber = deviceNumber;
@@ -425,14 +425,26 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
public ControlMode getControlMode() {
return m_controlMode;
}
public void changeControlMode(ControlMode controlMode) {
/**
* Fixup the m_controlMode so set() serializes the correct demand value.
* Also fills the modeSelecet in the control frame to disabled.
* @param controlMode Control mode to ultimately enter once user calls set().
* @see #set
*/
public void applyControlMode(ControlMode controlMode) {
m_controlMode = controlMode;
if (controlMode == ControlMode.Disabled)
m_controlEnabled = false;
// Disable until set() is called.
m_impl.SetModeSelect(ControlMode.Disabled.value);
}
public void changeControlMode(ControlMode controlMode) {
if(m_controlMode == controlMode){
/* we already are in this mode, don't perform disable workaround */
}else{
applyControlMode(controlMode);
}
}
public void setFeedbackDevice(FeedbackDevice device) {
m_impl.SetFeedbackDeviceSelect(device.value);