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Adds/updates the documentation for the CANJaguar Classes for C++ & Java.

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Also removes private unused methods in Java and an unused constructor.

Change-Id: I0a810a4839a5c6752872d947239dd9305141672e
This commit is contained in:
Jonathan Leitschuh
2014-07-03 12:05:29 -04:00
parent 80c5c09f77
commit fc0eb4e956
4 changed files with 483 additions and 312 deletions
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26
wpilibc/wpilibC++/include/CANJaguar.h
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@@ -33,14 +33,36 @@ public:
static constexpr double kApproxBusVoltage = 12.0;
// Control mode tags
/** Sets an encoder as the speed reference only. <br> Passed as the "tag" when setting the control mode.*/
static const struct EncoderStruct {} Encoder;
/** Sets a quadrature encoder as the position and speed reference. <br> Passed as the "tag" when setting the control mode.*/
static const struct QuadEncoderStruct {} QuadEncoder;
/** Sets a potentiometer as the position reference only. <br> Passed as the "tag" when setting the control mode. */
static const struct PotentiometerStruct {} Potentiometer;
typedef enum {kCurrentFault = 1, kTemperatureFault = 2, kBusVoltageFault = 4, kGateDriverFault = 8} Faults;
typedef enum {kForwardLimit = 1, kReverseLimit = 2} Limits;
typedef enum {kNeutralMode_Jumper = 0, kNeutralMode_Brake = 1, kNeutralMode_Coast = 2} NeutralMode;
typedef enum {kLimitMode_SwitchInputsOnly = 0, kLimitMode_SoftPositionLimits = 1} LimitMode;
typedef enum {
kNeutralMode_Jumper = 0, /** Use the NeutralMode that is set by the jumper wire on the CAN device */
kNeutralMode_Brake = 1, /** Stop the motor's rotation by applying a force. */
kNeutralMode_Coast = 2 /** Do not attempt to stop the motor. Instead allow it to coast to a stop without applying resistance. */
} NeutralMode;
typedef enum {
/**
* Disables the soft position limits and only uses the limit switches to limit rotation.
* @see CANJaguar#GetForwardLimitOK()
* @see CANJaguar#GetReverseLimitOK()
*
*/
kLimitMode_SwitchInputsOnly = 0,
/**
* Enables the soft position limits on the Jaguar.
* These will be used in addition to the limit switches. This does not disable the behavior
* of the limit switch input.
* @see CANJaguar#ConfigSoftPositionLimits(double, double)
*/
kLimitMode_SoftPositionLimits = 1
} LimitMode;
explicit CANJaguar(uint8_t deviceNumber);
virtual ~CANJaguar();

145
wpilibc/wpilibC++/lib/CANJaguar.cpp
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@@ -209,9 +209,27 @@ void CANJaguar::InitCANJaguar()
}
/**
* Constructor
* Constructor for the CANJaguar device.<br>
* By default the device is configured in Percent mode.
* The control mode can be changed by calling one of the control modes listed below.
*
* @param deviceNumber The the address of the Jaguar on the CAN bus.
* @param deviceNumber The address of the Jaguar on the CAN bus.
* @see CANJaguar#SetCurrentMode(double, double, double)
* @see CANJaguar#SetCurrentMode(PotentiometerTag, double, double, double)
* @see CANJaguar#SetCurrentMode(EncoderTag, int, double, double, double)
* @see CANJaguar#SetCurrentMode(QuadEncoderTag, int, double, double, double)
* @see CANJaguar#SetPercentMode()
* @see CANJaguar#SetPercentMode(PotentiometerTag)
* @see CANJaguar#SetPercentMode(EncoderTag, int)
* @see CANJaguar#SetPercentMode(QuadEncoderTag, int)
* @see CANJaguar#SetPositionMode(PotentiometerTag, double, double, double)
* @see CANJaguar#SetPositionMode(QuadEncoderTag, int, double, double, double)
* @see CANJaguar#SetSpeedMode(EncoderTag, int, double, double, double)
* @see CANJaguar#SetSpeedMode(QuadEncoderTag, int, double, double, double)
* @see CANJaguar#SetVoltageMode()
* @see CANJaguar#SetVoltageMode(PotentiometerTag)
* @see CANJaguar#SetVoltageMode(EncoderTag, int)
* @see CANJaguar#SetVoltageMode(QuadEncoderTag, int)
*/
CANJaguar::CANJaguar(uint8_t deviceNumber)
: m_deviceNumber (deviceNumber)
@@ -220,6 +238,7 @@ CANJaguar::CANJaguar(uint8_t deviceNumber)
{
SetPercentMode();
InitCANJaguar();
ConfigMaxOutputVoltage(kApproxBusVoltage);
}
CANJaguar::~CANJaguar()
@@ -243,14 +262,14 @@ CANJaguar::~CANJaguar()
}
/**
* Set the output set-point value.
