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cd5765559a
- CANJaguar also touched up to report it can't do the new control mode (just like with follower). - New third optional param for talon c'tor to speed up enable control frame. - The pulse width routines have been moved to where the script generator puts them. No actual changes there but should help Peter integrate the latest code generator. Last feature additions for TalonSRX HAL for FRC2015-FRC-2016 season. -HAL driver uses control_5 frame if firmware supports it. This allows teams to see/confirm control settings taking effect before enabling the robot. For example selecting the sensor type and going to web-dash to check sensor values now works without having to enable the robot. -Motion profile HAL routines added. Tested on Single-Speed Double reduction (with slave Talon too). -Start moving ctre frame defs into a new common header (better then shoving a bunch of struct defs at top of module). -New child class in CANTalonSRX for buffering motion profile points. Not sure it would be best to leave it as is or make another module. It's trivial now so I thought that was acceptable, (in future it will likely possess compression strategies => no longer trivial). Change-Id: I803680c1a6669ca3f5157d7875942def6f75b540
58 lines
1.4 KiB
C
58 lines
1.4 KiB
C
/**
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* @file ctre.h
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* Common header for all CTRE HAL modules.
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*/
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#ifndef CTRE_H
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#define CTRE_H
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//Bit Defines
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#define BIT0 0x01
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#define BIT1 0x02
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#define BIT2 0x04
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#define BIT3 0x08
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#define BIT4 0x10
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#define BIT5 0x20
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#define BIT6 0x40
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#define BIT7 0x80
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#define BIT8 0x0100
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#define BIT9 0x0200
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#define BIT10 0x0400
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#define BIT11 0x0800
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#define BIT12 0x1000
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#define BIT13 0x2000
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#define BIT14 0x4000
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#define BIT15 0x8000
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//Signed
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typedef signed char INT8;
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typedef signed short INT16;
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typedef signed int INT32;
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typedef signed long long INT64;
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//Unsigned
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typedef unsigned char UINT8;
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typedef unsigned short UINT16;
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typedef unsigned int UINT32;
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typedef unsigned long long UINT64;
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//Other
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typedef unsigned char UCHAR;
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typedef unsigned short USHORT;
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typedef unsigned int UINT;
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typedef unsigned long ULONG;
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typedef enum {
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CTR_OKAY, //!< No Error - Function executed as expected
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CTR_RxTimeout, //!< CAN frame has not been received within specified period of time.
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CTR_TxTimeout, //!< Not used.
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CTR_InvalidParamValue, //!< Caller passed an invalid param
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CTR_UnexpectedArbId, //!< Specified CAN Id is invalid.
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CTR_TxFailed, //!< Could not transmit the CAN frame.
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CTR_SigNotUpdated, //!< Have not received an value response for signal.
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CTR_BufferFull, //!< Caller attempted to insert data into a buffer that is full.
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}CTR_Code;
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#include "ctre_frames.h"
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#endif /* CTRE_H */
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