/** * @brief CAN TALON SRX driver. * * The TALON SRX is designed to instrument all runtime signals periodically. The default periods are chosen to support 16 TALONs * with 10ms update rate for control (throttle or setpoint). However these can be overridden with SetStatusFrameRate. @see SetStatusFrameRate * The getters for these unsolicited signals are auto generated at the bottom of this module. * * Likewise most control signals are sent periodically using the fire-and-forget CAN API. * The setters for these unsolicited signals are auto generated at the bottom of this module. * * Signals that are not available in an unsolicited fashion are the Close Loop gains. * For teams that have a single profile for their TALON close loop they can use either the webpage to configure their TALONs once * or set the PIDF,Izone,CloseLoopRampRate,etc... once in the robot application. These parameters are saved to flash so once they are * loaded in the TALON, they will persist through power cycles and mode changes. * * For teams that have one or two profiles to switch between, they can use the same strategy since there are two slots to choose from * and the ProfileSlotSelect is periodically sent in the 10 ms control frame. * * For teams that require changing gains frequently, they can use the soliciting API to get and set those parameters. Most likely * they will only need to set them in a periodic fashion as a function of what motion the application is attempting. * If this API is used, be mindful of the CAN utilization reported in the driver station. * * Encoder position is measured in encoder edges. Every edge is counted (similar to roboRIO 4X mode). * Analog position is 10 bits, meaning 1024 ticks per rotation (0V => 3.3V). * Use SetFeedbackDeviceSelect to select which sensor type you need. Once you do that you can use GetSensorPosition() * and GetSensorVelocity(). These signals are updated on CANBus every 20ms (by default). * If a relative sensor is selected, you can zero (or change the current value) using SetSensorPosition. * * Analog Input and quadrature position (and velocity) are also explicitly reported in GetEncPosition, GetEncVel, GetAnalogInWithOv, GetAnalogInVel. * These signals are available all the time, regardless of what sensor is selected at a rate of 100ms. This allows easy instrumentation * for "in the pits" checking of all sensors regardless of modeselect. The 100ms rate is overridable for teams who want to acquire sensor * data for processing, not just instrumentation. Or just select the sensor using SetFeedbackDeviceSelect to get it at 20ms. * * Velocity is in position ticks / 100ms. * * All output units are in respect to duty cycle (throttle) which is -1023(full reverse) to +1023 (full forward). * This includes demand (which specifies duty cycle when in duty cycle mode) and rampRamp, which is in throttle units per 1ms (if nonzero). * * Pos and velocity close loops are calc'd as * err = target - posOrVel. * iErr += err; * if( (IZone!=0) and abs(err) > IZone) * ClearIaccum() * output = P X err + I X iErr + D X dErr + F X target * dErr = err - lastErr * P, I,and D gains are always positive. F can be negative. * Motor direction can be reversed using SetRevMotDuringCloseLoopEn if sensor and motor are out of phase. * Similarly feedback sensor can also be reversed (multiplied by -1) if you prefer the sensor to be inverted. * * P gain is specified in throttle per error tick. For example, a value of 102 is ~9.9% (which is 102/1023) throttle per 1 * ADC unit(10bit) or 1 quadrature encoder edge depending on selected sensor. * * I gain is specified in throttle per integrated error. For example, a value of 10 equates to ~0.99% (which is 10/1023) * for each accumulated ADC unit(10bit) or 1 quadrature encoder edge depending on selected sensor. * Close loop and integral accumulator runs every 1ms. * * D gain is specified in throttle per derivative error. For example a value of 102 equates to ~9.9% (which is 102/1023) * per change of 1 unit (ADC or encoder) per ms. * * I Zone is specified in the same units as sensor position (ADC units or quadrature edges). If pos/vel error is outside of * this value, the integrated error will auto-clear... * if( (IZone!