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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();