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Add C function wrappers for CanTalonSRX.

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Also sync wpilibC++Devices copy of CanTalonSRX.h.

Change-Id: Ideabb0493230ab37563698d37b0360c590f4bbbb
This commit is contained in:
Peter Johnson
2014-12-11 00:32:58 -08:00
parent dd272e6bcb
commit fa337bc747
3 changed files with 334 additions and 3 deletions
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219
hal/lib/Athena/ctre/CanTalonSRX.cpp
View File

@@ -1006,3 +1006,222 @@ CTR_Code CanTalonSRX::SetRevFeedbackSensor(int param)
FlushTx(toFill);
return CTR_OKAY;
}
//------------------ C interface --------------------------------------------//
extern "C" {
void *c_TalonSRX_Create(int deviceNumber, int controlPeriodMs)
{
return new CanTalonSRX(deviceNumber, controlPeriodMs);
}
void c_TalonSRX_Destroy(void *handle)
{
delete (CanTalonSRX*)handle;
}
CTR_Code c_TalonSRX_SetParam(void *handle, int paramEnum, double value)
{
return ((CanTalonSRX*)handle)->SetParam((CanTalonSRX::param_t)paramEnum, value);
}
CTR_Code c_TalonSRX_RequestParam(void *handle, int paramEnum)
{
return ((CanTalonSRX*)handle)->RequestParam((CanTalonSRX::param_t)paramEnum);
}
CTR_Code c_TalonSRX_GetParamResponse(void *handle, int paramEnum, double *value)
{
return ((CanTalonSRX*)handle)->GetParamResponse((CanTalonSRX::param_t)paramEnum, *value);
}
CTR_Code c_TalonSRX_GetParamResponseInt32(void *handle, int paramEnum, int *value)
{
return ((CanTalonSRX*)handle)->GetParamResponseInt32((CanTalonSRX::param_t)paramEnum, *value);
}
CTR_Code c_TalonSRX_SetStatusFrameRate(void *handle, unsigned frameEnum, unsigned periodMs)
{
return ((CanTalonSRX*)handle)->SetStatusFrameRate(frameEnum, periodMs);
}
CTR_Code c_TalonSRX_ClearStickyFaults(void *handle)
{
return ((CanTalonSRX*)handle)->ClearStickyFaults();
}
CTR_Code c_TalonSRX_GetFault_OverTemp(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetFault_OverTemp(*param);
}
CTR_Code c_TalonSRX_GetFault_UnderVoltage(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetFault_UnderVoltage(*param);
}
CTR_Code c_TalonSRX_GetFault_ForLim(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetFault_ForLim(*param);
}
CTR_Code c_TalonSRX_GetFault_RevLim(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetFault_RevLim(*param);
}
CTR_Code c_TalonSRX_GetFault_HardwareFailure(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetFault_HardwareFailure(*param);
}
CTR_Code c_TalonSRX_GetFault_ForSoftLim(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetFault_ForSoftLim(*param);
}
CTR_Code c_TalonSRX_GetFault_RevSoftLim(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetFault_RevSoftLim(*param);
}
CTR_Code c_TalonSRX_GetStckyFault_OverTemp(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetStckyFault_OverTemp(*param);
}
CTR_Code c_TalonSRX_GetStckyFault_UnderVoltage(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetStckyFault_UnderVoltage(*param);
}
CTR_Code c_TalonSRX_GetStckyFault_ForLim(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetStckyFault_ForLim(*param);
}
CTR_Code c_TalonSRX_GetStckyFault_RevLim(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetStckyFault_RevLim(*param);