=0) and abs(err) > IZone) * 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. * * auto generated using spreadsheet and WpiClassGen.csproj * @link https://docs.google.com/spreadsheets/d/1OU_ZV7fZLGYUQ-Uhc8sVAmUmWTlT8XBFYK8lfjg_tac/edit#gid=1766046967 */ #include "CanTalonSRX.h" #include "NetworkCommunication/CANSessionMux.h" //CAN Comm #include // memset #include // usleep #define STATUS_1 0x02041400 #define STATUS_2 0x02041440 #define STATUS_3 0x02041480 #define STATUS_4 0x020414C0 #define STATUS_5 0x02041500 #define STATUS_6 0x02041540 #define STATUS_7 0x02041580 #define CONTROL_1 0x02040000 #define CONTROL_2 0x02040040 #define CONTROL_3 0x02040080 #define EXPECTED_RESPONSE_TIMEOUT_MS (200) #define GET_STATUS1() CtreCanNode::recMsg rx = GetRx(STATUS_1 | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS) #define GET_STATUS2() CtreCanNode::recMsg rx = GetRx(STATUS_2 | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS) #define GET_STATUS3() CtreCanNode::recMsg rx = GetRx(STATUS_3 | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS) #define GET_STATUS4() CtreCanNode::recMsg rx = GetRx(STATUS_4 | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS) #define GET_STATUS5() CtreCanNode::recMsg rx = GetRx(STATUS_5 | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS) #define GET_STATUS6() CtreCanNode::recMsg rx = GetRx(STATUS_6 | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS) #define GET_STATUS7() CtreCanNode::recMsg rx = GetRx(STATUS_7 | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS) #define PARAM_REQUEST 0x02041800 #define PARAM_RESPONSE 0x02041840 #define PARAM_SET 0x02041880 const int kParamArbIdValue = PARAM_RESPONSE; const int kParamArbIdMask = 0xFFFFFFFF; const double FLOAT_TO_FXP = (double)0x400000; const double FXP_TO_FLOAT = 0.0000002384185791015625; /* encoder/decoders */ /** control */ typedef struct _TALON_Control_1_General_10ms_t { unsigned TokenH:8; unsigned TokenL:8; unsigned DemandH:8; unsigned DemandM:8; unsigned DemandL:8; unsigned ProfileSlotSelect:1; unsigned FeedbackDeviceSelect:4; unsigned OverrideLimitSwitchEn:3; unsigned RevFeedbackSensor:1; unsigned RevMotDuringCloseLoopEn:1; unsigned OverrideBrakeType:2; unsigned ModeSelect:4; unsigned RampThrottle:8; } TALON_Control_1_General_10ms_t ; typedef struct _TALON_Control_2_Rates_OneShot_t { unsigned Status1Ms:8; unsigned Status2Ms:8; unsigned Status3Ms:8; unsigned Status4Ms:8; } TALON_Control_2_Rates_OneShot_t ; typedef struct _TALON_Control_3_ClearFlags_OneShot_t { unsigned ZeroFeedbackSensor:1; unsigned ClearStickyFaults:1; } TALON_Control_3_ClearFlags_OneShot_t ; /** status */ typedef struct _TALON_Status_1_General_10ms_t { unsigned CloseLoopErrH:8; unsigned CloseLoopErrM:8; unsigned CloseLoopErrL:8; unsigned AppliedThrottle_h3:3; unsigned Fault_RevSoftLim:1; unsigned Fault_ForSoftLim:1; unsigned TokLocked:1; unsigned LimitSwitchClosedRev:1; unsigned LimitSwitchClosedFor:1; unsigned AppliedThrottle_l8:8; unsigned ModeSelect_h1:1; unsigned FeedbackDeviceSelect:4; unsigned LimitSwitchEn:3; unsigned Fault_HardwareFailure:1; unsigned Fault_RevLim:1; unsigned Fault_ForLim:1; unsigned Fault_UnderVoltage:1; unsigned Fault_OverTemp:1; unsigned