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Fix a few wrong messages in CANJaguar

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Change-Id: I8e1a8fa9b0c20a40e060a8319dbbd605173dc407
This commit is contained in:
thomasclark
2014-07-16 10:23:46 -04:00
parent 7ca1b498e4
commit f566c087dc
2 changed files with 16 additions and 16 deletions
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16
wpilibc/wpilibC++/lib/CANJaguar.cpp
View File

@@ -922,7 +922,7 @@ void CANJaguar::verify()
}
else if(m_controlMode == kVoltage)
{
if(getMessage(LM_API_VCOMP_IN_RAMP, CAN_MSGID_FULL_M, dataBuffer, &dataSize))
if(getMessage(LM_API_VCOMP_COMP_RAMP, CAN_MSGID_FULL_M, dataBuffer, &dataSize))
{
double rate = unpackFXP8_8(dataBuffer);
@@ -937,7 +937,7 @@ void CANJaguar::verify()
else
{
// Verification is needed but not available - request it again.
requestMessage(LM_API_VCOMP_IN_RAMP);
requestMessage(LM_API_VCOMP_COMP_RAMP);
}
}
}
@@ -1271,7 +1271,7 @@ void CANJaguar::SetPercentMode(CANJaguar::EncoderStruct, uint16_t codesPerRev)
void CANJaguar::SetPercentMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev)
{
ChangeControlMode(kPercentVbus);
SetPositionReference(LM_REF_QUAD_ENCODER);
SetPositionReference(LM_REF_ENCODER);
SetSpeedReference(LM_REF_QUAD_ENCODER);
ConfigEncoderCodesPerRev(codesPerRev);
}
@@ -1335,7 +1335,7 @@ void CANJaguar::SetCurrentMode(CANJaguar::EncoderStruct, uint16_t codesPerRev, d
void CANJaguar::SetCurrentMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev, double p, double i, double d)
{
ChangeControlMode(kCurrent);
SetPositionReference(LM_REF_QUAD_ENCODER);
SetPositionReference(LM_REF_ENCODER);
SetSpeedReference(LM_REF_QUAD_ENCODER);
ConfigEncoderCodesPerRev(codesPerRev);
SetPID(p, i, d);
@@ -1390,7 +1390,7 @@ void CANJaguar::SetSpeedMode(CANJaguar::EncoderStruct, uint16_t codesPerRev, dou
void CANJaguar::SetSpeedMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev, double p, double i, double d)
{
ChangeControlMode(kSpeed);
SetPositionReference(LM_REF_QUAD_ENCODER);
SetPositionReference(LM_REF_ENCODER);
SetSpeedReference(LM_REF_QUAD_ENCODER);
ConfigEncoderCodesPerRev(codesPerRev);
SetPID(p, i, d);
@@ -1405,7 +1405,7 @@ void CANJaguar::SetSpeedMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev,
void CANJaguar::SetPositionMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev, double p, double i, double d)
{
ChangeControlMode(kPosition);
SetPositionReference(LM_REF_QUAD_ENCODER);
SetPositionReference(LM_REF_ENCODER);
ConfigEncoderCodesPerRev(codesPerRev);
SetPID(p, i, d);
}
@@ -1456,7 +1456,7 @@ void CANJaguar::SetVoltageMode(CANJaguar::EncoderStruct, uint16_t codesPerRev)
void CANJaguar::SetVoltageMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev)
{
ChangeControlMode(kVoltage);
SetPositionReference(LM_REF_QUAD_ENCODER);
SetPositionReference(LM_REF_ENCODER);
SetSpeedReference(LM_REF_QUAD_ENCODER);
ConfigEncoderCodesPerRev(codesPerRev);
}
@@ -1636,7 +1636,7 @@ void CANJaguar::SetVoltageRampRate(double rampRate)
break;
case kVoltage:
dataSize = packFXP8_8(dataBuffer, rampRate / kControllerRate);
message = LM_API_VCOMP_IN_RAMP;
message = LM_API_VCOMP_COMP_RAMP;
break;
default:
wpi_setWPIErrorWithContext(IncompatibleMode, "SetVoltageRampRate only applies in Voltage and Percent mode");

16
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
View File

@@ -679,7 +679,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
}
} else if(m_controlMode == ControlMode.Voltage) {
try {
getMessage(CANJNI.LM_API_VCOMP_IN_RAMP, CANJNI.CAN_MSGID_FULL_M, data);
getMessage(CANJNI.LM_API_VCOMP_COMP_RAMP, CANJNI.CAN_MSGID_FULL_M, data);
double rate = unpackFXP8_8(data);
@@ -692,7 +692,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
} catch(CANMessageNotFoundException e) {
// Verification is needed but not available - request it again.
requestMessage(CANJNI.LM_API_VCOMP_IN_RAMP);
requestMessage(CANJNI.LM_API_VCOMP_COMP_RAMP);
}
}
}
@@ -1005,7 +1005,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
public void setPercentMode(QuadEncoderTag tag, int codesPerRev)
{
changeControlMode(ControlMode.PercentVbus);
setPositionReference(CANJNI.LM_REF_QUAD_ENCODER);
setPositionReference(CANJNI.LM_REF_ENCODER);
setSpeedReference(CANJNI.LM_REF_QUAD_ENCODER);
configEncoderCodesPerRev(codesPerRev);
}
@@ -1069,7 +1069,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
public void setCurrentMode(QuadEncoderTag tag, int codesPerRev, double p, double i, double d)
{
changeControlMode(ControlMode.Current);
setPositionReference(CANJNI.LM_REF_QUAD_ENCODER);
setPositionReference(CANJNI.LM_REF_ENCODER);
setSpeedReference(CANJNI.LM_REF_QUAD_ENCODER);
configEncoderCodesPerRev(codesPerRev);
setPID(p, i, d);
@@ -1124,7 +1124,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
public void setSpeedMode(QuadEncoderTag tag, int codesPerRev, double p, double i, double d)
{
changeControlMode(ControlMode.Speed);
setPositionReference(CANJNI.LM_REF_QUAD_ENCODER);
setPositionReference(CANJNI.LM_REF_ENCODER);
setSpeedReference(CANJNI.LM_REF_QUAD_ENCODER);
configEncoderCodesPerRev(codesPerRev);
setPID(p, i, d);
@@ -1139,7 +1139,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
public void setPositionMode(QuadEncoderTag tag, int codesPerRev, double p, double i, double d)
{
changeControlMode(ControlMode.Position);
setPositionReference(CANJNI.LM_REF_QUAD_ENCODER);
setPositionReference(CANJNI.LM_REF_ENCODER);
configEncoderCodesPerRev(codesPerRev);
setPID(p, i, d);
}
@@ -1190,7 +1190,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
public void setVoltageMode(QuadEncoderTag tag, int codesPerRev)
{
changeControlMode(ControlMode.Voltage);
setPositionReference(CANJNI.LM_REF_QUAD_ENCODER);
setPositionReference(CANJNI.LM_REF_ENCODER);
setSpeedReference(CANJNI.LM_REF_QUAD_ENCODER);
configEncoderCodesPerRev(codesPerRev);
}
@@ -1359,7 +1359,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
break;
case Voltage:
dataSize = packFXP8_8(data, rampRate / kControllerRate);
message = CANJNI.LM_API_VCOMP_IN_RAMP;
message = CANJNI.LM_API_VCOMP_COMP_RAMP;
break;
default:
throw new IllegalStateException("Voltage ramp rate only applies in Percentage and Voltage modes");