}
CTR_Code c_TalonSRX_GetStckyFault_ForSoftLim(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetStckyFault_ForSoftLim(*param);
}
CTR_Code c_TalonSRX_GetStckyFault_RevSoftLim(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetStckyFault_RevSoftLim(*param);
}
CTR_Code c_TalonSRX_GetAppliedThrottle(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetAppliedThrottle(*param);
}
CTR_Code c_TalonSRX_GetCloseLoopErr(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetCloseLoopErr(*param);
}
CTR_Code c_TalonSRX_GetFeedbackDeviceSelect(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetFeedbackDeviceSelect(*param);
}
CTR_Code c_TalonSRX_GetModeSelect(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetModeSelect(*param);
}
CTR_Code c_TalonSRX_GetLimitSwitchEn(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetLimitSwitchEn(*param);
}
CTR_Code c_TalonSRX_GetLimitSwitchClosedFor(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetLimitSwitchClosedFor(*param);
}
CTR_Code c_TalonSRX_GetLimitSwitchClosedRev(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetLimitSwitchClosedRev(*param);
}
CTR_Code c_TalonSRX_GetSensorPosition(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetSensorPosition(*param);
}
CTR_Code c_TalonSRX_GetSensorVelocity(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetSensorVelocity(*param);
}
CTR_Code c_TalonSRX_GetCurrent(void *handle, double *param)
{
return ((CanTalonSRX*)handle)->GetCurrent(*param);
}
CTR_Code c_TalonSRX_GetBrakeIsEnabled(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetBrakeIsEnabled(*param);
}
CTR_Code c_TalonSRX_GetEncPosition(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetEncPosition(*param);
}
CTR_Code c_TalonSRX_GetEncVel(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetEncVel(*param);
}
CTR_Code c_TalonSRX_GetEncIndexRiseEvents(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetEncIndexRiseEvents(*param);
}
CTR_Code c_TalonSRX_GetQuadApin(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetQuadApin(*param);
}
CTR_Code c_TalonSRX_GetQuadBpin(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetQuadBpin(*param);
}
CTR_Code c_TalonSRX_GetQuadIdxpin(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetQuadIdxpin(*param);
}
CTR_Code c_TalonSRX_GetAnalogInWithOv(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetAnalogInWithOv(*param);
}
CTR_Code c_TalonSRX_GetAnalogInVel(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetAnalogInVel(*param);
}
CTR_Code c_TalonSRX_GetTemp(void *handle, double *param)
{
return ((CanTalonSRX*)handle)->GetTemp(*param);
}
CTR_Code c_TalonSRX_GetBatteryV(void *handle, double *param)
{
return ((CanTalonSRX*)handle)->GetBatteryV(*param);
}
CTR_Code c_TalonSRX_GetResetCount(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetResetCount(*param);
}
CTR_Code c_TalonSRX_GetResetFlags(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetResetFlags(*param);
}
CTR_Code c_TalonSRX_GetFirmVers(void *handle, int *param)
{
return ((CanTalonSRX*)handle)->GetFirmVers(*param);
}
CTR_Code c_TalonSRX_SetDemand(void *handle, int param)
{
return ((CanTalonSRX*)handle)->SetDemand(param);
