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Fixed CANJaguar::GetOutputVoltage for negative voltages

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Previously, negative output voltages were unpacked incorrectly.

Now, they're requested as percentages, unpacked, and then scaled
in software based on the bus voltage.  The output voltage and
bus voltage shouldn't ever be out of sync, since they're in
the same message.

Change-Id: I745fffd0faa6cbaab967240271e6cfa8653212e2
This commit is contained in:
Thomas Clark
2014-07-29 15:19:55 -04:00
parent 6deb196e90
commit ed0df5432f
2 changed files with 4 additions and 4 deletions
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4
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
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@@ -1885,7 +1885,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
// temperature.
final byte[] kMessage0Data = new byte[] {
CANJNI.LM_PSTAT_VOLTBUS_B0, CANJNI.LM_PSTAT_VOLTBUS_B1,
CANJNI.LM_PSTAT_VOUT_B0, CANJNI.LM_PSTAT_VOUT_B1,
CANJNI.LM_PSTAT_VOLTOUT_B0, CANJNI.LM_PSTAT_VOLTOUT_B1,
CANJNI.LM_PSTAT_CURRENT_B0, CANJNI.LM_PSTAT_CURRENT_B1,
CANJNI.LM_PSTAT_TEMP_B0, CANJNI.LM_PSTAT_TEMP_B1
};
@@ -1932,7 +1932,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
getMessage(CANJNI.LM_API_PSTAT_DATA_S0, CANJNI.CAN_MSGID_FULL_M, data);
m_busVoltage = unpackFXP8_8(new byte[] { data[0], data[1] });
m_outputVoltage = unpackFXP8_8(new byte[] { data[2], data[3] });
m_outputVoltage = unpackPercentage(new byte[] { data[2], data[3] }) * m_busVoltage;
m_outputCurrent = unpackFXP8_8(new byte[] { data[4], data[5] });
m_temperature = unpackFXP8_8(new byte[] { data[6], data[7] });