* Sets the output set-point value.
*
* The scale and the units depend on the mode the Jaguar is in.
* In PercentVbus Mode, the outputValue is from -1.0 to 1.0 (same as PWM Jaguar).
* In Voltage Mode, the outputValue is in Volts.
* In Current Mode, the outputValue is in Amps.
* In Speed Mode, the outputValue is in Rotations/Minute.
* In Position Mode, the outputValue is in Rotations.
* The scale and the units depend on the mode the Jaguar is in.<br>
* In percentVbus Mode, the outputValue is from -1.0 to 1.0 (same as PWM Jaguar).<br>
* In voltage Mode, the outputValue is in volts. <br>
* In current Mode, the outputValue is in amps. <br>
* In speed Mode, the outputValue is in rotations/minute.<br>
* In position Mode, the outputValue is in rotations.
*
* @param outputValue The set-point to sent to the motor controller.
* @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup(). If 0, update immediately.
@@ -321,12 +340,12 @@ void CANJaguar::Set(float outputValue, uint8_t syncGroup)
/**
* Get the recently set outputValue setpoint.
*
* The scale and the units depend on the mode the Jaguar is in.
* In PercentVbus Mode, the outputValue is from -1.0 to 1.0 (same as PWM Jaguar).
* In Voltage Mode, the outputValue is in Volts.
* In Current Mode, the outputValue is in Amps.
* In Speed Mode, the outputValue is in Rotations/Minute.
* In Position Mode, the outputValue is in Rotations.
* The scale and the units depend on the mode the Jaguar is in.<br>
* In percentVbus Mode, the outputValue is from -1.0 to 1.0 (same as PWM Jaguar).<br>
* In voltage Mode, the outputValue is in volts.<br>
* In current Mode, the outputValue is in amps.<br>
* In speed Mode, the outputValue is in rotations/minute.<br>
* In position Mode, the outputValue is in rotations.<br>
*
* @return The most recently set outputValue setpoint.
*/
@@ -336,10 +355,10 @@ float CANJaguar::Get()
}
/**
* Common interface for disabling a motor.
*
* @deprecated Call DisableControl instead.
*/
* Common interface for disabling a motor.
*
* @deprecated Call {@link #DisableControl()} instead.
*/
void CANJaguar::Disable()
{
DisableControl();
@@ -494,7 +513,7 @@ bool CANJaguar::getMessage(uint32_t messageID, uint32_t messageMask, uint8_t *da
}
/**
* Enables periodic status updates from the Jaguar
* Enables periodic status updates from the Jaguar.
*/
void CANJaguar::setupPeriodicStatus() {
uint8_t data[8];
@@ -1237,7 +1256,8 @@ case kVoltage:
/**
* Enable controlling the motor voltage as a percentage of the bus voltage
* without any position or speed feedback.
* without any position or speed feedback.<br>
* After calling this you must call {@link CANJaguar#EnableControl()} or {@link CANJaguar#EnableControl(double)} to enable the device.
*/
void CANJaguar::SetPercentMode()
{
@@ -1248,9 +1268,10 @@ void CANJaguar::SetPercentMode()
/**
* Enable controlling the motor voltage as a percentage of the bus voltage,
* and enable speed sensing from a non-quadrature encoder.
* and enable speed sensing from a non-quadrature encoder.<br>
* After calling this you must call {@link CANJaguar#EnableControl()} or {@link CANJaguar#EnableControl(double)} to enable the device.