}
CTR_Code c_TalonSRX_SetOverrideLimitSwitchEn(void *handle, int param)
{
return ((CanTalonSRX*)handle)->SetOverrideLimitSwitchEn(param);
}
CTR_Code c_TalonSRX_SetFeedbackDeviceSelect(void *handle, int param)
{
return ((CanTalonSRX*)handle)->SetFeedbackDeviceSelect(param);
}
CTR_Code c_TalonSRX_SetRevMotDuringCloseLoopEn(void *handle, int param)
{
return ((CanTalonSRX*)handle)->SetRevMotDuringCloseLoopEn(param);
}
CTR_Code c_TalonSRX_SetOverrideBrakeType(void *handle, int param)
{
return ((CanTalonSRX*)handle)->SetOverrideBrakeType(param);
}
CTR_Code c_TalonSRX_SetModeSelect(void *handle, int param)
{
return ((CanTalonSRX*)handle)->SetModeSelect(param);
}
CTR_Code c_TalonSRX_SetProfileSlotSelect(void *handle, int param)
{
return ((CanTalonSRX*)handle)->SetProfileSlotSelect(param);
}
CTR_Code c_TalonSRX_SetRampThrottle(void *handle, int param)
{
return ((CanTalonSRX*)handle)->SetRampThrottle(param);
}
CTR_Code c_TalonSRX_SetRevFeedbackSensor(void *handle, int param)
{
return ((CanTalonSRX*)handle)->SetRevFeedbackSensor(param);
}
}

56
hal/lib/Athena/ctre/CanTalonSRX.h
View File

@@ -314,5 +314,61 @@ public:
CTR_Code SetRampThrottle(int param);
CTR_Code SetRevFeedbackSensor(int param);
};
extern "C" {
void *c_TalonSRX_Create(int deviceNumber, int controlPeriodMs);
void c_TalonSRX_Destroy(void *handle);
CTR_Code c_TalonSRX_SetParam(void *handle, int paramEnum, double value);
CTR_Code c_TalonSRX_RequestParam(void *handle, int paramEnum);
CTR_Code c_TalonSRX_GetParamResponse(void *handle, int paramEnum, double *value);
CTR_Code c_TalonSRX_GetParamResponseInt32(void *handle, int paramEnum, int *value);
CTR_Code c_TalonSRX_SetStatusFrameRate(void *handle, unsigned frameEnum, unsigned periodMs);
CTR_Code c_TalonSRX_ClearStickyFaults(void *handle);
CTR_Code c_TalonSRX_GetFault_OverTemp(void *handle, int *param);
CTR_Code c_TalonSRX_GetFault_UnderVoltage(void *handle, int *param);
CTR_Code c_TalonSRX_GetFault_ForLim(void *handle, int *param);
CTR_Code c_TalonSRX_GetFault_RevLim(void *handle, int *param);
CTR_Code c_TalonSRX_GetFault_HardwareFailure(void *handle, int *param);
CTR_Code c_TalonSRX_GetFault_ForSoftLim(void *handle, int *param);
CTR_Code c_TalonSRX_GetFault_RevSoftLim(void *handle, int *param);
CTR_Code c_TalonSRX_GetStckyFault_OverTemp(void *handle, int *param);
CTR_Code c_TalonSRX_GetStckyFault_UnderVoltage(void *handle, int *param);
CTR_Code c_TalonSRX_GetStckyFault_ForLim(void *handle, int *param);
CTR_Code c_TalonSRX_GetStckyFault_RevLim(void *handle, int *param);
CTR_Code c_TalonSRX_GetStckyFault_ForSoftLim(void *handle, int *param);
CTR_Code c_TalonSRX_GetStckyFault_RevSoftLim(void *handle, int *param);
CTR_Code c_TalonSRX_GetAppliedThrottle(void *handle, int *param);
CTR_Code c_TalonSRX_GetCloseLoopErr(void *handle, int *param);
CTR_Code c_TalonSRX_GetFeedbackDeviceSelect(void *handle, int *param);
CTR_Code c_TalonSRX_GetModeSelect(void *handle, int *param);
CTR_Code c_TalonSRX_GetLimitSwitchEn(void *handle, int *param);
CTR_Code c_TalonSRX_GetLimitSwitchClosedFor(void *handle, int *param);
CTR_Code c_TalonSRX_GetLimitSwitchClosedRev(void *handle, int *param);
CTR_Code c_TalonSRX_GetSensorPosition(void *handle, int *param);
