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CANJaguar can be disabled [artf2647]

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The CANJaguar class now stores a controlEnabled flag.  When disabled, it
won't verify the control mode, which involves sending enable messages.

Change-Id: I8baa48eec31de6b4d3fee2b5a074320542a1bbef
This commit is contained in:
thomasclark
2014-07-24 17:42:25 -04:00
committed by Thomas Clark
parent f4f7588cfb
commit f958b65ba6
4 changed files with 109 additions and 76 deletions
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74
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
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@@ -301,45 +301,47 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
byte[] data = new byte[8];
byte dataSize;
switch(m_controlMode) {
case PercentVbus:
messageID = CANJNI.LM_API_VOLT_T_SET;
dataSize = packPercentage(data, outputValue);
break;
if(m_controlEnabled) {
switch(m_controlMode) {
case PercentVbus:
messageID = CANJNI.LM_API_VOLT_T_SET;
dataSize = packPercentage(data, outputValue);
break;
case Speed:
messageID = CANJNI.LM_API_SPD_T_SET;
dataSize = packFXP16_16(data, outputValue);
break;
case Speed:
messageID = CANJNI.LM_API_SPD_T_SET;
dataSize = packFXP16_16(data, outputValue);
break;
case Position:
messageID = CANJNI.LM_API_POS_T_SET;
dataSize = packFXP16_16(data, outputValue);
break;
case Position:
messageID = CANJNI.LM_API_POS_T_SET;
dataSize = packFXP16_16(data, outputValue);
break;
case Current:
messageID = CANJNI.LM_API_ICTRL_T_SET;
dataSize = packFXP8_8(data, outputValue);
break;
case Current:
messageID = CANJNI.LM_API_ICTRL_T_SET;
dataSize = packFXP8_8(data, outputValue);
break;
case Voltage:
messageID = CANJNI.LM_API_VCOMP_T_SET;
dataSize = packFXP8_8(data, outputValue);
break;
case Voltage:
messageID = CANJNI.LM_API_VCOMP_T_SET;
dataSize = packFXP8_8(data, outputValue);
break;
default:
return;
default:
return;
}
if(syncGroup != 0) {
data[dataSize++] = syncGroup;
}
sendMessage(messageID, data, dataSize, kSendMessagePeriod);
if(m_safetyHelper != null) m_safetyHelper.feed();
}
if(syncGroup != 0) {
data[dataSize++] = syncGroup;
}
sendMessage(messageID, data, dataSize, kSendMessagePeriod);
if(m_safetyHelper != null) m_safetyHelper.feed();
m_value = outputValue;
verify();
@@ -429,15 +431,13 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
getMessage(message, CANJNI.CAN_MSGID_FULL_M, data);
} catch (CANMessageNotFoundException e) {}
}
enableControl();
}
} catch(CANMessageNotFoundException e) {
requestMessage(CANJNI.LM_API_STATUS_POWER);
}
// Verify that any recently set parameters are correct
if(!m_controlModeVerified) {
if(!m_controlModeVerified && m_controlEnabled) {
try {
getMessage(CANJNI.LM_API_STATUS_CMODE, CANJNI.CAN_MSGID_FULL_M, data);
@@ -1012,6 +1012,8 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
sendMessage(CANJNI.LM_API_VCOMP_T_EN, new byte[0], 0);
break;
}
m_controlEnabled = true;
}
/**
@@ -1052,6 +1054,8 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
sendMessage(CANJNI.LM_API_VCOMP_DIS, new byte[0], 0);
break;
}
m_controlEnabled = false;
}
/**
@@ -1731,6 +1735,8 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
static final int kReceiveStatusAttempts = 50;
boolean m_controlEnabled = true;
static void sendMessageHelper(int messageID, byte[] data, int dataSize, int period) throws CANMessageNotFoundException {
final int[] kTrustedMessages = {
CANJNI.LM_API_VOLT_T_EN, CANJNI.LM_API_VOLT_T_SET, CANJNI.LM_API_SPD_T_EN, CANJNI.LM_API_SPD_T_SET,