The param is capped in the HAL C++ class to [1ms, 95ms] so that zero and negative periods are caped to 1ms, and so that caller can't pass an absurdly large value, which causes TALON is appear disabled.
Change-Id: I4207194be25a33bbd6ad281a75301ce6684659a5
Adds isEnabled and getSetpoint functions to CANTalon classes.
Sets m_controlEnabled=false in Java if changeControlMode(Disabled) is
called.
Change-Id: I08fd0972df22ad83c5578dd43dd6b3536f3b365b
Added Get/clear routine for IntegralAccumulator
Added missing status check in GetFirmwareVersion(). I don't expect this to affect anything.
JAVA
Renamed getRampRate to getCloseLoopRampRate in java to match the set routines in java, and match all routines in cpp.
Added GetFirmwareVersion to java to match cpp.
Added Get/clear routine for IntegralAccumulator
Retested all three routines in java.
Change-Id: I4ce9d9c87a379b9d4a76aae226e2072876218688
Used to be that if you called Set less than ~20 ms after changing the
mode, potentially unwanted behavior could ensue.
Change-Id: I27cb3603286d8fddd894649787d88c0446b00615
usleep added to the getters that require a little time for solicted response (getPIDF, getIzone, and getFirmwareVers.
Tested against the TALON SRX unit test originally written for CanTalonSrx HAL class.
Change-Id: I7e75b8b63ac9ffecb5d48b87cbe0e0ee05bbb5a2
Tested analog PID in Java and C++.
Changed to default to controlEnabled.
Loosely wrapped a bunch of CanTalonSRX functions in Java.
Change-Id: I9da380e2368d9a72f08be4434ac63b5710a9f90f
I also updated the C++ and Java code some. For C++, this meant making it
compile and adding in the framework for the closed-loop control of the
motor. For Java, I updated the JNI bindings with SWIG and created an
GetTemperature accessor function to demonstrate how to use the accessors
because swig does funny stuff with pass-by-reference functions.
Change-Id: If51bf61d0a9bc65a8d497f8d91a5be8d6ff4fdcc
Currently, the JNI bindings are generated by Swig and, unfortunately,
the interface available through Java is lower-level than that for C++
(ie, direct access to the ctre code through the JNI bindings, rather
than an interface on top of that), but it does work.
See eclipse plugins for some short samples.
There are a couple of short unit tests as placeholders.
Still needs some cleaning up.
Change-Id: Iae2f74693ca6b80bf7d5aca0625c66aa6e0b7f85
Added quick samples for C++/Java CAN Talon stuff.
Change-Id: I3acb27d6fd5568d88931e0d678c09973d436735d
Fleshed out CANTalon interface; it currently works just to write a
throttle. The firmware doesn't fully support everything yet, so we are
still significantly limited.
Change-Id: I2868c4c168a8cb42cda754589777beef31ffd354
CANSpeedController is a subinterface of SpeedController that adds method
prototypes and enums for all of the common smart speed controller features.
CANJaguar implements this interfaces. CANTalon does too, but
most methods are stubs right now.
Change-Id: I67e0177d91e45444657280502a247d787ad5c74c