CTR_Code c_TalonSRX_GetSensorVelocity(void *handle, int *param);
CTR_Code c_TalonSRX_GetCurrent(void *handle, double *param);
CTR_Code c_TalonSRX_GetBrakeIsEnabled(void *handle, int *param);
CTR_Code c_TalonSRX_GetEncPosition(void *handle, int *param);
CTR_Code c_TalonSRX_GetEncVel(void *handle, int *param);
CTR_Code c_TalonSRX_GetEncIndexRiseEvents(void *handle, int *param);
CTR_Code c_TalonSRX_GetQuadApin(void *handle, int *param);
CTR_Code c_TalonSRX_GetQuadBpin(void *handle, int *param);
CTR_Code c_TalonSRX_GetQuadIdxpin(void *handle, int *param);
CTR_Code c_TalonSRX_GetAnalogInWithOv(void *handle, int *param);
CTR_Code c_TalonSRX_GetAnalogInVel(void *handle, int *param);
CTR_Code c_TalonSRX_GetTemp(void *handle, double *param);
CTR_Code c_TalonSRX_GetBatteryV(void *handle, double *param);
CTR_Code c_TalonSRX_GetResetCount(void *handle, int *param);
CTR_Code c_TalonSRX_GetResetFlags(void *handle, int *param);
CTR_Code c_TalonSRX_GetFirmVers(void *handle, int *param);
CTR_Code c_TalonSRX_SetDemand(void *handle, int param);
CTR_Code c_TalonSRX_SetOverrideLimitSwitchEn(void *handle, int param);
CTR_Code c_TalonSRX_SetFeedbackDeviceSelect(void *handle, int param);
CTR_Code c_TalonSRX_SetRevMotDuringCloseLoopEn(void *handle, int param);
CTR_Code c_TalonSRX_SetOverrideBrakeType(void *handle, int param);
CTR_Code c_TalonSRX_SetModeSelect(void *handle, int param);
CTR_Code c_TalonSRX_SetProfileSlotSelect(void *handle, int param);
CTR_Code c_TalonSRX_SetRampThrottle(void *handle, int param);
CTR_Code c_TalonSRX_SetRevFeedbackSensor(void *handle, int param);
}
#endif

62
wpilibc/wpilibC++Devices/include/ctre/CanTalonSRX.h
View File

@@ -63,9 +63,8 @@
* ClearIaccum()
* ...this is very useful in preventing integral windup and is highly recommended if using full PID to keep stability low.
*
* CloseLoopRampRate ramps the target of the close loop. The units are in position per 1ms. Set to zero to disable ramping.
* So a value of 10 means allow the target input of the close loop to approach the user's demand by 10 units (ADC or encoder edges)
* per 1ms.
* CloseLoopRampRate is in throttle units per 1ms. Set to zero to disable ramping.
* Works the same as RampThrottle but only is in effect when a close loop mode and profile slot is selected.
*
* auto generated using spreadsheet and WpiClassGen.csproj
* @link https://docs.google.com/spreadsheets/d/1OU_ZV7fZLGYUQ-Uhc8sVAmUmWTlT8XBFYK8lfjg_tac/edit#gid=1766046967
@@ -310,9 +309,66 @@ public:
CTR_Code SetRevMotDuringCloseLoopEn(int param);
CTR_Code SetOverrideBrakeType(int param);
CTR_Code SetModeSelect(int param);
CTR_Code SetModeSelect(int modeSelect,int demand);
CTR_Code SetProfileSlotSelect(int param);
CTR_Code SetRampThrottle(int param);
CTR_Code SetRevFeedbackSensor(int param);
};
extern "C" {
void *c_TalonSRX_Create(int deviceNumber, int controlPeriodMs);
void c_TalonSRX_Destroy(void *handle);
CTR_Code c_TalonSRX_SetParam(void *handle, int paramEnum, double value);
CTR_Code c_TalonSRX_RequestParam(void *handle, int paramEnum);
CTR_Code c_TalonSRX_GetParamResponse(void *handle, int paramEnum, double *value);
CTR_Code c_TalonSRX_GetParamResponseInt32(void *handle, int paramEnum, int *value);