ModeSelect_b3:3; unsigned TokenSeed:8; } TALON_Status_1_General_10ms_t ; typedef struct _TALON_Status_2_Feedback_20ms_t { unsigned SensorPositionH:8; unsigned SensorPositionM:8; unsigned SensorPositionL:8; unsigned SensorVelocityH:8; unsigned SensorVelocityL:8; unsigned Current_h8:8; unsigned StckyFault_RevSoftLim:1; unsigned StckyFault_ForSoftLim:1; unsigned StckyFault_RevLim:1; unsigned StckyFault_ForLim:1; unsigned StckyFault_UnderVoltage:1; unsigned StckyFault_OverTemp:1; unsigned Current_l2:2; unsigned reserved:6; unsigned ProfileSlotSelect:1; unsigned BrakeIsEnabled:1; } TALON_Status_2_Feedback_20ms_t ; typedef struct _TALON_Status_3_Enc_100ms_t { unsigned EncPositionH:8; unsigned EncPositionM:8; unsigned EncPositionL:8; unsigned EncVelH:8; unsigned EncVelL:8; unsigned EncIndexRiseEventsH:8; unsigned EncIndexRiseEventsL:8; unsigned reserved:5; unsigned QuadIdxpin:1; unsigned QuadBpin:1; unsigned QuadApin:1; } TALON_Status_3_Enc_100ms_t ; typedef struct _TALON_Status_4_AinTempVbat_100ms_t { unsigned AnalogInWithOvH:8; unsigned AnalogInWithOvM:8; unsigned AnalogInWithOvL:8; unsigned AnalogInVelH:8; unsigned AnalogInVelL:8; unsigned Temp:8; unsigned BatteryV:8; unsigned reserved:8; } TALON_Status_4_AinTempVbat_100ms_t ; typedef struct _TALON_Status_5_Startup_OneShot_t { unsigned ResetCountH:8; unsigned ResetCountL:8; unsigned ResetFlagsH:8; unsigned ResetFlagsL:8; unsigned FirmVersH:8; unsigned FirmVersL:8; } TALON_Status_5_Startup_OneShot_t ; typedef struct _TALON_Status_6_Eol_t { unsigned currentAdcUncal_h2:2; unsigned reserved1:5; unsigned SpiCsPin_GadgeteerPin6:1; unsigned currentAdcUncal_l8:8; unsigned tempAdcUncal_h2:2; unsigned reserved2:6; unsigned tempAdcUncal_l8:8; unsigned vbatAdcUncal_h2:2; unsigned reserved3:6; unsigned vbatAdcUncal_l8:8; unsigned analogAdcUncal_h2:2; unsigned reserved4:6; unsigned analogAdcUncal_l8:8; } TALON_Status_6_Eol_t ; typedef struct _TALON_Status_7_Debug_200ms_t { unsigned TokenizationFails_h8:8; unsigned TokenizationFails_l8:8; unsigned LastFailedToken_h8:8; unsigned LastFailedToken_l8:8; unsigned TokenizationSucceses_h8:8; unsigned TokenizationSucceses_l8:8; } TALON_Status_7_Debug_200ms_t ; typedef struct _TALON_Param_Request_t { unsigned ParamEnum:8; } TALON_Param_Request_t ; typedef struct _TALON_Param_Response_t { unsigned ParamEnum:8; unsigned ParamValueL:8; unsigned ParamValueML:8; unsigned ParamValueMH:8; unsigned ParamValueH:8; } TALON_Param_Response_t ; CanTalonSRX::CanTalonSRX(int deviceNumber): CtreCanNode((UINT8)deviceNumber), _can_h(0), _can_stat(0) { RegisterRx(STATUS_1 | (UINT8)deviceNumber ); RegisterRx(STATUS_2 | (UINT8)deviceNumber ); RegisterRx(STATUS_3 | (UINT8)deviceNumber ); RegisterRx(STATUS_4 | (UINT8)deviceNumber ); RegisterRx(STATUS_5 | (UINT8)deviceNumber ); RegisterRx(STATUS_6 | (UINT8)deviceNumber ); RegisterRx(STATUS_7 | (UINT8)deviceNumber ); RegisterTx(CONTROL_1 | (UINT8)deviceNumber, 10); /* default our frame rate table to what firmware defaults to. */ _statusRateMs[0] = 10; /* TALON_Status_1_General_10ms_t */ _statusRateMs[1] = 20; /* TALON_Status_2_Feedback_20ms_t */ _statusRateMs[2] = 100; /* TALON_Status_3_Enc_100ms_t */ _statusRateMs[3] = 100; /* TALON_Status_4_AinTempVbat_100ms_t */ /* the only default param that is nonzero is limit switch. * Default to using the flash settings. */ SetOverrideLimitSwitchEn(kLimitSwitchOverride_UseDefaultsFromFlash); } /* CanTalonSRX D'tor */ CanTalonSRX::~CanTalonSRX() { if(_can_h){ FRC_NetworkCommunication_CANSessionMux_closeStreamSession(_can_h); _can_h = 0; } } void CanTalonSRX::OpenSessionIfNeedBe() { _can_stat = 0; if (_can_h == 0) { /* bit30 - bit8 must match $000002XX. Top bit is not masked to get remote