*
* @param encoder The constant CANJaguar::Encoder
* @param tag The constant CANJaguar::Encoder
* @param codesPerRev The counts per revolution on the encoder
*/
void CANJaguar::SetPercentMode(CANJaguar::EncoderStruct, uint16_t codesPerRev)
@@ -1262,12 +1283,13 @@ void CANJaguar::SetPercentMode(CANJaguar::EncoderStruct, uint16_t codesPerRev)
}
/**
* Enable controlling the motor voltage as a percentage of the bus voltage,
* and enable position and speed sensing from a quadrature encoder
*
* @param encoder The constant CANJaguar::QuadEncoder
* @param codesPerRev The counts per revolution on the encoder
*/
* Enable controlling the motor voltage as a percentage of the bus voltage,
* and enable speed sensing from a non-quadrature encoder.<br>
* After calling this you must call {@link CANJaguar#EnableControl()} or {@link CANJaguar#EnableControl(double)} to enable the device.
*
* @param tag The constant CANJaguar::QuadEncoder
* @param codesPerRev The counts per revolution on the encoder
*/
void CANJaguar::SetPercentMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev)
{
ChangeControlMode(kPercentVbus);
@@ -1278,7 +1300,8 @@ void CANJaguar::SetPercentMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRe
/**
* Enable controlling the motor voltage as a percentage of the bus voltage,
* and enable position sensing from a potentiometer and no speed feedback.
* and enable position sensing from a potentiometer and no speed feedback.<br>
* After calling this you must call {@link CANJaguar#EnableControl()} or {@link CANJaguar#EnableControl(double)} to enable the device.
*
* @param potentiometer The constant CANJaguar::Potentiometer
*/
@@ -1291,7 +1314,8 @@ void CANJaguar::SetPercentMode(CANJaguar::PotentiometerStruct)
}
/**
* Enable controlling the motor current with a PID loop.
* Enable controlling the motor current with a PID loop.<br>
* After calling this you must call {@link CANJaguar#EnableControl()} or {@link CANJaguar#EnableControl(double)} to enable the device.
*
* @param p The proportional gain of the Jaguar's PID controller.
* @param i The integral gain of the Jaguar's PID controller.
@@ -1307,7 +1331,8 @@ void CANJaguar::SetCurrentMode(double p, double i, double d)
/**
* Enable controlling the motor current with a PID loop, and enable speed
* sensing from a non-quadrature encoder.
* sensing from a non-quadrature encoder.<br>
* After calling this you must call {@link CANJaguar#EnableControl()} or {@link CANJaguar#EnableControl(double)} to enable the device.
*
* @param encoder The constant CANJaguar::Encoder
* @param p The proportional gain of the Jaguar's PID controller.
@@ -1325,7 +1350,8 @@ void CANJaguar::SetCurrentMode(CANJaguar::EncoderStruct, uint16_t codesPerRev, d
/**
* Enable controlling the motor current with a PID loop, and enable speed and
* position sensing from a quadrature encoder.
* position sensing from a quadrature encoder.<br>
* After calling this you must call {@link CANJaguar#EnableControl()} or {@link CANJaguar#EnableControl(double)} to enable the device.
*
* @param endoer The constant CANJaguar::QuadEncoder
* @param p The proportional gain of the Jaguar's PID controller.
@@ -1343,7 +1369,8 @@ void CANJaguar::SetCurrentMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRe
/**
* Enable controlling the motor current with a PID loop, and enable position
* sensing from a potentiometer.
* sensing from a potentiometer.<br>
* After calling this you must call {@link CANJaguar#EnableControl()} or {@link CANJaguar#EnableControl(double)} to enable the device.
*
* @param potentiometer The constant CANJaguar::Potentiometer
* @param p The proportional gain of the Jaguar's PID controller.
@@ -1361,10 +1388,11 @@ void CANJaguar::SetCurrentMode(CANJaguar::PotentiometerStruct, double p, double
/**
* Enable controlling the speed with a feedback loop from a non-quadrature
* encoder.
* encoder.<br>
* After calling this you must call {@link CANJaguar#EnableControl()} or {@link CANJaguar#EnableControl(double)} to enable the device.
*
* @param encoder The constant CANJaguar::Encoder
* @param codesPerRev The counts per revolution on the encoder
* @param codesPerRev The counts per revolution on the encoder.
