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Getters for : AppliedThrotte, CloseLoopErr, Sensor/Ain/Enc Pos and Vel are now signed extended. Before this negative values would not de-serialize correctly.

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There are some redundant TALON fixes in this particular commit, hopefully it handles ok on Jenkins.
Tested with Talon SRX Unit Test (firm 0.34)

Change-Id: I67db546fea2867cc6bd53ea26dc1cb61ac106490
This commit is contained in:
Omar Zrien
2014-11-29 06:20:24 -05:00
committed by James Kuszmaul
parent d04476bb2f
commit ea610eb302
3 changed files with 51 additions and 27 deletions
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64
hal/lib/Athena/ctre/CanTalonSRX.cpp
View File

@@ -34,7 +34,7 @@
* Velocity is in position ticks / 100ms.
*
* All output units are in respect to duty cycle (throttle) which is -1023(full reverse) to +1023 (full forward).
* This includes demand (which specifies duty cycle when in duty cycle mode) and rampRamp, which is in throttle units per 1ms (if nonzero).
* This includes demand (which specifies duty cycle when in duty cycle mode) and rampRamp, which is in throttle units per 10ms (if nonzero).
*
* Pos and velocity close loops are calc'd as
* err = target - posOrVel.
@@ -241,7 +241,7 @@ typedef struct _TALON_Param_Response_t {
} TALON_Param_Response_t ;
CanTalonSRX::CanTalonSRX(int deviceNumber): CtreCanNode((UINT8)deviceNumber), _can_h(0), _can_stat(0)
CanTalonSRX::CanTalonSRX(UINT8 deviceNumber,UINT8 controlPeriodMs): CtreCanNode(deviceNumber), _can_h(0), _can_stat(0)
{
RegisterRx(STATUS_1 | (UINT8)deviceNumber );
RegisterRx(STATUS_2 | (UINT8)deviceNumber );
@@ -250,7 +250,7 @@ CanTalonSRX::CanTalonSRX(int deviceNumber): CtreCanNode((UINT8)deviceNumber), _c
RegisterRx(STATUS_5 | (UINT8)deviceNumber );
RegisterRx(STATUS_6 | (UINT8)deviceNumber );
RegisterRx(STATUS_7 | (UINT8)deviceNumber );
RegisterTx(CONTROL_1 | (UINT8)deviceNumber, 10);
RegisterTx(CONTROL_1 | (UINT8)deviceNumber, controlPeriodMs);
/* default our frame rate table to what firmware defaults to. */
_statusRateMs[0] = 10; /* TALON_Status_1_General_10ms_t */
_statusRateMs[1] = 20; /* TALON_Status_2_Feedback_20ms_t */
@@ -392,17 +392,23 @@ CTR_Code CanTalonSRX::SetParam(param_t paramEnum, double value)
{
int32_t rawbits = 0;
switch(paramEnum){
case eProfileParamSlot0_P:/* 10.22 fixed pt value */
case eProfileParamSlot0_P:/* unsigned 10.22 fixed pt value */
case eProfileParamSlot0_I:
case eProfileParamSlot0_D:
case eProfileParamSlot0_F:
case eProfileParamSlot1_P:
case eProfileParamSlot1_I:
case eProfileParamSlot1_D:
case eProfileParamSlot1_F:
case eCurrent:
case eTemp:
case eBatteryV:
{
uint32_t urawbits;
value = std::min(value,1023.0); /* bounds check doubles that are outside u10.22 */
value = std::max(value,0.0);
urawbits = value * FLOAT_TO_FXP; /* perform unsign arithmetic */
rawbits = urawbits; /* copy bits over. SetParamRaw just stuffs into CAN frame with no sense of signedness */
} break;
case eProfileParamSlot1_F: /* signed 10.22 fixed pt value */
case eProfileParamSlot0_F:
value = std::min(value, 512.0); /* bounds check doubles that are outside s10.22 */
value = std::max(value,-512.0);
rawbits = value * FLOAT_TO_FXP;
break;
default: /* everything else is integral */
@@ -686,22 +692,26 @@ CTR_Code CanTalonSRX::GetStckyFault_RevSoftLim(int &param)
CTR_Code CanTalonSRX::GetAppliedThrottle(int &param)
{
GET_STATUS1();
uint32_t raw = 0;
int32_t raw = 0;
raw |= rx->AppliedThrottle_h3;
raw <<= 8;
raw |= rx->AppliedThrottle_l8;
raw <<= (32-11); /* sign extend */
raw >>= (32-11); /* sign extend */
param = (int)raw;
return rx.err;
}
CTR_Code CanTalonSRX::GetCloseLoopErr(int &param)
{
GET_STATUS1();
uint32_t raw = 0;
int32_t raw = 0;
raw |= rx->CloseLoopErrH;
raw <<= 16;
raw <<= 8;
raw |= rx->CloseLoopErrM;
raw <<= 8;
raw |= rx->CloseLoopErrL;
raw <<= (32-24); /* sign extend */
raw >>= (32-24); /* sign extend */
param = (int)raw;
return rx.err;
}
@@ -742,22 +752,26 @@ CTR_Code CanTalonSRX::GetLimitSwitchClosedRev(int &param)
CTR_Code CanTalonSRX::GetSensorPosition(int &param)
{
GET_STATUS2();
uint32_t raw = 0;
int32_t raw = 0;
raw |= rx->SensorPositionH;
raw <<= 16;
raw <<= 8;
raw |= rx->SensorPositionM;
raw <<= 8;
raw |= rx->SensorPositionL;
raw <<= (32-24); /* sign extend */
raw >>= (32-24); /* sign extend */
param = (int)raw;
return rx.err;
}
CTR_Code CanTalonSRX::GetSensorVelocity(int &param)
{
GET_STATUS2();
uint32_t raw = 0;
int32_t raw = 0;
raw |= rx->SensorVelocityH;
raw <<= 8;
raw |= rx->SensorVelocityL;
raw <<= (32-16); /* sign extend */
raw >>= (32-16); /* sign extend */
param = (int)raw;
return rx.err;
}
@@ -780,22 +794,26 @@ CTR_Code CanTalonSRX::GetBrakeIsEnabled(int &param)
CTR_Code CanTalonSRX::GetEncPosition(int &param)
{
GET_STATUS3();
uint32_t raw = 0;
int32_t raw = 0;
raw |= rx->EncPositionH;
raw <<= 16;
raw <<= 8;
raw |= rx->EncPositionM;
raw <<= 8;
raw |= rx->EncPositionL;
raw <<= (32-24); /* sign extend */
raw >>= (32-24); /* sign extend */
param = (int)raw;
return rx.err;
}
CTR_Code CanTalonSRX::GetEncVel(int &param)
{
GET_STATUS3();
uint32_t raw = 0;
int32_t raw = 0;
raw |= rx->EncVelH;
raw <<= 8;
raw |= rx->EncVelL;
raw <<= (32-16); /* sign extend */
raw >>= (32-16); /* sign extend */
param = (int)raw;
return rx.err;
}
@@ -830,23 +848,27 @@ CTR_Code CanTalonSRX::GetQuadIdxpin(int &param)
CTR_Code CanTalonSRX::GetAnalogInWithOv(int &param)
{
GET_STATUS4();
uint32_t raw = 0;
int32_t raw = 0;
raw |= rx->AnalogInWithOvH;
raw <<= 16;
raw <<= 8;
raw |= rx->AnalogInWithOvM;
raw <<= 8;
raw |= rx->AnalogInWithOvL;
raw <<= (32-24); /* sign extend */
raw >>= (32-24); /* sign extend */
param = (int)raw;
return rx.err;
}
CTR_Code CanTalonSRX::GetAnalogInVel(int &param)
{
GET_STATUS4();
uint32_t raw = 0;
int32_t raw = 0;
raw |= rx->AnalogInVelH;
raw <<= 8;
raw |= rx->AnalogInVelL;
param = (int)raw;
raw <<= (32-16); /* sign extend */
raw >>= (32-16); /* sign extend */
return rx.err;
}
CTR_Code CanTalonSRX::GetTemp(double &param)