frames */ FRC_NetworkCommunication_CANSessionMux_openStreamSession(&_can_h,kParamArbIdValue | GetDeviceNumber(), kParamArbIdMask, kMsgCapacity, &_can_stat); if (_can_stat == 0) { /* success */ } else { /* something went wrong, try again later */ _can_h = 0; } } } void CanTalonSRX::ProcessStreamMessages() { if(0 == _can_h) OpenSessionIfNeedBe(); /* process receive messages */ uint32_t i; uint32_t messagesToRead = sizeof(_msgBuff) / sizeof(_msgBuff[0]); uint32_t messagesRead = 0; /* read out latest bunch of messages */ _can_stat = 0; if (_can_h){ FRC_NetworkCommunication_CANSessionMux_readStreamSession(_can_h,_msgBuff, messagesToRead, &messagesRead, &_can_stat); } /* loop thru each message of interest */ for (i = 0; i < messagesRead; ++i) { tCANStreamMessage * msg = _msgBuff + i; if(msg->messageID == (PARAM_RESPONSE | GetDeviceNumber()) ){ TALON_Param_Response_t * paramResp = (TALON_Param_Response_t*)msg->data; /* decode value */ int32_t val = paramResp->ParamValueH; val <<= 8; val |= paramResp->ParamValueMH; val <<= 8; val |= paramResp->ParamValueML; val <<= 8; val |= paramResp->ParamValueL; /* save latest signal */ _sigs[paramResp->ParamEnum] = val; }else{ int brkpthere = 42; ++brkpthere; } } } void CanTalonSRX::Set(double value) { if(value > 1) value = 1; else if(value < -1) value = -1; SetDemand(1023*value); /* must be within [-1023,1023] */ } /*---------------------setters and getters that use the param request/response-------------*/ /** * Send a one shot frame to set an arbitrary signal. * Most signals are in the control frame so avoid using this API unless you have to. * Use this api for... * -A motor controller profile signal eProfileParam_XXXs. These are backed up in flash. If you are gain-scheduling then call this periodically. * -Default brake and limit switch signals... eOnBoot_XXXs. Avoid doing this, use the override signals in the control frame. * Talon will automatically send a PARAM_RESPONSE after the set, so GetParamResponse will catch the latest value after a couple ms. */ CTR_Code CanTalonSRX::SetParamRaw(uint32_t paramEnum, int32_t rawBits) { /* caller is using param API. Open session if it hasn'T been done. */ if(0 == _can_h) OpenSessionIfNeedBe(); TALON_Param_Response_t frame; memset(&frame,0,sizeof(frame)); frame.ParamEnum = paramEnum; frame.ParamValueH = rawBits >> 0x18; frame.ParamValueMH = rawBits >> 0x10; frame.ParamValueML = rawBits >> 0x08; frame.ParamValueL = rawBits; int32_t status = 0; FRC_NetworkCommunication_CANSessionMux_sendMessage(PARAM_SET | GetDeviceNumber(), (const uint8_t*)&frame, 5, 0, &status); if(status) return CTR_TxFailed; return CTR_OKAY; } /** * Checks cached CAN frames and updating solicited signals. */ CTR_Code CanTalonSRX::GetParamResponseRaw(uint32_t paramEnum, int32_t & rawBits) { CTR_Code retval = CTR_OKAY; /* process received param events. We don't expect many since this API is not used often. */ ProcessStreamMessages(); /* grab the solicited signal value */ sigs_t::iterator i = _sigs.find(paramEnum); if(i == _sigs.end()){ retval = CTR_SigNotUpdated; }else{ rawBits = i->second; } return retval; } /** * Asks TALON to immedietely respond with signal value. This API is only used for signals that are not sent periodically. * This can be useful for reading params that rarely change like Limit Switch settings and PIDF values. * @param param to request. */ CTR_Code CanTalonSRX::RequestParam(param_t paramEnum) { /* process received param events. We don't expect many since this API is not used often. */ ProcessStreamMessages(); TALON_Param_Request_t frame; memset(&frame,0,sizeof(frame)); frame.ParamEnum = paramEnum; int32_t status = 0; FRC_NetworkCommunication_CANSessionMux_sendMessage(PARAM_REQUEST | GetDeviceNumber(), (const uint8_t*)&frame, 1, 0, &status); if(status) return CTR_TxFailed; return CTR_OKAY; } CTR_Code CanTalonSRX::SetParam(param_t paramEnum, double value) { int32_t rawbits = 0; switch(paramEnum){ case eProfileParamSlot0_P:/* 10.22 fixed pt value */ case eProfileParamSlot0_I: case eProfileParamSlot0_D: case eProfileParamSlot0_F: case eProfileParamSlot1_P: case eProfileParamSlot1_I: case eProfileParamSlot1_D: case eProfileParamSlot1_F: case eCurrent: case eTemp: case eBatteryV: rawbits = value * FLOAT_TO_FXP; break; default: /* everything else is integral */ rawbits = (int32_t)value; break; } return SetParamRaw(paramEnum,rawbits); } CTR_Code CanTalonSRX::GetParamResponse(param_t paramEnum, double & value) { int32_t rawbits = 0; CTR_Code retval = GetParamResponseRaw(paramEnum,rawbits); switch(paramEnum){ case eProfileParamSlot0_P:/* 10.22 fixed pt value */ case eProfileParamSlot0_I: case eProfileParamSlot0_D: case eProfileParamSlot0_F: case eProfileParamSlot1_P: case eProfileParamSlot1_I: case eProfileParamSlot1_D: case eProfileParamSlot1_F: case eCurrent: case eTemp: case eBatteryV: value = ((double)rawbits) * FXP_TO_FLOAT; break; default: /* everything else is integral */ value = (double)rawbits; break; } return retval; } CTR_Code CanTalonSRX::GetParamResponseInt32(param_t paramEnum, int32_t & value) { double dvalue = 0; CTR_Code retval = GetParamResponse(paramEnum, dvalue); value = (int32_t)dvalue; return retval; } /*----- getters and setters that use param request/response. These signals are backed up in flash and will survive a power cycle. ---------*/ /*----- If your application requires changing these values consider using both slots and switch between slot0 <=> slot1. ------------------*/ /*----- If your application requires changing these signals frequently then it makes sense to leverage this API. --------------------------*/ /*----- Getters don't block, so it may require several calls to get the latest value. --------------------------*/ CTR_Code CanTalonSRX::SetPgain(uint32_t slotIdx,double gain) { if(slotIdx == 0) return SetParam(eProfileParamSlot0_P, gain); return SetParam(eProfileParamSlot1_P, gain); } CTR_Code CanTalonSRX::SetIgain(uint32_t slotIdx,double gain) { if(slotIdx == 0) return SetParam(eProfileParamSlot0_I, gain); return SetParam(eProfileParamSlot1_I, gain); } CTR_Code CanTalonSRX::SetDgain(uint32_t slotIdx,double gain) { if(slotIdx == 0) return SetParam(eProfileParamSlot0_D, gain); return SetParam(eProfileParamSlot1_D, gain); } CTR_Code CanTalonSRX::SetFgain(uint32_t slotIdx,double gain) { if(slotIdx == 0) return SetParam(eProfileParamSlot0_F, gain); return SetParam(eProfileParamSlot1_F, gain); } CTR_Code CanTalonSRX::SetIzone(uint32_t slotIdx,int32_t zone) { if(slotIdx == 0) return SetParam(eProfileParamSlot0_IZone, zone); return SetParam(eProfileParamSlot1_IZone, zone); } CTR_Code CanTalonSRX::SetCloseLoopRampRate(uint32_t slotIdx,int32_t closeLoopRampRate) { if(slotIdx == 0) return SetParam(eProfileParamSlot0_CloseLoopRampRate, closeLoopRampRate); return SetParam(eProfileParamSlot1_CloseLoopRampRate, closeLoopRampRate); } CTR_Code CanTalonSRX::GetPgain(uint32_t slotIdx,double & gain) { if(slotIdx == 0) return GetParamResponse(eProfileParamSlot0_P, gain); return GetParamResponse(eProfileParamSlot1_P, gain); } CTR_Code CanTalonSRX::GetIgain(uint32_t slotIdx,double & gain) { if(slotIdx == 0) return GetParamResponse(eProfileParamSlot0_I, gain); return GetParamResponse(eProfileParamSlot1_I, gain); } CTR_Code CanTalonSRX::GetDgain(uint32_t slotIdx,double & gain) { if(slotIdx == 0) return GetParamResponse(eProfileParamSlot0_D, gain); return GetParamResponse(eProfileParamSlot1_D, gain); } CTR_Code