CTR_Code c_TalonSRX_SetStatusFrameRate(void *handle, unsigned frameEnum, unsigned periodMs);
CTR_Code c_TalonSRX_ClearStickyFaults(void *handle);
CTR_Code c_TalonSRX_GetFault_OverTemp(void *handle, int *param);
CTR_Code c_TalonSRX_GetFault_UnderVoltage(void *handle, int *param);
CTR_Code c_TalonSRX_GetFault_ForLim(void *handle, int *param);
CTR_Code c_TalonSRX_GetFault_RevLim(void *handle, int *param);
CTR_Code c_TalonSRX_GetFault_HardwareFailure(void *handle, int *param);
CTR_Code c_TalonSRX_GetFault_ForSoftLim(void *handle, int *param);
CTR_Code c_TalonSRX_GetFault_RevSoftLim(void *handle, int *param);
CTR_Code c_TalonSRX_GetStckyFault_OverTemp(void *handle, int *param);
CTR_Code c_TalonSRX_GetStckyFault_UnderVoltage(void *handle, int *param);
CTR_Code c_TalonSRX_GetStckyFault_ForLim(void *handle, int *param);
CTR_Code c_TalonSRX_GetStckyFault_RevLim(void *handle, int *param);
CTR_Code c_TalonSRX_GetStckyFault_ForSoftLim(void *handle, int *param);
CTR_Code c_TalonSRX_GetStckyFault_RevSoftLim(void *handle, int *param);
CTR_Code c_TalonSRX_GetAppliedThrottle(void *handle, int *param);
CTR_Code c_TalonSRX_GetCloseLoopErr(void *handle, int *param);
CTR_Code c_TalonSRX_GetFeedbackDeviceSelect(void *handle, int *param);
CTR_Code c_TalonSRX_GetModeSelect(void *handle, int *param);
CTR_Code c_TalonSRX_GetLimitSwitchEn(void *handle, int *param);
CTR_Code c_TalonSRX_GetLimitSwitchClosedFor(void *handle, int *param);
CTR_Code c_TalonSRX_GetLimitSwitchClosedRev(void *handle, int *param);
CTR_Code c_TalonSRX_GetSensorPosition(void *handle, int *param);
CTR_Code c_TalonSRX_GetSensorVelocity(void *handle, int *param);
CTR_Code c_TalonSRX_GetCurrent(void *handle, double *param);
CTR_Code c_TalonSRX_GetBrakeIsEnabled(void *handle, int *param);
CTR_Code c_TalonSRX_GetEncPosition(void *handle, int *param);
CTR_Code c_TalonSRX_GetEncVel(void *handle, int *param);
CTR_Code c_TalonSRX_GetEncIndexRiseEvents(void *handle, int *param);
CTR_Code c_TalonSRX_GetQuadApin(void *handle, int *param);
CTR_Code c_TalonSRX_GetQuadBpin(void *handle, int *param);
CTR_Code c_TalonSRX_GetQuadIdxpin(void *handle, int *param);
CTR_Code c_TalonSRX_GetAnalogInWithOv(void *handle, int *param);
CTR_Code c_TalonSRX_GetAnalogInVel(void *handle, int *param);
CTR_Code c_TalonSRX_GetTemp(void *handle, double *param);
CTR_Code c_TalonSRX_GetBatteryV(void *handle, double *param);
CTR_Code c_TalonSRX_GetResetCount(void *handle, int *param);
CTR_Code c_TalonSRX_GetResetFlags(void *handle, int *param);
CTR_Code c_TalonSRX_GetFirmVers(void *handle, int *param);
CTR_Code c_TalonSRX_SetDemand(void *handle, int param);
CTR_Code c_TalonSRX_SetOverrideLimitSwitchEn(void *handle, int param);
CTR_Code c_TalonSRX_SetFeedbackDeviceSelect(void *handle, int param);
CTR_Code c_TalonSRX_SetRevMotDuringCloseLoopEn(void *handle, int param);
CTR_Code c_TalonSRX_SetOverrideBrakeType(void *handle, int param);
CTR_Code c_TalonSRX_SetModeSelect(void *handle, int param);
CTR_Code c_TalonSRX_SetProfileSlotSelect(void *handle, int param);
CTR_Code c_TalonSRX_SetRampThrottle(void *handle, int param);
CTR_Code c_TalonSRX_SetRevFeedbackSensor(void *handle, int param);
}
#endif