9
hal/lib/Athena/ctre/CanTalonSRX.h
View File

@@ -34,7 +34,7 @@
* Velocity is in position ticks / 100ms.
*
* All output units are in respect to duty cycle (throttle) which is -1023(full reverse) to +1023 (full forward).
* This includes demand (which specifies duty cycle when in duty cycle mode) and rampRamp, which is in throttle units per 1ms (if nonzero).
* This includes demand (which specifies duty cycle when in duty cycle mode) and rampRamp, which is in throttle units per 10ms (if nonzero).
*
* Pos and velocity close loops are calc'd as
* err = target - posOrVel.
@@ -106,9 +106,10 @@ private:
*/
CTR_Code GetParamResponseRaw(uint32_t paramEnum, int32_t & rawBits);
public:
CanTalonSRX(int deviceNumber=0);
~CanTalonSRX();
void Set(double value);
static const int kDefaultControlPeriodMs = 10; //!< default control update rate is 10ms.
CanTalonSRX(UINT8 deviceNumber = 0,UINT8 controlPeriodMs = kDefaultControlPeriodMs);
~CanTalonSRX();
void Set(double value);
/* mode select enumerations */
static const int kMode_DutyCycle = 0; //!< Demand is 11bit signed duty cycle [-1023,1023].
static const int kMode_PositionCloseLoop = 1; //!< Position PIDF.

5
wpilibc/wpilibC++Devices/include/ctre/CanTalonSRX.h
View File

@@ -34,7 +34,7 @@
* Velocity is in position ticks / 100ms.
*
* All output units are in respect to duty cycle (throttle) which is -1023(full reverse) to +1023 (full forward).
* This includes demand (which specifies duty cycle when in duty cycle mode) and rampRamp, which is in throttle units per 1ms (if nonzero).
* This includes demand (which specifies duty cycle when in duty cycle mode) and rampRamp, which is in throttle units per 10ms (if nonzero).
*
* Pos and velocity close loops are calc'd as
* err = target - posOrVel.
@@ -106,7 +106,8 @@ private:
*/
CTR_Code GetParamResponseRaw(uint32_t paramEnum, int32_t & rawBits);
public:
CanTalonSRX(int deviceNumber=0);
static const int kDefaultControlPeriodMs = 10; //!< default control update rate is 10ms.
CanTalonSRX(UINT8 deviceNumber = 0,UINT8 controlPeriodMs = kDefaultControlPeriodMs);
~CanTalonSRX();
void Set(double value);
/* mode select enumerations */