CanTalonSRX::GetFgain(uint32_t slotIdx,double & gain) { if(slotIdx == 0) return GetParamResponse(eProfileParamSlot0_F, gain); return GetParamResponse(eProfileParamSlot1_F, gain); } CTR_Code CanTalonSRX::GetIzone(uint32_t slotIdx,int32_t & zone) { if(slotIdx == 0) return GetParamResponseInt32(eProfileParamSlot0_IZone, zone); return GetParamResponseInt32(eProfileParamSlot1_IZone, zone); } CTR_Code CanTalonSRX::GetCloseLoopRampRate(uint32_t slotIdx,int32_t & closeLoopRampRate) { if(slotIdx == 0) return GetParamResponseInt32(eProfileParamSlot0_CloseLoopRampRate, closeLoopRampRate); return GetParamResponseInt32(eProfileParamSlot1_CloseLoopRampRate, closeLoopRampRate); } CTR_Code CanTalonSRX::SetSensorPosition(int32_t pos) { return SetParam(eSensorPosition, pos); } CTR_Code CanTalonSRX::SetForwardSoftLimit(int32_t forwardLimit) { return SetParam(eProfileParamSoftLimitForThreshold, forwardLimit); } CTR_Code CanTalonSRX::SetReverseSoftLimit(int32_t reverseLimit) { return SetParam(eProfileParamSoftLimitRevThreshold, reverseLimit); } CTR_Code CanTalonSRX::SetForwardSoftEnable(int32_t enable) { return SetParam(eProfileParamSoftLimitForEnable, enable); } CTR_Code CanTalonSRX::SetReverseSoftEnable(int32_t enable) { return SetParam(eProfileParamSoftLimitRevEnable, enable); } CTR_Code CanTalonSRX::GetForwardSoftLimit(int32_t & forwardLimit) { return GetParamResponseInt32(eProfileParamSoftLimitForThreshold, forwardLimit); } CTR_Code CanTalonSRX::GetReverseSoftLimit(int32_t & reverseLimit) { return GetParamResponseInt32(eProfileParamSoftLimitRevThreshold, reverseLimit); } CTR_Code CanTalonSRX::GetForwardSoftEnable(int32_t & enable) { return GetParamResponseInt32(eProfileParamSoftLimitForEnable, enable); } CTR_Code CanTalonSRX::GetReverseSoftEnable(int32_t & enable) { return GetParamResponseInt32(eProfileParamSoftLimitRevEnable, enable); } /** * Change the periodMs of a TALON's status frame. See kStatusFrame_* enums for what's available. */ CTR_Code CanTalonSRX::SetStatusFrameRate(uint32_t frameEnum, uint8_t periodMs) { int32_t status = 0; /* tweak just the status messsage rate the caller cares about */ switch(frameEnum){ case kStatusFrame_General: _statusRateMs[0] = periodMs; break; case kStatusFrame_Feedback: _statusRateMs[1] = periodMs; break; case kStatusFrame_Encoder: _statusRateMs[2] = periodMs; break; case kStatusFrame_AnalogTempVbat: _statusRateMs[3] = periodMs; break; } /* build our request frame */ TALON_Control_2_Rates_OneShot_t frame; memset(&frame,0,sizeof(frame)); frame.Status1Ms = _statusRateMs[0]; frame.Status2Ms = _statusRateMs[1]; frame.Status3Ms = _statusRateMs[2]; frame.Status4Ms = _statusRateMs[3]; FRC_NetworkCommunication_CANSessionMux_sendMessage(CONTROL_2 | GetDeviceNumber(), (const uint8_t*)&frame, sizeof(frame), 0, &status); if(status) return CTR_TxFailed; return CTR_OKAY; } /** * Clear all sticky faults in TALON. */ CTR_Code CanTalonSRX::ClearStickyFaults() { int32_t status = 0; /* build request frame */ TALON_Control_3_ClearFlags_OneShot_t frame; memset(&frame,0,sizeof(frame)); frame.ClearStickyFaults = 1; FRC_NetworkCommunication_CANSessionMux_sendMessage(CONTROL_3 | GetDeviceNumber(), (const uint8_t*)&frame, sizeof(frame), 0, &status); if(status) return CTR_TxFailed; return CTR_OKAY; } /*------------------------ auto generated. This API is optimal since it uses the fire-and-forget CAN interface ----------------------*/ /*------------------------ These signals should cover the majority of all use cases. ----------------------------------*/ CTR_Code CanTalonSRX::GetFault_OverTemp(int ¶m) { GET_STATUS1(); param = rx->Fault_OverTemp; return rx.err; } CTR_Code CanTalonSRX::GetFault_UnderVoltage(int ¶m) { GET_STATUS1(); param = rx->Fault_UnderVoltage; return rx.err; } CTR_Code CanTalonSRX::GetFault_ForLim(int ¶m) { GET_STATUS1(); param = rx->Fault_ForLim; return rx.err; } CTR_Code CanTalonSRX::GetFault_RevLim(int ¶m) { GET_STATUS1(); param = rx->Fault_RevLim; return rx.err; } CTR_Code CanTalonSRX::GetFault_HardwareFailure(int ¶m) { GET_STATUS1(); param = rx->Fault_HardwareFailure; return rx.err; } CTR_Code CanTalonSRX::GetFault_ForSoftLim(int ¶m) { GET_STATUS1(); param = rx->Fault_ForSoftLim; return rx.err; } CTR_Code CanTalonSRX::GetFault_RevSoftLim(int ¶m) { GET_STATUS1(); param = rx->Fault_RevSoftLim; return rx.err; } CTR_Code CanTalonSRX::GetStckyFault_OverTemp(int ¶m) { GET_STATUS2(); param = rx->StckyFault_OverTemp; return rx.err; } CTR_Code CanTalonSRX::GetStckyFault_UnderVoltage(int ¶m) { GET_STATUS2(); param = rx->StckyFault_UnderVoltage; return rx.err; } CTR_Code CanTalonSRX::GetStckyFault_ForLim(int ¶m) { GET_STATUS2(); param = rx->StckyFault_ForLim; return rx.err; } CTR_Code CanTalonSRX::GetStckyFault_RevLim(int ¶m) { GET_STATUS2(); param = rx->StckyFault_RevLim; return rx.err; } CTR_Code CanTalonSRX::GetStckyFault_ForSoftLim(int ¶m) { GET_STATUS2(); param = rx->StckyFault_ForSoftLim; return rx.err; } CTR_Code CanTalonSRX::GetStckyFault_RevSoftLim(int ¶m) { GET_STATUS2(); param = rx->StckyFault_RevSoftLim; return rx.err; } CTR_Code CanTalonSRX::GetAppliedThrottle(int ¶m) { GET_STATUS1(); uint32_t raw = 0; raw |= rx->AppliedThrottle_h3; raw <<= 8; raw |= rx->AppliedThrottle_l8; param = (int)raw; return rx.err; } CTR_Code CanTalonSRX::GetCloseLoopErr(int ¶m) { GET_STATUS1(); uint32_t raw = 0; raw |= rx->CloseLoopErrH; raw <<= 16; raw |= rx->CloseLoopErrM; raw <<= 8; raw |= rx->CloseLoopErrL; param = (int)raw; return rx.err; } CTR_Code CanTalonSRX::GetFeedbackDeviceSelect(int ¶m) { GET_STATUS1(); param = rx->FeedbackDeviceSelect; return rx.err; } CTR_Code CanTalonSRX::GetModeSelect(int ¶m) { GET_STATUS1(); uint32_t raw = 0; raw |= rx->ModeSelect_h1; raw <<= 3; raw |= rx->ModeSelect_b3; param = (int)raw; return rx.err; } CTR_Code CanTalonSRX::GetLimitSwitchEn(int ¶m) { GET_STATUS1(); param = rx->LimitSwitchEn; return rx.err; } CTR_Code CanTalonSRX::GetLimitSwitchClosedFor(int ¶m) { GET_STATUS1(); param = rx->LimitSwitchClosedFor; return rx.err; } CTR_Code CanTalonSRX::GetLimitSwitchClosedRev(int ¶m) { GET_STATUS1(); param = rx->LimitSwitchClosedRev; return rx.err; } CTR_Code CanTalonSRX::GetSensorPosition(int ¶m) { GET_STATUS2(); uint32_t raw = 0; raw |= rx->SensorPositionH; raw <<= 16; raw |= rx->SensorPositionM; raw <<= 8; raw |= rx->SensorPositionL; param = (int)raw; return rx.err; } CTR_Code CanTalonSRX::GetSensorVelocity(int ¶m) { GET_STATUS2(); uint32_t raw = 0; raw |= rx->SensorVelocityH; raw <<= 8; raw |= rx->SensorVelocityL; param = (int)raw; return rx.err; } CTR_Code CanTalonSRX::GetCurrent(double ¶m) { GET_STATUS2(); uint32_t raw = 0; raw |= rx->Current_h8; raw <<= 2; raw |= rx->Current_l2; param = (double)raw * 0.125 + 0; return rx.err; } CTR_Code CanTalonSRX::GetBrakeIsEnabled(int ¶m) { GET_STATUS2(); param = rx->BrakeIsEnabled; return rx.err; } CTR_Code CanTalonSRX::GetEncPosition(int ¶m) { GET_STATUS3(); uint32_t raw = 0; raw |= rx->EncPositionH; raw <<= 16; raw |= rx->EncPositionM; raw <<= 8; raw |= rx->EncPositionL; param = (int)raw; return rx.err; } CTR_Code CanTalonSRX::GetEncVel(int ¶m) { GET_STATUS3(); uint32_t raw = 0; raw |= rx->EncVelH; raw <<= 8; raw |= rx->EncVelL; param = (int)raw; return rx.err; } CTR_Code CanTalonSRX::GetEncIndexRiseEvents(int ¶m) { GET_STATUS3(); uint32_t raw = 0; raw |= rx->EncIndexRiseEventsH; raw <<= 8; raw |= rx->EncIndexRiseEventsL; param = (int)raw; return rx.err; } CTR_Code CanTalonSRX::GetQuadApin(int ¶m) { GET_STATUS3(); param = rx->QuadApin; return rx.err; } CTR_Code CanTalonSRX::GetQuadBpin(int ¶m) { GET_STATUS3(); param = rx->QuadBpin; return rx.err; } CTR_Code CanTalonSRX::GetQuadIdxpin(int ¶m) { GET_STATUS3(); param = rx->QuadIdxpin; return rx.err; } CTR_Code CanTalonSRX::GetAnalogInWithOv(int ¶m) { GET_STATUS4(); uint32_t raw = 0; raw |= rx->AnalogInWithOvH; raw <<= 16; raw |= rx->AnalogInWithOvM; raw <<= 8; raw |= rx->AnalogInWithOvL; param = (int)raw; return rx.err; } CTR_Code CanTalonSRX::GetAnalogInVel(int ¶m) { GET_STATUS4(); uint32_t raw = 0; raw |= rx->AnalogInVelH; raw <<= 8; raw |= rx->AnalogInVelL; param = (int)raw; return rx.err; } CTR_Code CanTalonSRX::GetTemp(double ¶m) { GET_STATUS4(); uint32_t raw = rx->Temp; param = (double)raw * 0.6451612903 + -50; return rx.err; } CTR_Code CanTalonSRX::GetBatteryV(double ¶m) { GET_STATUS4(); uint32_t raw = rx->BatteryV; param = (double)raw * 0.05 + 4; return rx.err; } CTR_Code CanTalonSRX::GetResetCount(int ¶m) { GET_STATUS5(); uint32_t raw = 0; raw |= rx->ResetCountH; raw <<= 8; raw |= rx->ResetCountL; param = (int)raw; return rx.err; } CTR_Code CanTalonSRX::GetResetFlags(int ¶m) { GET_STATUS5(); uint32_t raw = 0; raw |= rx->ResetFlagsH; raw <<= 8; raw |= rx->ResetFlagsL; param = (int)raw; return rx.err; } CTR_Code CanTalonSRX::GetFirmVers(int ¶m) { GET_STATUS5(); uint32_t raw = 0; raw |= rx->FirmVersH; raw <<= 8; raw |= rx->FirmVersL; param = (int)raw; return rx.err; } CTR_Code CanTalonSRX::SetDemand(int param) { CtreCanNode::txTask toFill = GetTx(CONTROL_1 | GetDeviceNumber()); if (toFill.IsEmpty()) return CTR_UnexpectedArbId; toFill->DemandH = param>>16; toFill->DemandM = param>>8; toFill->DemandL = param>>0; FlushTx(toFill); return CTR_OKAY; } CTR_Code CanTalonSRX::SetOverrideLimitSwitchEn(int param) { CtreCanNode::txTask toFill = GetTx(CONTROL_1 | GetDeviceNumber()); if (toFill.IsEmpty()) return CTR_UnexpectedArbId; toFill->OverrideLimitSwitchEn = param; FlushTx(toFill); return CTR_OKAY; } CTR_Code CanTalonSRX::SetFeedbackDeviceSelect(int param) { CtreCanNode::txTask toFill = GetTx(CONTROL_1 | GetDeviceNumber()); if (toFill.IsEmpty()) return CTR_UnexpectedArbId; toFill->FeedbackDeviceSelect = param; FlushTx(toFill); return CTR_OKAY; } CTR_Code CanTalonSRX::SetRevMotDuringCloseLoopEn(int param) { CtreCanNode::txTask toFill = GetTx(CONTROL_1 | GetDeviceNumber()); if (toFill.IsEmpty()) return CTR_UnexpectedArbId; toFill->RevMotDuringCloseLoopEn = param; FlushTx(toFill); return CTR_OKAY; } CTR_Code CanTalonSRX::SetOverrideBrakeType(int param) { CtreCanNode::txTask toFill = GetTx(CONTROL_1 | GetDeviceNumber()); if (toFill.IsEmpty()) return CTR_UnexpectedArbId; toFill->OverrideBrakeType = param; FlushTx(toFill); return CTR_OKAY; } CTR_Code CanTalonSRX::SetModeSelect(int param) { CtreCanNode::txTask toFill = GetTx(CONTROL_1 | GetDeviceNumber()); if (toFill.IsEmpty()) return CTR_UnexpectedArbId; toFill->ModeSelect = param; FlushTx(toFill); return CTR_OKAY; } CTR_Code CanTalonSRX::SetProfileSlotSelect(int param) { CtreCanNode::txTask toFill = GetTx(CONTROL_1 | GetDeviceNumber()); if (toFill.IsEmpty()) return CTR_UnexpectedArbId; toFill->ProfileSlotSelect = param; FlushTx(toFill); return CTR_OKAY; } CTR_Code CanTalonSRX::SetRampThrottle(int param) { CtreCanNode::txTask toFill = GetTx(CONTROL_1 | GetDeviceNumber()); if (toFill.IsEmpty()) return CTR_UnexpectedArbId; toFill->RampThrottle = param; FlushTx(toFill); return CTR_OKAY; } CTR_Code CanTalonSRX::SetRevFeedbackSensor(int param) { CtreCanNode::txTask toFill = GetTx(CONTROL_1 | GetDeviceNumber()); if (toFill.IsEmpty()) return CTR_UnexpectedArbId; toFill->RevFeedbackSensor = param; FlushTx(toFill); return CTR_OKAY; }