* @param p The proportional gain of the Jaguar's PID controller.
* @param i The integral gain of the Jaguar's PID controller.
* @param d The differential gain of the Jaguar's PID controller.
@@ -1379,10 +1407,11 @@ void CANJaguar::SetSpeedMode(CANJaguar::EncoderStruct, uint16_t codesPerRev, dou
}
/**
* Enable controlling the speed with a feedback loop from a quadrature encoder.
* Enable controlling the speed with a feedback loop from a quadrature encoder.<br>
* After calling this you must call {@link CANJaguar#EnableControl()} or {@link CANJaguar#EnableControl(double)} to enable the device.
*
* @param encoder The constant CANJaguar::QuadEncoder
* @param codesPerRev The counts per revolution on the encoder
* @param codesPerRev The counts per revolution on the encoder.
* @param p The proportional gain of the Jaguar's PID controller.
* @param i The integral gain of the Jaguar's PID controller.
* @param d The differential gain of the Jaguar's PID controller.
@@ -1397,9 +1426,14 @@ void CANJaguar::SetSpeedMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev,
}
/**
* Enable controlling the position with a feedback loop using an encoder
* Enable controlling the position with a feedback loop using an encoder.<br>
* After calling this you must call {@link CANJaguar#EnableControl()} or {@link CANJaguar#EnableControl(double)} to enable the device.
*
* @param encoder The constant CANJaguar::QuadEncoder
* @param codesPerRev The counts per revolution on the encoder.
* @param p The proportional gain of the Jaguar's PID controller.
* @param i The integral gain of the Jaguar's PID controller.
* @param d The differential gain of the Jaguar's PID controller.
*
*/
void CANJaguar::SetPositionMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev, double p, double i, double d)
@@ -1411,7 +1445,11 @@ void CANJaguar::SetPositionMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerR
}
/**
* Enable controlling the position with a feedback loop using a potentiometer
* Enable controlling the position with a feedback loop using a potentiometer.<br>
* After calling this you must call {@link CANJaguar#EnableControl()} or {@link CANJaguar#EnableControl(double)} to enable the device.
* @param p The proportional gain of the Jaguar's PID controller.
* @param i The integral gain of the Jaguar's PID controller.
* @param d The differential gain of the Jaguar's PID controller.
*/
void CANJaguar::SetPositionMode(CANJaguar::PotentiometerStruct, double p, double i, double d)
{
@@ -1422,7 +1460,8 @@ void CANJaguar::SetPositionMode(CANJaguar::PotentiometerStruct, double p, double
}
/**
* Enable controlling the motor voltage without any position or speed feedback.
* Enable controlling the motor voltage without any position or speed feedback.<br>
* After calling this you must call {@link CANJaguar#EnableControl()} or {@link CANJaguar#EnableControl(double)} to enable the device.
*/
void CANJaguar::SetVoltageMode()
{
@@ -1433,7 +1472,8 @@ void CANJaguar::SetVoltageMode()
/**
* Enable controlling the motor voltage with speed feedback from a
* non-quadrature encoder and no position feedback.
* non-quadrature encoder and no position feedback.<br>
* After calling this you must call {@link CANJaguar#EnableControl()} or {@link CANJaguar#EnableControl(double)} to enable the device.
*
* @param encoder The constant CANJaguar::Encoder
* @param codesPerRev The counts per revolution on the encoder
@@ -1448,7 +1488,8 @@ void CANJaguar::SetVoltageMode(CANJaguar::EncoderStruct, uint16_t codesPerRev)
/**
* Enable controlling the motor voltage with position and speed feedback from a
* quadrature encoder
* quadrature encoder.<br>
* After calling this you must call {@link CANJaguar#EnableControl()} or {@link CANJaguar#EnableControl(double)} to enable the device.
*
* @param encoder The constant CANJaguar::QuadEncoder
* @param codesPerRev The counts per revolution on the encoder
@@ -1463,7 +1504,8 @@ void CANJaguar::SetVoltageMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRe
/**
* Enable controlling the motor voltage with position feedback from a
* potentiometer and no speed feedback.
