Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-25 01:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge "Fixed issue in setting CANTalon values."

Browse Source
This commit is contained in:
Brad Miller (WPI)
2014-12-07 08:12:14 -08:00
committed by Gerrit Code Review
parent 6b844b52ec 709a88ad68
commit e3ac0b628c
3 changed files with 23 additions and 56 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
wpilibc/wpilibC++Devices/include/CANTalon.h
View File

@@ -119,4 +119,5 @@ private:
bool m_controlEnabled;
ControlMode m_controlMode;
TalonControlMode m_sendMode;
};

58
wpilibc/wpilibC++Devices/src/CANTalon.cpp
View File

@@ -20,9 +20,7 @@ CANTalon::CANTalon(int deviceNumber)
, m_controlEnabled(true)
, m_controlMode(kPercentVbus)
{
// The control mode may already have been set; GetControlMode will reset
// m_controlMode to match the Talon.
GetControlMode();
SetControlMode(m_controlMode);
m_impl->SetProfileSlotSelect(m_profile);
}
@@ -91,7 +89,7 @@ void CANTalon::Set(float value, uint8_t syncGroup)
{
if(m_controlEnabled) {
CTR_Code status;
switch(GetControlMode()) {
switch(m_controlMode) {
case CANSpeedController::kPercentVbus:
{
m_impl->Set(value);
@@ -122,6 +120,13 @@ void CANTalon::Set(float value, uint8_t syncGroup)
if (status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
status = m_impl->SetModeSelect(m_sendMode);
if (status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
}
@@ -975,28 +980,28 @@ void CANTalon::ConfigFaultTime(float faultTime)
void CANTalon::SetControlMode(CANSpeedController::ControlMode mode)
{
m_controlMode = mode;
TalonControlMode sendMode;
switch (mode) {
case kPercentVbus:
sendMode = kThrottle;
m_sendMode = kThrottle;
break;
case kCurrent:
sendMode = kCurrentMode;
m_sendMode = kCurrentMode;
break;
case kSpeed:
sendMode = kSpeedMode;
m_sendMode = kSpeedMode;
break;
case kPosition:
sendMode = kPositionMode;
m_sendMode = kPositionMode;
break;
case kVoltage:
sendMode = kVoltageMode;
m_sendMode = kVoltageMode;
break;
case kFollower:
sendMode = kFollowerMode;
m_sendMode = kFollowerMode;
break;
}
CTR_Code status = m_impl->SetModeSelect((int)sendMode);
// Keep the talon disabled until Set() is called.
CTR_Code status = m_impl->SetModeSelect((int)kDisabled);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
@@ -1007,35 +1012,6 @@ void CANTalon::SetControlMode(CANSpeedController::ControlMode mode)
*/
CANSpeedController::ControlMode CANTalon::GetControlMode()
{
// Take the opportunity to check that the control mode is what we think it is.
int temp;
CTR_Code status = m_impl->GetModeSelect(temp);
if(status != CTR_OKAY) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
switch ((TalonControlMode)temp) {
case kThrottle:
m_controlMode = kPercentVbus;
break;
case kCurrentMode:
m_controlMode = kCurrent;
break;
case kSpeedMode:
m_controlMode = kSpeed;
break;
case kPositionMode:
m_controlMode = kPosition;
break;
case kVoltageMode:
m_controlMode = kVoltage;
break;
case kFollowerMode:
m_controlMode = kFollower;
break;
case kDisabled:
m_controlEnabled = false;
break;
}
return m_controlMode;
}

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

@@ -103,10 +103,8 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
* @param outputValue The setpoint value, as described above.
*/
public void set(double outputValue) {
//System.out.println("Enabled: " + m_controlEnabled + " Mode: " + m_controlMode);
m_controlMode = ControlMode.PercentVbus;
if (m_controlEnabled) {
switch (getControlMode()) {
switch (m_controlMode) {
case PercentVbus:
m_impl.Set(outputValue);
break;
@@ -127,8 +125,8 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
default:
break;
}
m_impl.SetModeSelect(m_controlMode.value);
}
//System.out.println("Enabled: " + m_controlEnabled + " Mode: " + m_controlMode);
}
/**
@@ -316,21 +314,13 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
}
public ControlMode getControlMode() {
long tempp = CanTalonJNI.new_intp();
m_impl.GetModeSelect(new SWIGTYPE_p_int(tempp, true));
ControlMode mode = ControlMode.valueOf(CanTalonJNI.intp_value(tempp));
if (mode == ControlMode.Disabled) {
m_controlEnabled = false;
}
else {
m_controlMode = mode;
}
return mode;
return m_controlMode;
}
public void changeControlMode(ControlMode controlMode) {
m_controlMode = controlMode;
m_impl.SetModeSelect(controlMode.value);
// Disable until set() is called.
m_impl.SetModeSelect(ControlMode.Disabled.value);
}
public void setFeedbackDevice(FeedbackDevice device) {