* potentiometer and no speed feedback.<br>
* After calling this you must call {@link CANJaguar#EnableControl()} or {@link CANJaguar#EnableControl(double)} to enable the device.
*
* @param potentiometer The constant CANJaguar::Potentiometer
*/
@@ -1476,6 +1518,7 @@ void CANJaguar::SetVoltageMode(CANJaguar::PotentiometerStruct)
}
/**
* Used internally. In order to set the control mode see the methods listed below.
* Change the control mode of this Jaguar object.
*
* After changing modes, configure any PID constants or other settings needed
@@ -1509,7 +1552,7 @@ CANJaguar::ControlMode CANJaguar::GetControlMode()
/**
* Get the voltage at the battery input terminals of the Jaguar.
*
* @return The bus voltage in Volts.
* @return The bus voltage in volts.
*/
float CANJaguar::GetBusVoltage()
{
@@ -1521,7 +1564,7 @@ float CANJaguar::GetBusVoltage()
/**
* Get the voltage being output from the motor terminals of the Jaguar.
*
* @return The output voltage in Volts.
* @return The output voltage in volts.
*/
float CANJaguar::GetOutputVoltage()
{
@@ -1533,7 +1576,7 @@ float CANJaguar::GetOutputVoltage()
/**
* Get the current through the motor terminals of the Jaguar.
*
* @return The output current in Amps.
* @return The output current in amps.
*/
float CANJaguar::GetOutputCurrent()
{
@@ -1558,6 +1601,8 @@ float CANJaguar::GetTemperature()
* Get the position of the encoder or potentiometer.
*
* @return The position of the motor in rotations based on the configured feedback.
* @see CANJaguar#ConfigPotentiometerTurns(int)
* @see CANJaguar#ConfigEncoderCodesPerRev(int)
*/
double CANJaguar::GetPosition()
{
@@ -1606,6 +1651,10 @@ bool CANJaguar::GetReverseLimitOK()
* Get the status of any faults the Jaguar has detected.
*
* @return A bit-mask of faults defined by the "Faults" enum.
* @see #kCurrentFault
* @see #kBusVoltageFault
* @see #kTemperatureFault
* @see #kGateDriverFault
*/
uint16_t CANJaguar::GetFaults()
{
@@ -1711,7 +1760,7 @@ void CANJaguar::ConfigEncoderCodesPerRev(uint16_t codesPerRev)
* There is no special support for continuous turn potentiometers.
* Only integer numbers of turns are supported.
*
* @param turns The number of turns of the potentiometer
* @param turns The number of turns of the potentiometer.
*/
void CANJaguar::ConfigPotentiometerTurns(uint16_t turns)
{

609
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
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File diff suppressed because it is too large Load Diff

15
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Jaguar.java
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@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.parsing.IDeviceController;
/**
* VEX Robotics Jaguar Speed Control
* Texas Instruments Jaguar Speed Controller as a PWM device.
*/
public class Jaguar extends SafePWM implements SpeedController, IDeviceController {
@@ -59,7 +59,9 @@ public class Jaguar extends SafePWM implements SpeedController, IDeviceControlle
* @param speed The speed to set. Value should be between -1.0 and 1.0.
* @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup(). If 0, update immediately.
*/
public void set(double speed, byte syncGroup) {
@Deprecated
@Override
public void set(double speed, byte syncGroup) {
setSpeed(speed);
Feed();
}
@@ -72,7 +74,8 @@ public class Jaguar extends SafePWM implements SpeedController, IDeviceControlle
*
* @param speed The speed value between -1.0 and 1.0 to set.
*/
public void set(double speed) {
@Override
public void set(double speed) {
setSpeed(speed);
Feed();
}
@@ -82,7 +85,8 @@ public class Jaguar extends SafePWM implements SpeedController, IDeviceControlle
*
* @return The most recently set value for the PWM between -1.0 and 1.0.
*/
public double get() {
@Override
public double get() {
return getSpeed();
}
@@ -91,7 +95,8 @@ public class Jaguar extends SafePWM implements SpeedController, IDeviceControlle
*
* @param output Write out the PWM value as was found in the PIDController
*/
public void pidWrite(double output) {
@Override
public void pidWrite(double output) {
set(output);
}
}